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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,-9.35741722134e-09,5.2901496633e-07,10.0024792255,0.00045461406195,1.22975097039e-05,0.0,-9.26438256804e-07,4.34033230269e-05,0.0826377577716,0.0195470593065,0.000611792479668,0.0,431.41466045886756,431.4663001495983,430.445876752916,432.09651441100027
0.12000000000000001,-3.59361791693e-07,1.64242113179e-05,10.0096660405,0.00150722007468,6.28298342253,0.0,-3.6841781417e-06,0.000596032416115,0.156914727032,0.013200838484,-0.013621388108,0.0,429.33897086923537,428.12994935043963,428.88255891971374,428.3432484974307
0.18,7.83653663741e-06,9.34363514225e-05,10.0263700789,0.00228890939745,6.28246966782,0.0,0.00035693489526,0.00206787817327,0.399832487444,0.0126805397861,7.340090733e-06,0.0,479.40744376824625,480.44181273516557,480.41257452906893,480.37299674276017
0.23999999999999996,4.36926808187e-05,0.000266427640429,10.0527651564,0.00323025657737,6.2823031505,0.0,0.000845800947929,0.00378332505446,0.47997241194,0.0211133999043,-0.0090200428966,0.0,431.73269193881123,430.97052225103164,429.7628002773008,430.4767801620452
0.3,0.000116171125408,0.000572393673832,10.0867252258,0.00425455385041,6.28226790926,0.0,0.00159821969356,0.00654607752602,0.651946600715,0.00742773682583,0.0124408177971,0.0,458.6671735019314,460.36817484753357,459.8988705002409,458.8136889177389
0.36000000000000004,0.000232974889169,0.00108258164218,10.1352141343,0.00485642066751,6.28314187847,0.0,0.00218657006902,0.0105297518737,0.964139978436,0.0147866492073,0.0185097760647,0.0,500.41845291446396,500.85983844791843,499.48070787490695,500.0168913205362
0.4200000000000001,0.000360707942233,0.00181529561275,10.1955060832,0.00575165723601,0.00127491463361,0.0,0.00194991301697,0.0139821344459,1.04551987583,0.0151871817572,0.028126307741,0.0,432.39685554465757,433.2061647763306,430.9955109711317,431.02926086525434
0.48000000000000015,0.000437469301383,0.00280537205965,10.2659351095,0.00730443932113,0.00258788765521,0.0,0.000415830223261,0.0191802600868,1.30185687735,0.0414951484659,0.00490296100227,0.0,485.4325179790227,483.6868947170687,484.59893103156327,486.5722842944725
0.5400000000000001,0.000392718284676,0.00416127386365,10.3527909996,0.00937528856056,0.00254969419171,0.0,-0.00192757606331,0.0263186760155,1.59297796625,0.0144686474066,-0.0150263010817,0.0,496.09643867500426,494.6311120748546,496.5941925381017,494.60828237834926
0.6000000000000002,0.000231513980125,0.00592271051451,10.4498129657,0.0104287503024,0.00169233728236,0.0,-0.00336283026748,0.0324864071911,1.64101886216,0.0231127448761,-0.0128546010561,0.0,422.64110103510103,422.82831855235736,422.1847324437868,422.9297920306458
0.6600000000000003,-6.50236833513e-06,0.00811791729796,10.5536498917,0.0116152609304,0.00134370295032,0.0,-0.00451015319402,0.0408316706529,1.81994288856,0.0120876814736,0.00547739906113,0.0,463.5338993493195,464.9722530232596,463.9070280795678,463.0405348705257
0.7200000000000003,-0.000307786545859,0.0108241626632,10.6669814805,0.0126071765116,0.00174348009256,0.0,-0.00557161595367,0.049467462884,1.95754991223,0.0241978730644,0.00893453982737,0.0,451.1857606422799,451.4646635136401,451.9560066675434,452.93086163226474
0.7800000000000004,-0.000685282088556,0.0140916895237,10.7899312852,0.0149045932223,0.00268643062073,0.0,-0.00709844339009,0.059670480108,2.14044931408,0.0573251360998,0.026659806596,0.0,465.455242760917,466.8401927794927,464.75477892681346,467.34442919319196
