diff --git a/session_20251213_172653/Clamp_Data/clamp_data_tum.txt b/session_20251213_172653/Clamp_Data/clamp_data_tum.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f549575a92b27290a1ea75b36c0386a16fbce03
--- /dev/null
+++ b/session_20251213_172653/Clamp_Data/clamp_data_tum.txt
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diff --git a/session_20251213_172653/SLAM_Poses/slam_raw.txt b/session_20251213_172653/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c11de3ab3ecb1e295b9af08ef499ebc444aa14e3
--- /dev/null
+++ b/session_20251213_172653/SLAM_Poses/slam_raw.txt
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diff --git a/session_20251213_172653/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_172653/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..78a084591af08a99c48d6fd1fa3c32549362ee75
--- /dev/null
+++ b/session_20251213_172653/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,8100 @@
+# time x_base y_base z_base roll_base_deg pitch_base_deg yaw_base_deg clamp_open  (x_base,y_base,z_base in robot base frame s, meters; clamp_open in [0,1])
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diff --git a/session_20251213_172653/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_172653/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f672f937c64248103b6fe25065531bc0b8052182
--- /dev/null
+++ b/session_20251213_172653/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,8100 @@
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diff --git a/session_20251213_172653/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_172653/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..651272f9ebf24a973bfe60f22c97899a0f6e4771
--- /dev/null
+++ b/session_20251213_172653/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,8099 @@
+# time dt vx vy vz wx_deg wy_deg wz_deg clamp_open  (time, dt in seconds; v in m/s; w in deg/s; clamp_open in [0,1]; robot base frame)
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+673499.515835000 0.001997000 -0.011123 0.025697 -0.026404 8.369045 7.948245 1.750639 0.908193
+673499.517841000 0.002006000 -0.009820 0.025234 -0.026124 8.136631 7.820309 2.301736 0.908193
+673499.519835000 0.001994000 -0.008299 0.025152 -0.026238 7.820516 7.429755 2.560328 0.908193
+673499.521837000 0.002002000 -0.007046 0.024843 -0.025827 7.646134 7.411387 3.079226 0.908193
+673499.523835000 0.001998000 -0.003790 0.021879 -0.026438 6.791469 6.700942 4.167158 0.908193
+673499.525804000 0.001969000 -0.003141 0.023420 -0.026573 7.066469 6.906282 3.943951 0.908193
+673499.527834000 0.002030000 -0.001918 0.022601 -0.025757 6.581412 6.815363 4.464069 0.908193
+673499.529835000 0.002001000 -0.000633 0.022064 -0.025226 6.216150 6.585945 4.846916 0.908193
+673499.531834000 0.001999000 0.001007 0.021098 -0.024791 5.904457 6.296427 5.548479 0.908193
+673499.533834000 0.002000000 0.003405 0.019703 -0.024865 5.312594 5.455376 6.229863 0.908193
+673499.535837000 0.002003000 0.005176 0.018561 -0.024211 4.880430 5.110266 6.891552 0.908193
+673499.543305000 0.007468000 0.009120 0.016133 -0.022401 3.642545 4.173950 7.866728 0.908193
+673499.543313000 0.000008000 0.010090 0.015075 -0.019461 2.739983 3.626700 8.595882 0.908193
+673499.543314000 0.000001000 0.010090 0.015075 -0.019461 2.739943 3.626648 8.595757 0.908193
+673499.543836000 0.000522000 0.010090 0.015075 -0.019461 2.739943 3.626648 8.595757 0.908193
+673499.545835000 0.001999000 0.012238 0.012081 -0.017450 1.099018 2.687316 9.623538 0.908193
+673499.549838000 0.004003000 0.013819 0.009774 -0.018761 0.710626 2.479385 9.100761 0.908079
