C: 0 0 0 0 12.237600 0 
R1: 0.998688 12.139545 -0.001369 0.044757 0.000000 -0.000183 
R2: 0.000056 1.014612 -0.000143 0.008963 0.000000 -0.000034 
R3: -0.002098 0.309473 1.003626 12.207411 0.000000 0.000137 
R4: -0.000305 -0.009103 -0.000207 0.999440 0.000000 0.000010 
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 