0.8400000000000004,-0.00117841216332,0.018022596012,10.9232655921,0.0179658000808,0.00415052926791,0.0,-0.00950934731158,0.0717218448131,2.30370620081,0.0338058655998,0.0194530953496,0.0,461.61074495234845,461.04178267296635,461.38618915561796,459.5271463605601
0.9000000000000005,-0.00182315663672,0.022637543127,11.0607829227,0.0206400338116,0.00549698719349,0.0,-0.0120880838276,0.0823122733536,2.28024716695,0.0602620330958,0.0278311492821,0.0,401.38913871644377,402.1488131115068,399.59084043230195,401.996575694122
0.9600000000000005,-0.00269254374185,0.0281050990478,11.2047605016,0.0240481588842,0.00712141601714,0.0,-0.0170903683737,0.100360257446,2.51850041679,0.0487882109308,0.0255146450339,0.0,483.35889059002966,483.18439735195005,484.348733520938,483.48698190727475
1.0200000000000005,-0.00389364932842,0.0347091295857,11.3618965224,0.0269573883564,0.00887503581354,0.0,-0.0231360330315,0.120103654415,2.71890112079,0.0478783567263,0.0357735555552,0.0,472.7195818340924,473.5096228629228,474.1275554877855,474.0589315754679
1.0800000000000005,-0.00546639479859,0.042462368458,11.5272677556,0.0299208894145,0.011064797156,0.0,-0.0295001513823,0.13861915174,2.79328271954,0.0522575142843,0.0379028420396,0.0,435.4489580303689,435.6276789330597,436.1927474847163,436.5598642536509
1.1400000000000006,-0.00744219728732,0.0513258959167,11.6951197424,0.0329983844019,0.0132274182632,0.0,-0.0365562364741,0.157105618397,2.80174990637,0.049286913752,0.0320398192527,0.0,415.32388669856635,414.81001562069736,414.6047177812504,414.3455310861177
1.2000000000000006,-0.00991109696452,0.0614327399335,11.8658000397,0.0370689356213,0.0155966543097,0.0,-0.0459549600891,0.180146710826,2.88736259386,0.0906696562916,0.0512906582699,0.0,439.90561461705306,441.4975832707751,437.6283765860714,441.0625585995556
1.2600000000000007,-0.0129647883142,0.0729391147829,12.0397032939,0.0422553645638,0.0186618679148,0.0,-0.0561117900144,0.203878595808,2.90932970795,0.0762577838441,0.0506763691164,0.0,420.2752959948183,420.2238802076934,420.1534472802139,418.90865703866336
1.3200000000000007,-0.0167980090416,0.0862162086573,12.2208275654,0.0464581268052,0.0219945256754,0.0,-0.0720338346465,0.239195160708,3.12753902685,0.0531998714255,0.0638340108791,0.0,480.78587943151143,481.783523431522,481.3682755369736,479.62345260733554
1.3800000000000008,-0.0216000025257,0.101561609585,12.4119306689,0.04984829706,0.0259473084469,0.0,-0.0884312466865,0.27264526096,3.24221416684,0.0624007936433,0.0696840087184,0.0,451.23520854549065,451.7103538305406,450.3730480235496,451.11874102599563
1.4400000000000008,-0.027538678724,0.119114978,12.6124297137,0.0537577410237,0.0295767941379,0.0,-0.109982417857,0.312882374726,3.44046777969,0.0701656733297,0.0267728835949,0.0,478.8440685655617,475.5704505069865,476.50967505628387,477.1056992998995
1.5000000000000009,-0.0347878717132,0.139072960534,12.8229218698,0.0578118752167,0.031344274377,0.0,-0.131826266934,0.352802730445,3.57548472075,0.0617941673605,0.0343490844941,0.0,459.7816482905396,460.3817391837266,459.02129631285527,458.35970372785994
1.560000000000001,-0.0433702800854,0.161479221616,13.0409502279,0.0614244320171,0.0336147973917,0.0,-0.154469252799,0.394430861975,3.69171728568,0.0568361125301,0.0440432827335,0.0,454.16858919065453,454.94612815826775,454.7972302240493,454.40239824860026
1.620000000000001,-0.0532342828496,0.186227461538,13.2622269727,0.0652812352351,0.0359636902423,0.0,-0.174548774996,0.430824618262,3.68415952225,0.0760768045948,0.0269165993371,0.0,417.43944186172746,415.942982021905,413.7419991523642,415.43590903758445
