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0.00051057524979114532470703125	0.9999997615814208984375	0.00047800131142139434814453125	4.0007171630859375
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1	0	0	4
0	1	0	4
0	0	1	0
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0.004529297351837158203125	-0.0013097822666168212890625	0.9999887943267822265625	-0.0017440319061279296875