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0	0	0	-1	0	0	0	0	0	0
0	0	0	0	-1	0.169884239602834	0	0	0	0
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0	0	0	0	0	0	-1	0	0	0
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0	-0.076314767729491	0	0	0	-0.0931981266010553	0	0	-0.155461606010795	-1