1.680000000000001,-0.0645175325477,0.21355115626,13.4879046572,0.0695723970808,0.0375467775905,0.0,-0.20171703904,0.480417438743,3.83787023403,0.0603486289249,0.0252995274751,0.0,466.1035643987181,465.9772749591641,468.3092887859451,467.0878291667501
1.740000000000001,-0.0773678381644,0.243759185157,13.7202036923,0.0729336618299,0.0393709071165,0.0,-0.226781807547,0.526837602257,3.90515555439,0.0455432886955,0.0390338925512,0.0,440.6513518764587,441.78563433591495,442.1240284724431,440.90455164785504
1.8000000000000012,-0.0917472019952,0.276789926481,13.9561954937,0.0752455348793,0.0415092290486,0.0,-0.252737741499,0.574414272854,3.96100040846,0.018348178865,0.0277979157197,0.0,438.89499202566884,437.9619506048458,439.31772462092766,437.05749692654194
1.8600000000000012,-0.107801723739,0.312854687486,14.197405032,0.0763672569198,0.0432224439354,0.0,-0.282572782063,0.627822698231,4.07886721728,0.0193808093787,0.0300234037305,0.0,457.7969569067612,457.9742156105011,458.47672929825916,458.5587058829925
1.9200000000000013,-0.125549360324,0.351910545942,14.4426032835,0.0775331028908,0.0455475946738,0.0,-0.309201397342,0.674131817368,4.09431729735,0.0195304849108,0.0521333905988,0.0,425.40075173777177,427.290760593762,427.02546824811844,427.03821310503236
1.9800000000000013,-0.145229504335,0.394250262997,14.6949567063,0.0786271393253,0.0482994772368,0.0,-0.347124469312,0.737255266539,4.31659395463,0.0155060504049,0.0287916220346,0.0,490.7888610385335,489.05419696338544,490.64158930402056,490.34259707226573
2.0400000000000014,-0.166896101914,0.439835132483,14.9534696928,0.0795019304087,0.0500880903605,0.0,-0.375248238112,0.782312662704,4.30053254562,0.0126600302307,0.0317729911504,0.0,417.4396812600488,417.7001305181606,419.24325356582455,418.99577611663136
2.1000000000000014,-0.190618761204,0.488664511039,15.2176282629,0.0806055570694,0.0531981049384,0.0,-0.415780826665,0.845370877862,4.50391528986,0.0279200977072,0.0757956052573,0.0,485.3896942571548,488.68373223995485,485.25796604153135,486.4021488773119
2.1600000000000015,-0.216600049573,0.540920953657,15.4892441557,0.0821496617764,0.057740098806,0.0,-0.4506797079,0.896635135013,4.5496997815,0.0209622334992,0.0755079048804,0.0,439.4492725797195,439.43000271904833,441.61397434768145,441.0397397400874
2.2200000000000015,-0.24470734328,0.596202111742,15.7626644704,0.0836244256085,0.0625556462517,0.0,-0.48664584153,0.946174564649,4.56418662887,0.030977080866,0.0883762845015,0.0,430.40102602810595,431.49423498936244,430.2615643790741,431.1088205801761
2.2800000000000016,-0.275025561523,0.654432743498,16.0363636187,0.0852685731149,0.0681016680834,0.0,-0.52443287859,0.994985781978,4.55906166784,0.0190736393205,0.0995100889824,0.0,425.3222639938971,426.2824272268314,424.0127410433361,422.98896864106086
2.3400000000000016,-0.30786061089,0.715801036772,16.3119035662,0.0866200255408,0.0736915766039,0.0,-0.570615460594,1.05070505909,4.62524546814,0.0286590147249,0.0758031974882,0.0,448.52743032132486,446.6047706459307,447.6274522551523,448.40692297797887
2.4000000000000017,-0.34349955609,0.780453706752,16.5904365304,0.0883603001261,0.0784210736721,0.0,-0.617767474658,1.10451359711,4.65896017037,0.0296867837809,0.0842679282093,0.0,437.74005448610757,438.44901187020656,438.32427153791554,438.40994235507907
2.4600000000000017,-0.382182009025,0.848502767578,16.872533034,0.0904030159946,0.0831234120912,0.0,-0.672110013678,1.16392902577,4.74379823342,0.0415815556352,0.062720455035,0.0,455.9583412048321,454.23803467661855,454.14032480956723,455.09395994058406
2.520000000000002,-0.424345904807,0.920297518192,17.1612477301,0.0927758655962,0.0865935085051,0.0,-0.733694947735,1.22941761664,4.87933437447,0.0351340387825,0.0456363730808,0.0,471.56961675330666,470.2499921099383,471.8248457517424,471.32743783321865