+673499.552640000 0.002802000 0.014524 0.008254 -0.016126 -0.363893 2.258342 9.231031 0.908079
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+673499.555838000 0.002003000 0.015308 0.004771 -0.013724 -2.060125 1.990359 9.242380 0.908193
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+673499.567835000 0.002001000 0.017016 0.004764 -0.011582 -2.213571 -0.738225 7.841869 0.908193
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+673499.573836000 0.002001000 0.015099 0.006997 -0.015791 -0.171203 -0.955033 5.283646 0.908193
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+673499.577835000 0.002001000 0.012921 0.009062 -0.016442 1.089912 -0.609137 3.789795 0.908193
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+673515.721795000 0.001962000 -0.019519 -0.002077 -0.007694 4.809119 1.585009 -3.533156 1.000000
diff --git a/session_20251213_172653/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_172653/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ace28ee745ecf981395911d5a1275592b0a44020
--- /dev/null
+++ b/session_20251213_172653/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,8099 @@
+# time dt vx vy vz wx_deg wy_deg wz_deg clamp_open  (time, dt in seconds; v in m/s; w in deg/s; clamp_open in [0,1]; collector frame)
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+673499.517841000 0.002006000 -0.009820 0.025234 -0.026124 8.136631 7.820309 2.301736 0.908193
+673499.519835000 0.001994000 -0.008299 0.025152 -0.026238 7.820516 7.429755 2.560328 0.908193
+673499.521837000 0.002002000 -0.007046 0.024843 -0.025827 7.646134 7.411387 3.079226 0.908193
+673499.523835000 0.001998000 -0.003790 0.021879 -0.026438 6.791469 6.700942 4.167158 0.908193
+673499.525804000 0.001969000 -0.003141 0.023420 -0.026573 7.066469 6.906282 3.943951 0.908193
+673499.527834000 0.002030000 -0.001918 0.022601 -0.025757 6.581412 6.815363 4.464069 0.908193
+673499.529835000 0.002001000 -0.000633 0.022064 -0.025226 6.216150 6.585945 4.846916 0.908193
+673499.531834000 0.001999000 0.001007 0.021098 -0.024791 5.904457 6.296427 5.548479 0.908193
+673499.533834000 0.002000000 0.003405 0.019703 -0.024865 5.312594 5.455376 6.229863 0.908193
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+673499.543305000 0.007468000 0.009120 0.016133 -0.022401 3.642545 4.173950 7.866728 0.908193
+673499.543313000 0.000008000 0.010090 0.015075 -0.019461 2.739983 3.626700 8.595882 0.908193
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+673499.543836000 0.000522000 0.010090 0.015075 -0.019461 2.739943 3.626648 8.595757 0.908193
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+673499.552640000 0.002802000 0.014524 0.008254 -0.016126 -0.363893 2.258342 9.231031 0.908079
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+673499.563835000 0.002000000 0.016410 0.003688 -0.012684 -2.764484 0.324562 7.932972 0.908193
+673499.565834000 0.001999000 0.016686 0.003697 -0.013177 -2.554361 -0.182000 7.576514 0.908193
+673499.567835000 0.002001000 0.017016 0.004764 -0.011582 -2.213571 -0.738225 7.841869 0.908193
+673499.569834000 0.001999000 0.016493 0.004821 -0.014828 -1.523208 -0.915869 6.670295 0.908306
+673499.571835000 0.002001000 0.015861 0.005766 -0.015177 -0.942880 -0.939917 6.007578 0.908306
+673499.573836000 0.002001000 0.015099 0.006997 -0.015791 -0.171203 -0.955033 5.283646 0.908193
+673499.575834000 0.001998000 0.014017 0.007833 -0.016032 0.451606 -0.745818 4.633710 0.908193
+673499.577835000 0.002001000 0.012921 0.009062 -0.016442 1.089912 -0.609137 3.789795 0.908193
