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0.000414669513702392578125	0.99999868869781494140625	0.00158572755753993988037109375	4.001080036163330078125
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1	0	0	4
0	1	0	4
0	0	1	0
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0.0032903254032135009765625	0.99998509883880615234375	-0.00435452163219451904296875	3.9999687671661376953125
0.00496561825275421142578125	0.0043381713330745697021484375	0.999978125095367431640625	0.0025660991668701171875