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data.txt
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data.txt
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time,x,y,z,phi,theta,psi,x_velocity,y_velocity,z_velocity,phi_velocity,theta_velocity,psi_velocity,rotor_speed1,rotor_speed2,rotor_speed3,rotor_speed4
0.06,-7.91915370935e-07,5.75867113481e-07,10.0030367914,0.00047564790045,0.000609854413277,0.0,-6.29669018183e-05,4.70212737035e-05,0.101222027009,0.0203364010243,0.0252006998347,0.0,436.29332049158825,438.39186065511046,436.38355125049327,438.0774400167242
0.12000000000000001,-2.21552203102e-05,1.67953422653e-05,10.0106344099,0.00159102047827,0.00258485225537,0.0,-0.00081740913406,0.000604480041913,0.152025739295,0.0148447911676,0.0450594833486,0.0,420.08293064573894,421.80158919779603,421.33167593163455,420.8566763566014
0.18,-0.000142061313993,9.31506503712e-05,10.0249395696,0.00245412986574,0.00560708996167,0.0,-0.0035041641681,0.00203955631216,0.324777633049,0.0134496995128,0.0592997278731,0.0,458.8813074631079,460.01161769946646,459.5012126118913,459.3905071036643
0.23999999999999996,-0.000497879781847,0.000276172510054,10.0500161649,0.00338044319785,0.00893322816181,0.0,-0.00875275624988,0.00416078128841,0.511040572487,0.0191457358732,0.0463033231637,0.0,463.87566792719616,462.8560498776929,463.6239411472288,464.07107940354445
0.3,-0.00122551559866,0.000602520563474,10.0843935907,0.00431265496143,0.0121510260135,0.0,-0.0158207404365,0.00682832604222,0.634808834253,0.00711287782981,0.0652781191675,0.0,443.7780237712227,445.334410912555,445.29998062701486,444.31462833794996
0.36000000000000004,-0.00248986336512,0.00111967325634,10.1292996023,0.00438144440596,0.0159763441225,0.0,-0.0267902869611,0.0104442009418,0.861907956294,-0.0147821675026,0.0605227116127,0.0,475.8809453362994,475.51952120856424,477.1178355398404,475.4435092671983
0.4200000000000001,-0.00446503565389,0.00183956842467,10.1854323533,0.00303630125522,0.0191397748179,0.0,-0.0394263171596,0.0134387735292,1.00905880126,-0.045609542332,0.0286883462153,0.0,454.17406326452823,451.6155202452848,453.1792326899169,450.69465556410773
0.48000000000000015,-0.0072503143429,0.0027004296505,10.2498879785,0.000265233773783,0.0206237825547,0.0,-0.0535862723097,0.0149630591775,1.13933789037,-0.0473594349824,0.0153399639255,0.0,448.2868255087826,447.201068517281,447.2955749252842,447.15181592022446
0.5400000000000001,-0.0111048720891,0.00359041101182,10.3312780873,6.28075494655,0.0221332647571,0.0,-0.0750803421138,0.014284539622,1.57316888328,-0.0404590109895,0.0398047757822,0.0,533.9410867393935,535.6073337794137,532.4586285133461,532.9296311297305
0.6000000000000002,-0.0160919636744,0.00438588669839,10.4293626807,6.27812811071,0.0246070445442,0.0,-0.091408610549,0.0119665366957,1.69613568271,-0.0514233849139,0.0439364277411,0.0,446.83888689361635,447.17643598468504,446.6662223251753,445.77012199049904
0.6600000000000003,-0.0220888818932,0.00499082913695,10.5338843333,6.27622933552,0.0269085776388,0.0,-0.108737521703,0.00796384200887,1.78777176172,-0.00789107492466,0.0238422077306,0.0,438.3320833862903,436.6598286017046,434.9810850485377,438.6104031150087
0.7200000000000003,-0.0292490647393,0.00530386422938,10.6468768946,6.27566118438,0.0284986396126,0.0,-0.130101929291,0.00241305573039,1.97833053644,-0.0128286029568,0.0313484574767,0.0,467.9417919199832,468.5258174415725,467.7251540692766,467.3406117676014
0.7800000000000004,-0.0375764807325,0.00531074269059,10.7659710445,6.27537278063,0.0305589982453,0.0,-0.147654506242,-0.00222755244642,1.9914449441,0.00771908774393,0.0397338496291,0.0,412.351510346025,413.092152744955,411.28973901243427,413.10555607772505
