C: 0 0 0 0 55.182369 0 
R1: 0.980169 53.327511 0.000151 0.436674 0.000000 -0.000880 
R2: -0.111919 -5.082445 -0.000001 -0.043521 0.000000 0.000087 
R3: -0.031748 0.053734 1.042782 56.189300 0.000000 -0.000646 
R4: -0.004063 0.004331 0.114487 7.137309 0.000000 -0.000088 
R5: 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 
R6: 0.000000 0.000000 -0.000000 -0.000000 0.000000 1.000000 