+673499.579815000 0.001980000 0.011166 0.010355 -0.016263 1.797858 -0.011322 2.911591 0.908193
+673499.581835000 0.002020000 0.009936 0.011284 -0.016432 2.417089 0.270967 2.251157 0.908193
+673499.583834000 0.001999000 0.008507 0.010129 -0.021259 3.523937 0.930472 1.276844 0.908193
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diff --git a/session_20251213_173008/SLAM_Poses/slam_raw.txt b/session_20251213_173008/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2360083a66b6b62ae4c458c7fd8f6be65440c6a9
--- /dev/null
+++ b/session_20251213_173008/SLAM_Poses/slam_raw.txt
@@ -0,0 +1,7563 @@
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diff --git a/session_20251213_173008/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_173008/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b29a1de5dfd72feb1903019fffa99835bbad32ba
--- /dev/null
+++ b/session_20251213_173008/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,7564 @@
+# time x_base y_base z_base roll_base_deg pitch_base_deg yaw_base_deg clamp_open  (x_base,y_base,z_base in robot base frame s, meters; clamp_open in [0,1])
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+673666.965839000 0.396805 0.008107 0.395177 -49.04508 64.82239 -57.45083 0.955674
+673666.967836000 0.396963 0.008159 0.395266 -48.83625 64.78017 -57.27059 0.955674
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+673666.971834000 0.397254 0.008238 0.395471 -48.45107 64.69972 -56.94008 0.955783
+673666.973835000 0.397385 0.008273 0.395583 -48.27016 64.66026 -56.79072 0.955783
+673666.975835000 0.397506 0.008297 0.395704 -48.10384 64.62112 -56.65499 0.955783
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+673666.979835000 0.397722 0.008325 0.395966 -47.79989 64.54347 -56.41585 0.956002
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+673667.015834000 0.398663 0.007233 0.398633 -45.66216 63.67989 -55.16877 0.961466
+673667.017834000 0.398667 0.007148 0.398773 -45.54265 63.63895 -55.12531 0.961466
+673667.019835000 0.398665 0.007065 0.398910 -45.42199 63.59985 -55.08399 0.962011
+673667.021837000 0.398659 0.006985 0.399044 -45.29821 63.56244 -55.04411 0.962011
+673667.023834000 0.398651 0.006905 0.399173 -45.17087 63.52449 -55.00395 0.962665
+673667.025835000 0.398642 0.006823 0.399298 -45.03899 63.48590 -54.96147 0.962665
+673667.027835000 0.398635 0.006741 0.399417 -44.90258 63.44685 -54.91596 0.962665
+673667.029839000 0.398617 0.006625 0.399537 -44.77017 63.40427 -54.86889 0.963535
+673667.031834000 0.398605 0.006536 0.399651 -44.63053 63.36605 -54.82210 0.963535
+673667.033836000 0.398591 0.006447 0.399764 -44.48894 63.32760 -54.77499 0.963971
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+673667.037834000 0.398560 0.006271 0.399981 -44.20308 63.25246 -54.68033 0.963971
+673667.039838000 0.398536 0.006199 0.400084 -44.05897 63.21492 -54.63261 0.964623
+673667.042021000 0.398519 0.006093 0.400198 -43.90519 63.17753 -54.58422 0.964623
+673667.043834000 0.398495 0.006028 0.400289 -43.77725 63.14552 -54.54352 0.965058
+673667.045836000 0.398478 0.005923 0.400399 -43.64953 63.11078 -54.51140 0.965058
+673667.047840000 0.398449 0.005805 0.400510 -43.52815 63.07546 -54.47942 0.965058
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diff --git a/session_20251213_173008/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_173008/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ec40e5f7ff9c640e0557fab245f7f8b7a22747e6
--- /dev/null
+++ b/session_20251213_173008/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,7564 @@