0.8400000000000004,-0.0471121899858,0.00500850017316,10.8896047962,6.2756050071,0.0328060044917,0.0,-0.170444895063,-0.00780627283677,2.12942391739,-0.00522326407042,0.0324405006795,0.0,452.22846584209844,451.64127434877776,454.02097541747315,452.9814061164348
0.9000000000000005,-0.0580913411114,0.00436764174406,11.0223306494,6.27554730085,0.0357140528674,0.0,-0.195800268175,-0.0135726081849,2.29444266214,0.00643012563872,0.0692331483084,0.0,459.90441905249156,462.81043311205457,461.1830944079115,462.102603858624
0.9600000000000005,-0.0705958005203,0.00339648714816,11.1630511604,6.27580246546,0.0396243069079,0.0,-0.221421697944,-0.0187643269482,2.39601531978,-0.000502826810357,0.0554729986927,0.0,443.0874282477092,441.95788929863363,443.07101016780814,442.50060117380843
1.0200000000000005,-0.0848299603161,0.00209655838573,11.3127044911,6.27544812903,0.0429206654987,0.0,-0.25341872502,-0.0245820705504,2.59198574038,-0.0198218103058,0.0538504178689,0.0,472.1310799525983,472.0077098399215,472.4861514958592,470.9945182221881
1.0800000000000005,-0.100670218671,0.000505760559541,11.4651304685,6.27431179105,0.0461593743996,0.0,-0.274833708097,-0.0285299245576,2.48909667687,-0.0172294311686,0.0542332858506,0.0,374.8843017744351,374.9240267366857,373.795705303682,374.0482274216702
1.1400000000000006,-0.118126233991,-0.00139305550447,11.6174389785,6.27304057215,0.0492285154762,0.0,-0.307346935913,-0.0348775511146,2.5876143404,-0.0305883606489,0.0441447585538,0.0,442.68235122168295,441.8531107684348,443.6514282801619,442.55320990573597
1.2000000000000006,-0.137598554275,-0.00370266818317,11.7757327952,6.27123646612,0.0521611924351,0.0,-0.342006605735,-0.0422927087309,2.68859179448,-0.0290485197315,0.0569705846937,0.0,444.23022582863246,445.28213009578485,443.12556404165974,443.25183410186327
1.2600000000000007,-0.159294371019,-0.00651282169297,11.941601765,6.26948150564,0.0554071253554,0.0,-0.381535407719,-0.0515659123061,2.83998035792,-0.0296539726285,0.0476309723241,0.0,459.9559740725015,459.21755023491187,460.60144002787547,460.55333459969324
1.3200000000000007,-0.183312759763,-0.00988849706549,12.1144182765,6.2677387456,0.0580561870481,0.0,-0.419342041667,-0.0611278936789,2.92034210825,-0.027857161167,0.0360819351676,0.0,439.1936975690868,438.23588588482465,438.9122448162694,439.0610855849209
1.3800000000000008,-0.209661220526,-0.0138751821813,12.2922297685,6.26614631232,0.0603571792579,0.0,-0.45915280967,-0.0719207307162,3.00646032163,-0.0240297841899,0.0425373959435,0.0,440.79519396647015,441.32907086496584,441.1129872278926,441.42877883160605
1.4400000000000008,-0.238557876942,-0.018572334161,12.4770290955,6.26479192552,0.0626403477389,0.0,-0.504313106217,-0.084795815302,3.15309403243,-0.0198085608165,0.0271001867897,0.0,461.19118320151813,459.9708887108112,460.1526198866112,460.48664894049125
1.5000000000000009,-0.270038213249,-0.0240197278015,12.6678713287,6.2634961887,0.0643799810241,0.0,-0.545185859369,-0.0968989831075,3.20813807187,-0.0254329513615,0.0325345818332,0.0,432.1246005607863,432.582741418814,433.2322505270583,432.75904808415174
1.560000000000001,-0.30419942077,-0.0302787319005,12.8649854263,6.26153863156,0.0665823716744,0.0,-0.593725545257,-0.111909342935,3.36185952625,-0.0536366634044,0.0439606690509,0.0,463.37143621641627,464.2693640923487,464.9583844183602,462.7429484888374
1.620000000000001,-0.341141548756,-0.0374278617775,13.0685675549,6.25817738256,0.0698756660105,0.0,-0.637961412971,-0.126706711715,3.42398535852,-0.0612729875832,0.0707541627048,0.0,434.05932466736476,436.30411313594993,437.8884325261858,437.2504937151729
1.680000000000001,-0.380907491305,-0.0455674286622,13.277275315,6.25394095993,0.0741603143229,0.0,-0.687990078386,-0.144993815752,3.53254870774,-0.105722530695,0.0726920927164,0.0,450.315020703908,450.4756060329256,454.4271528281356,450.8452461788776
