\begin{figure}[!t]
\renewcommand{\baselinestretch}{0.5} 
{\scriptsize\begin{center}
 \begin{tabular}{rrrc}
&RANK & Treatment&Development effort \\
\hline
Flight
&{\shade}1 & {\shade}{\bf SEESAW} &{\shade}\boxplot{5.714286}{6.428571}{12.142858}{7.857143}{20.0}\\
&\cellcolor[rgb]{0.8,0.8,0.8}1 &{\shade}Beam &{\shade}\boxplot{9.285714}{6.428571}{15.714286}{7.857143}{23.571428}\\
&2 & A* & \boxplot{32.142857}{3.5714285}{35.714287}{4.285714}{40.0}\\
&3 & SA & \boxplot{45.0}{5.0}{50.0}{3.5714285}{53.57143}\\
&4 & MaxWalkSat & \boxplot{63.57143}{7.142857}{70.71429}{6.428571}{77.14286}\\
&4 & ISAMP & \boxplot{67.14286}{6.428571}{73.57143}{8.571428}{82.14286}\\
&5 & Baseline & \boxplot{87.85714}{4.285714}{92.14286}{3.5714285}{95.71429}\\
\hline
Ground&{\shade}1 &{\shade}{\bf SEESAW} &{\shade}\boxplot{4.285714}{4.285714}{8.571428}{5.714286}{14.285714}\\
&2 & Beam & \boxplot{15.0}{5.0}{20.0}{4.285714}{24.285715}\\
&3 & A* & \boxplot{32.857143}{4.285714}{37.142857}{4.285714}{41.42857}\\
&4 & SA & \boxplot{45.714287}{4.285714}{50.0}{6.428571}{56.42857}\\
&5 & MaxWalkSat & \boxplot{61.42857}{8.571428}{70.0}{9.285714}{79.28571}\\
&5 & ISAMP & \boxplot{65.0}{6.428571}{71.42857}{6.428571}{77.85714}\\
&6 & Baseline & \boxplot{89.28571}{3.5714285}{92.85714}{3.5714285}{96.42857}\\
\hline
OSP
&{\shade}1 &{\shade}{\bf SEESAW} &{\shade}\boxplot{5.714286}{7.857143}{13.571428}{18.571428}{32.142857}\\
&{\shade}1 &{\shade}Beam &{\shade}\boxplot{10.0}{5.0}{15.0}{15.0}{30.0}\\
&2 & A* & \boxplot{23.571428}{12.857142}{36.42857}{10.0}{46.42857}\\
&2 & SA & \boxplot{34.285713}{9.285714}{43.57143}{9.285714}{52.857143}\\
&3 & MaxWalkSat & \boxplot{62.142857}{6.428571}{68.57143}{8.571428}{77.14286}\\
&3 & ISAMP & \boxplot{65.0}{8.571428}{73.57143}{7.857143}{81.42857}\\
&4 & Baseline & \boxplot{89.28571}{3.5714285}{92.85714}{3.5714285}{96.42857}\\
\hline
OSP2&{\shade}1 &{\shade}Beam &{\shade}\boxplot{16.428572}{11.428572}{27.857143}{22.142857}{50.0}\\
&{\shade}1 &{\shade} A* &{\shade}\boxplot{12.142858}{19.285715}{31.428572}{35.714287}{67.14286}\\
&{\shade}1 &{\shade} {\bf SEESAW} &{\shade}\boxplot{20.0}{13.571428}{33.57143}{29.285715}{62.857143}\\
&{\shade}1 &{\shade} SA &{\shade}\boxplot{33.57143}{8.571428}{42.142857}{18.571428}{60.714287}\\
&2 & MaxWalkSat & \boxplot{37.857143}{12.857142}{50.714287}{8.571428}{59.285713}\\
&3 & ISAMP & \boxplot{43.57143}{20.714285}{64.28571}{13.571428}{77.85714}\\
&4 & Baseline & \boxplot{84.28571}{5.714286}{90.0}{6.428571}{96.42857}\\
\hline
TPS10&{\shade}1 &{\shade} A* &{\shade}\boxplot{5.714286}{10.714286}{16.428572}{20.0}{36.42857}\\
&{\shade}1 &{\shade} {\bf SEESAW} &{\shade}\boxplot{14.285714}{7.857143}{22.142857}{25.0}{47.142857}\\
&2 & Beam & \boxplot{20.714285}{7.142857}{27.857143}{20.714285}{48.57143}\\
&3 & SA & \boxplot{35.0}{8.571428}{43.57143}{15.0}{58.57143}\\
&3 & MaxWalkSat & \boxplot{47.857143}{12.142858}{60.0}{4.285714}{64.28571}\\
&4 & ISAMP & \boxplot{75.0}{3.5714285}{78.57143}{4.285714}{82.85714}\\
&5 & Baseline & \boxplot{88.57143}{3.5714285}{92.14286}{3.5714285}{95.71429}\\
\hline
TPS100
&{\shade}1 &{\shade} Beam &{\shade}\boxplot{12.142858}{5.714286}{17.857143}{15.0}{32.857143}\\
&{\shade}1 &{\shade} {\bf SEESAW} &{\shade}\boxplot{7.857143}{15.714286}{23.571428}{12.857142}{36.42857}\\
&{\shade}1 &{\shade} A* &{\shade}\boxplot{10.714286}{13.571428}{24.285715}{21.428572}{45.714287}\\
&2 & SA & \boxplot{42.142857}{5.714286}{47.857143}{8.571428}{56.42857}\\
&3 & MaxWalkSat & \boxplot{57.857143}{5.714286}{63.57143}{7.142857}{70.71429}\\
&4 & ISAMP & \boxplot{71.42857}{5.714286}{77.14286}{4.285714}{81.42857}\\
&5 & Baseline & \boxplot{89.28571}{3.5714285}{92.85714}{3.5714285}{96.42857}\\
\hline
TPS1000
&{\shade}1 &{\shade} Beam &{\shade}\boxplot{10.714286}{7.857143}{18.571428}{15.0}{33.57143}\\
&{\shade}1 &{\shade} A* &{\shade}\boxplot{9.285714}{15.714286}{25.0}{10.0}{35.0}\\
&{\shade}1 &{\shade} {\bf SEESAW} &{\shade}\boxplot{15.0}{17.142857}{32.142857}{12.142858}{44.285713}\\
&2 & SA & \boxplot{42.142857}{12.857142}{55.0}{5.714286}{60.714287}\\
&2 & MaxWalkSat & \boxplot{49.285713}{15.0}{64.28571}{10.0}{74.28571}\\
&3 & ISAMP & \boxplot{65.0}{10.0}{75.0}{7.142857}{82.14286}\\
&4 & Baseline & \boxplot{88.57143}{4.285714}{92.85714}{3.5714285}{96.42857}\\
\hline
& &  & 50\% 
\end{tabular}
\end{center}}
\caption{
Development effort (in months) normalized min..max, 0..100
 For an explanation of 
the format of this figure, see \fig{engine-defects}.
}\label{fig:engine-effort}
\end{figure}