+# time x y z roll_deg pitch_deg yaw_deg clamp_open  (x,y,z in meters, origin at first pose in collector frame; clamp_open in [0,1])
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+673681.929836000 0.064005 -0.363974 -0.190250 -66.38532 68.42963 -65.53816 0.982096
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+673682.105836000 0.055092 -0.358593 -0.191811 -73.36576 70.68202 -72.00814 0.986474
diff --git a/session_20251213_173008/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_173008/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60575c9cc9073afe137a5538b725f994a422bf7b
--- /dev/null
+++ b/session_20251213_173008/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,7563 @@
+# time dt vx vy vz wx_deg wy_deg wz_deg clamp_open  (time, dt in seconds; v in m/s; w in deg/s; clamp_open in [0,1]; robot base frame)
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+673666.965839000 0.001998000 0.078498 0.028378 0.044240 7.359864 -47.275175 -2.838977 0.955674
+673666.967836000 0.001997000 0.079167 0.025765 0.044480 6.209630 -48.894433 -4.366091 0.955674
+673666.969834000 0.001998000 0.074471 0.020890 0.050301 5.845227 -45.690063 -3.527271 0.955783
+673666.971834000 0.002000000 0.071304 0.018895 0.052336 5.020647 -45.207381 -5.394409 0.955783
+673666.973835000 0.002001000 0.065615 0.017455 0.055726 4.619504 -43.159405 -7.085157 0.955783
+673666.975835000 0.002000000 0.060527 0.012049 0.060663 3.181031 -40.512825 -7.276322 0.955783
+673666.977835000 0.002000000 0.056467 0.008968 0.063411 2.284754 -39.044953 -8.461754 0.955783
+673666.979835000 0.002000000 0.051284 0.004983 0.067366 1.295990 -36.782161 -9.237949 0.956002
+673666.981834000 0.001999000 0.047530 0.000010 0.070406 -0.213436 -35.526459 -10.056542 0.956002
+673666.983834000 0.002000000 0.043104 -0.003122 0.073032 -1.234269 -34.346787 -11.574536 0.956331
+673666.985836000 0.002002000 0.039194 -0.006653 0.075853 -1.903564 -32.988556 -12.388058 0.956331
+673666.987834000 0.001998000 0.031031 -0.013508 0.073602 -2.693171 -32.427024 -13.563767 0.956331
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+673666.993838000 0.002004000 0.020921 -0.051462 0.068158 -11.804038 -32.170171 -14.398748 0.957644
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+673667.017834000 0.002000000 0.001693 -0.042373 0.069910 -1.644567 -33.453988 -31.817550 0.961466
+673667.019835000 0.002001000 -0.000643 -0.041791 0.068769 -0.697864 -33.153233 -33.371963 0.962011
+673667.021837000 0.002002000 -0.003166 -0.040060 0.066835 0.431934 -33.254885 -35.449257 0.962011
+673667.023834000 0.001997000 -0.004159 -0.040135 0.064637 0.716646 -34.168695 -36.980625 0.962665
+673667.025835000 0.002001000 -0.004216 -0.040676 0.062233 1.076530 -35.149108 -37.757572 0.962665
+673667.027835000 0.002000000 -0.003785 -0.041141 0.059683 1.522291 -36.153980 -38.261910 0.962665
+673667.029839000 0.002004000 -0.008773 -0.057679 0.059680 -0.382980 -36.402120 -35.608092 0.963535
+673667.031834000 0.001995000 -0.006292 -0.044650 0.057583 2.390278 -36.667641 -39.123633 0.963535
+673667.033836000 0.002002000 -0.006727 -0.044498 0.056308 2.593547 -36.995705 -39.676268 0.963971
+673667.035835000 0.001999000 -0.007699 -0.044374 0.055133 2.972804 -36.926325 -39.993425 0.963971
+673667.037834000 0.001999000 -0.007976 -0.043641 0.053280 3.456959 -37.256390 -40.397041 0.963971
+673667.039838000 0.002004000 -0.011883 -0.036090 0.051499 3.453917 -37.254426 -40.394423 0.964623
+673667.042021000 0.002183000 -0.007553 -0.048651 0.052187 4.434081 -35.814576 -40.704930 0.964623
+673667.043834000 0.001813000 -0.013708 -0.035386 0.049941 4.087777 -36.193469 -40.517251 0.965058