1.740000000000001,-0.423803832653,-0.054918487776,13.4929849712,6.24781339383,0.0787821200464,0.0,-0.742337460712,-0.167352024736,3.65730083535,-0.0957649537784,0.0845330527629,0.0,456.6675978526017,457.6156488794282,457.15272380436926,457.93673786739305
1.8000000000000012,-0.469783371361,-0.065611540295,13.7126634607,6.2425869523,0.0835806770211,0.0,-0.790753428276,-0.189561194403,3.66521277122,-0.0738167579411,0.0688074194687,0.0,421.30842943950626,419.9519356200922,420.58246235919745,422.4722580831818
1.8600000000000012,-0.51902074768,-0.0778583888502,13.9359845002,6.23796850475,0.0874823965096,0.0,-0.850884554862,-0.21911830879,3.77836805495,-0.0841796730041,0.0561374695254,0.0,455.35065938301506,454.3388872792771,455.5726379212369,454.7386425817925
1.9200000000000013,-0.571866562436,-0.0919361278207,14.1651764524,6.23287258953,0.0906126756012,0.0,-0.910948568486,-0.25062845741,3.86100303428,-0.086479473003,0.0427484011377,0.0,446.5325806370514,445.44065509824514,447.01105721677243,446.8177153442893
1.9800000000000013,-0.628291889607,-0.107958508059,14.3983683258,6.2279330808,0.0926592994828,0.0,-0.970117035462,-0.283918029763,3.91180797552,-0.075100410901,0.00490360022253,0.0,438.84583291893483,435.69335568155253,436.45314100931085,437.39619533780433
2.0400000000000014,-0.688288891007,-0.12606341208,14.6344695601,6.22305716643,0.093434122291,0.0,-1.029832022,-0.320005150756,3.95801274265,-0.0979272927889,0.025424532378,0.0,436.195892807393,437.9062948680208,436.1796766061524,434.2632123697898
2.1000000000000014,-0.751919072456,-0.146449632404,14.8736446867,6.21764338131,0.0948191609546,0.0,-1.09130510574,-0.360056761055,4.01421148545,-0.0781151983888,0.01793612344,0.0,440.5993662878071,439.97982206428964,438.58575124148007,440.2211768079434
2.1600000000000015,-0.819102464773,-0.169226282321,15.1144737637,6.21292983079,0.095666689733,0.0,-1.14823863069,-0.399572316737,4.01335717752,-0.0794616900912,0.00513994568009,0.0,421.90713872478375,420.8006901727488,422.3434284636696,422.22198398897626
2.2200000000000015,-0.890235923113,-0.194840707555,15.3606296102,6.20842630457,0.0958349306984,0.0,-1.22285556758,-0.454718301745,4.19110996695,-0.0674582237569,-0.00233367536427,0.0,479.0420935611839,478.4733668377351,476.4915817119507,477.40434353111
2.2800000000000016,-0.965261875047,-0.223401579324,15.6113192813,6.20460150146,0.0955852702276,0.0,-1.27801866982,-0.497644590008,4.16524958461,-0.0572033548443,-0.00809220963797,0.0,415.67310542017117,415.168177695936,414.4577009567764,415.3548063446327
2.3400000000000016,-1.04406684513,-0.254990008608,15.8653497271,6.20080855296,0.0948840371768,0.0,-1.34871887704,-0.555645007933,4.30185015652,-0.0793039672896,-0.0200733858636,0.0,467.96307275320794,467.0295555863316,467.32939432014706,465.6005069893199
2.4000000000000017,-1.126854486,-0.289931233199,16.1249916911,6.19650752285,0.0932886112499,0.0,-1.41074241266,-0.60947211866,4.35262207988,-0.0596649402426,-0.0446590416093,0.0,442.4319294433939,440.40257821480566,440.91223940916257,442.52779172914336
2.4600000000000017,-1.2131479505,-0.328008628985,16.3856984187,6.19285732356,0.0906934803218,0.0,-1.46551155951,-0.660089083746,4.33762173195,-0.0632884028907,-0.0405780549212,0.0,420.7865623624798,421.13858469464185,420.38876757488384,420.0717641070992
2.520000000000002,-1.3030864205,-0.369585423989,16.6498632285,6.18920096075,0.0890552561156,0.0,-1.53220610526,-0.726155365038,4.46730141629,-0.0566145008928,-0.00904487586457,0.0,465.27675787744965,467.73891123357896,466.365440837011,466.88401719641826
