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0.011330127716064453125	0.00143086910247802734375	0.99993479251861572265625	0.000566065311431884765625
1	0	0	4
0	1	0	4
0	0	1	0
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0.0063489973545074462890625	0.99997270107269287109375	-0.003802835941314697265625	3.9986579418182373046875
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