+673667.045836000 0.002002000 -0.008170 -0.052916 0.054935 2.601403 -33.555001 -40.867845 0.965058
+673667.047840000 0.002004000 -0.014651 -0.058648 0.055622 1.571452 -32.550585 -38.052436 0.965058
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+673667.057840000 0.002004000 -0.016790 -0.053205 0.058355 -1.368297 -26.431430 -42.041010 0.965492
+673667.059838000 0.001998000 -0.019441 -0.053740 0.060152 -2.536964 -24.345653 -42.542529 0.965601
+673667.061835000 0.001997000 -0.023160 -0.043851 0.059112 -2.694245 -24.053919 -42.620947 0.965601
+673667.063835000 0.002000000 -0.018422 -0.092407 0.068296 -7.634242 -17.160298 -35.865494 0.965601
+673667.065837000 0.002002000 -0.025822 -0.061730 0.064937 -7.077480 -18.085385 -40.438588 0.965601
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+673667.069837000 0.001997000 -0.028941 -0.065097 0.069166 -9.640728 -14.284198 -38.241414 0.965601
+673667.071836000 0.001999000 -0.029222 -0.065625 0.070234 -10.323974 -13.111769 -37.221826 0.965601
+673667.073835000 0.001999000 -0.029932 -0.066199 0.071999 -11.071202 -11.794900 -36.282103 0.965601
+673667.075834000 0.001999000 -0.033313 -0.054557 0.072911 -11.241085 -11.468990 -36.076307 0.965710
+673667.077833000 0.001999000 -0.024081 -0.080514 0.074375 -13.930688 -11.201358 -33.856542 0.965710
+673667.079834000 0.002001000 -0.027668 -0.068706 0.075816 -13.640551 -10.432166 -32.877160 0.965710
+673667.081836000 0.002002000 -0.025895 -0.069061 0.076224 -13.982610 -10.389691 -31.355026 0.965818
+673667.083835000 0.001999000 -0.028610 -0.057400 0.076714 -14.062575 -10.433531 -30.953697 0.965818
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+673667.093835000 0.001999000 -0.024985 -0.051428 0.079067 -11.902202 -10.006457 -26.977153 0.965818
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+673667.097812000 0.001977000 -0.013838 -0.063838 0.072491 -9.573313 -12.384965 -24.649972 0.965818
+673667.099836000 0.002024000 -0.018083 -0.046159 0.078324 -9.747042 -12.579074 -24.861617 0.965927
+673667.101836000 0.002000000 -0.010111 -0.053549 0.074688 -8.803705 -14.652210 -22.888261 0.965927
+673667.103835000 0.001999000 -0.007250 -0.052343 0.074874 -8.588600 -15.719710 -22.316969 0.965927
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diff --git a/session_20251213_173008/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_173008/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a5cb04c48d5e1a11d01ac015d94cb93b5d9d18c0
--- /dev/null
+++ b/session_20251213_173008/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,7563 @@
+# time dt vx vy vz wx_deg wy_deg wz_deg clamp_open  (time, dt in seconds; v in m/s; w in deg/s; clamp_open in [0,1]; collector frame)
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+673666.965839000 0.001998000 0.078498 0.028378 0.044240 7.359864 -47.275175 -2.838977 0.955674
+673666.967836000 0.001997000 0.079167 0.025765 0.044480 6.209630 -48.894433 -4.366091 0.955674
+673666.969834000 0.001998000 0.074471 0.020890 0.050301 5.845227 -45.690063 -3.527271 0.955783
+673666.971834000 0.002000000 0.071304 0.018895 0.052336 5.020647 -45.207381 -5.394409 0.955783
+673666.973835000 0.002001000 0.065615 0.017455 0.055726 4.619504 -43.159405 -7.085157 0.955783
+673666.975835000 0.002000000 0.060527 0.012049 0.060663 3.181031 -40.512825 -7.276322 0.955783
+673666.977835000 0.002000000 0.056467 0.008968 0.063411 2.284754 -39.044953 -8.461754 0.955783
+673666.979835000 0.002000000 0.051284 0.004983 0.067366 1.295990 -36.782161 -9.237949 0.956002
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