2.580000000000002,-1.39700906428,-0.415211435365,16.9218739799,6.18565089127,0.0882817998823,0.0,-1.59845329677,-0.795031533197,4.59910840126,-0.0648352820515,-0.0219764108478,0.0,468.9300939516833,467.92449656175654,468.68316155151143,468.04144523819735
2.640000000000002,-1.49465017992,-0.46478102648,17.1990592852,6.1817673483,0.0866635516714,0.0,-1.65612520644,-0.857636066428,4.64016031574,-0.0645075850686,-0.0395236645793,0.0,442.50512129855457,441.05786188143753,441.2374184609957,441.2613639350515
2.700000000000002,-1.59577784168,-0.518246108386,17.4793306857,6.17772022781,0.0841440288612,0.0,-1.71456684479,-0.924891372049,4.70189650839,-0.0741052171783,-0.0474510151482,0.0,449.2622350936886,448.6179846580041,448.61348856859786,447.8299884137058
2.760000000000002,-1.70054179893,-0.576049386294,17.7653644121,6.17322213853,0.0815563473738,0.0,-1.7772588683,-1.0023053068,4.83192713908,-0.076751374202,-0.0356457070368,0.0,469.1518896170732,470.06675913206067,471.00579133483615,470.7970094340306
2.820000000000002,-1.80883362601,-0.63834220501,18.056903324,6.16816587178,0.0798624924604,0.0,-1.83229764884,-1.0745517425,4.88571015377,-0.106842690866,-0.0164682490073,0.0,446.97414427187977,448.53425990792044,449.6978139448469,447.2471053045603
2.880000000000002,-1.92024447017,-0.704841804462,18.3496577774,6.16200794226,0.0791980076853,0.0,-1.88135805933,-1.14264406964,4.87270626998,-0.0953232581744,-0.00202601171661,0.0,426.63818353304174,427.86979621985154,426.8236151543423,427.79607072373824
2.940000000000002,-2.03469696757,-0.775688210054,18.6428832251,6.1563235062,0.0789990030373,0.0,-1.9337244535,-1.21940907634,4.90120980486,-0.0936008714613,-0.00603211983128,0.0,441.73877693713234,441.40831593705155,440.29813098369124,440.43291298498576
3.000000000000002,-2.15254938195,-0.851660163273,18.9410150058,6.15080482225,0.078918276963,0.0,-1.99464287113,-1.31350766158,5.03574739198,-0.088917493676,0.00668159298203,0.0,473.19467248102166,474.17253030627415,474.8352212692561,475.1878824998907
3.0600000000000023,-2.27380066168,-0.932956799308,19.2439052422,6.14548706407,0.0791328649899,0.0,-2.04710970914,-1.39684964713,5.06032109873,-0.0880594556828,-0.0034977059549,0.0,442.28237903329597,441.4430131024015,441.95191909534964,442.01606292734664
3.1200000000000023,-2.39823696375,-1.01940446372,19.5486138497,6.140022628,0.0789277270402,0.0,-2.10076021545,-1.48521451041,5.09630173857,-0.0979061419319,-0.00326193876935,0.0,445.70748490919976,445.7268237079292,446.9877468070096,446.1774717636971
3.1800000000000024,-2.52667071439,-1.11267152276,19.8651742088,6.13370920556,0.0784454989269,0.0,-2.18020843798,-1.62427984268,5.4537523861,-0.126799196563,-0.0198927195564,0.0,540.1761828326211,539.0535128545349,540.342660701113,538.3831174818097
3.2400000000000024,-2.65931481499,-1.21342958078,20.1962809368,6.12605060107,0.0773298369598,0.0,-2.24111586307,-1.73503108552,5.58225056631,-0.129385793201,-0.016116648849,0.0,480.21447295478634,480.5009530244056,478.3304092433266,478.119737624493
3.3000000000000025,-2.79564440201,-1.32109632147,20.5356653256,6.11796601492,0.0765411321579,0.0,-2.30307586488,-1.85459265235,5.72952501018,-0.148482679761,-0.00778105943912,0.0,487.0384028845223,487.6616788554681,486.6006629607056,485.15337159298093
3.3600000000000025,-2.93522612243,-1.43513170627,20.8779677951,6.10892381757,0.0757689025794,0.0,-2.34964764458,-1.94734020404,5.680548882,-0.15555546711,-0.025735278632,0.0,428.72638404803126,427.1979092682646,427.4371353761227,426.8113764850705
3.4200000000000026,-3.07757027579,-1.55482717478,21.2169918594,6.09931189883,0.0740857501708,0.0,-2.39508673521,-2.04329880802,5.62029550077,-0.171621623279,-0.0331436377129,0.0,423.339027967798,422.7006773791709,425.253529562691,423.8487558002024
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