2.580000000000002,-0.47023516307,0.996023682206,17.4575961226,0.0954242760246,0.0897955574498,0.0,-0.796216233518,1.29497129947,4.99831268506,0.0578485692102,0.0655276288504,0.0,467.08167168624544,468.63222976362835,466.5702419668277,468.3414520259435
2.640000000000002,-0.519574607081,1.0753452821,17.7569656422,0.0990282390054,0.0936097031312,0.0,-0.84876710786,1.34936764925,4.98062812917,0.0641665067707,0.0593343459632,0.0,426.4987836951492,425.97252991404304,425.11373773130805,425.6575632450129
2.700000000000002,-0.5724479899,1.15832204484,18.0585755966,0.103030325307,0.0976522123909,0.0,-0.914026185699,1.41685480583,5.07247261917,0.0713400880109,0.0799189464723,0.0,460.6603182485626,462.2885130257453,459.9363624279066,460.5073699265043
2.760000000000002,-0.629757413028,1.24588130777,18.3700305868,0.10749944314,0.102136818896,0.0,-0.996747520606,1.50217871663,5.30806274338,0.0801287662457,0.0616038612005,0.0,503.9522697580333,502.6300858443501,504.7149447369553,505.3525139777606
2.820000000000002,-0.691581981925,1.33808607841,18.690241961,0.112135025338,0.105778023956,0.0,-1.0643930021,1.57170783646,5.36519559739,0.070800045223,0.0587872566758,0.0,453.6121313689365,453.3883873338085,454.78815577672657,454.0447883673953
2.880000000000002,-0.757625929488,1.43464011273,19.0146886927,0.116068511826,0.109439909449,0.0,-1.13738555953,1.64709132044,5.44910095531,0.0521958839093,0.0651775604721,0.0,462.647275255258,463.1527105601639,464.1914020018905,462.7318259879317
2.940000000000002,-0.828278836732,1.5359486411,19.3455177098,0.118618415571,0.113403030047,0.0,-1.21805746556,1.7300692643,5.57770150239,0.00267308722798,0.0677451345183,0.0,478.24278971102285,478.44124320785477,479.29008164099423,475.5114128764774
3.000000000000002,-0.903750540241,1.64215898539,19.6830909027,0.118189486263,0.118018482235,0.0,-1.2980546287,1.81017893685,5.67409653461,-0.0493109488344,0.0908318587234,0.0,469.588026303256,471.3799776300422,471.2129399454973,467.1762659065231
3.0600000000000023,-0.983994357942,1.75301916788,20.0253611547,0.115522221083,0.123041236981,0.0,-1.3772129489,1.88479812032,5.73448255548,-0.0361807123533,0.0630570068853,0.0,461.092668300336,458.8979697966936,459.69261068198557,460.730997939703
3.1200000000000023,-1.06873396135,1.8679767036,20.3684673051,0.113823998153,0.126385192428,0.0,-1.44776560359,1.94693014237,5.70245341795,-0.0159594911581,0.0341069308723,0.0,433.11487917524244,430.6746792652219,430.25913089681865,431.96776753417737
3.1800000000000024,-1.15842409089,1.98721934552,20.7148230654,0.11255008903,0.128291500081,0.0,-1.54203125578,2.02757227585,5.84189453547,-0.0347028786094,0.0266374847972,0.0,485.1653112112665,484.6043407040986,485.1401473002534,483.73049915529725
3.2400000000000024,-1.25350994627,2.11099599398,21.0672038273,0.11033743919,0.13018227879,0.0,-1.62763328268,2.09801758347,5.9037142046,-0.0416249558407,0.0398152740461,0.0,462.03085643756225,463.06914637962535,463.7326525610969,463.1879084959795
3.3000000000000025,-1.35386390106,2.23901846007,21.4239560495,0.107877307367,0.133087119754,0.0,-1.71771533025,2.16904194553,5.98747195159,-0.0397852125053,0.061638171778,0.0,470.0285670499298,471.7183547244811,470.16913188578,470.3108928156812
3.3600000000000025,-1.45982479075,2.37135010612,21.7867242454,0.105128929085,0.137039260634,0.0,-1.81463520728,2.24161608409,6.10402846072,-0.0619305694367,0.0732109024759,0.0,481.34565968770687,482.2236393620934,482.07375547241037,480.39595683117517
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