data.txt

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,-1.1039120511910084e-06,3.041206779272755e-07,10.006537485258145,0.00025155202695170686,6.282595211814879,0.0,-2.8758547372462245e-05,2.6476029935018228e-05,0.2178992094106877,0.011479854018418657,-0.05227508474764252,0.0,474.4808001736404,470.45105537787924,472.75130279262487,473.6348044006792
0.12000000000000001,2.2357143943950397e-05,1.0142913524516614e-05,10.023389392719583,0.001070829378303273,6.279189955630155,0.0,0.0011548766306640303,0.00038162358743689756,0.34380024045635216,0.017683347122021714,-0.06768797112466352,0.0,446.1254987512698,444.86316428095284,444.46880631497305,444.9767288763569
0.18,0.00018752546630185479,5.859910903192702e-05,10.046560679043674,0.00206833582632715,6.275164296960746,0.0,0.004753911000969691,0.001336300794573243,0.42854511622007324,0.014420008801678017,-0.06593324446381811,0.0,432.4746371122916,432.6188820011752,431.94207648291007,431.6667522666901
0.23999999999999996,0.0006779830716484894,0.00019114172761305868,10.07805537623889,0.0024844541545885335,6.2711626375600105,0.0,0.01205433069709688,0.0031643564006957436,0.6211882724850395,-0.015490025284167562,-0.0682608546098488,0.0,465.8119691407677,465.62684339699103,466.6487293716657,464.30840489632664
0.3,0.0017113219808695874,0.0004370634632980418,10.12194905823905,0.0012567608916711492,6.267288921700683,0.0,0.022865107619379217,0.004906472809488402,0.841791737000875,-0.032941469389829184,-0.05803821894029387,0.0,473.53140376339,474.3142074439185,474.8939874150941,473.55368458914313
0.36000000000000004,0.0034376899449577547,0.0007505163525117175,10.176220774266811,6.282441094744424,6.26364891500249,0.0,0.03505482221148437,0.005331549831872176,0.9671608939093275,-0.03417830684431859,-0.06652099657439534,0.0,445.81878002563104,445.12258590597406,445.870274569636,445.76879204411864
0.4200000000000001,0.006033735486940933,0.0010430342642345596,10.2408970712865,6.280057515958553,6.259230206975207,0.0,0.05197252918056852,0.004157307749899756,1.1885007990939025,-0.05413901724930137,-0.09432475914365303,0.0,476.9832996202615,474.8512921922104,474.5360804051032,473.0007546284677
0.48000000000000015,0.009769256463898281,0.0012018063255799345,10.319226880926951,6.27761749666459,6.253502216892899,0.0,0.07323150131261917,0.0008000886225452565,1.4222117670653514,-0.022219546920375033,-0.0978518850007172,0.0,479.22294182961383,478.947746101263,477.5449779752526,479.97234318906595
0.5400000000000001,0.014795909736730275,0.0011301346722560957,10.40746754924265,6.276045095313751,6.247849122805771,0.0,0.094903755076579,-0.0033342504436073574,1.5189995168613066,-0.0356922769502791,-0.08779826513601781,0.0,437.4119726309512,438.2406122590284,438.7450362883525,437.6249523436768
0.6000000000000002,0.021117955146085558,0.0007996391301670147,10.498246234586304,6.273724640991119,6.243047966202049,0.0,0.11625856997331697,-0.007872143084212718,1.5069540138761344,-0.045426016568920806,-0.06780191383123096,0.0,401.3122084772875,403.1169345619431,402.81950228626727,401.9374547603284
0.6600000000000003,0.028877278901112816,0.00013632080866486,10.59016437726436,6.270898595628331,6.2386616306374805,0.0,0.14277936702831168,-0.01449994826247563,1.5568960565306966,-0.050679025866706987,-0.08667359643736497,0.0,423.45853616351764,421.82753035085733,423.98616068699516,423.5331858492799
0.7200000000000003,0.03839225481100697,-0.001001561980934542,10.686766615529688,6.2678542571221385,6.233889714205491,0.0,0.17488916133545956,-0.02374028128583329,1.6629994096503586,-0.050859100713496655,-0.06812382005116463,0.0,440.9645370193101,442.4888165297958,441.25534399295213,441.2388224040595
0.7800000000000004,0.05012755872954572,-0.002820264632882897,10.793684488353287,6.264626122839044,6.229466202740097,0.0,0.21678478955913866,-0.03726001801261344,1.9005287040552452,-0.060453097207596534,-0.08831896639255134,0.0,482.26821982966936,480.7365847463407,481.91632795249257,481.18895509557893
0.8400000000000004,0.0644290227029597,-0.00551069176128946,10.913703850090481,6.260922489026665,6.223788403762779,0.0,0.2605454515186471,-0.0528408964421902,2.0997224730700133,-0.06440440687661467,-0.11185711001698452,0.0,472.31508286574115,470.48898086953164,471.06794009347743,470.75980806220133
0.9000000000000005,0.08121902778654173,-0.009118558592926757,11.041098830433565,6.257744956355154,6.217115553904982,0.0,0.29974457250941505,-0.06774363216121296,2.1466362978047084,-0.03654375109610311,-0.10995942483134843,0.0,424.2586399736901,424.4099359560399,423.6692986738099,426.0556484969417
0.9600000000000005,0.10091089053551533,-0.013837226144220626,11.17758458761212,6.25496093812318,6.210820874425236,0.0,0.35741875269699913,-0.08981273676963956,2.4023135934269337,-0.08924601668524372,-0.09636322094546233,0.0,488.6250742737763,489.6289505766788,490.2626905230107,486.3294632286877
1.0200000000000005,0.12402275486060803,-0.019888478784151224,11.326731211235463,6.2494157234841055,6.2046707560451395,0.0,0.41360963835616743,-0.11249167697430024,2.5688000041889296,-0.09966892630503986,-0.11905961886023911,0.0,464.33450030636084,462.5416284336999,464.45285908917333,463.6278290745592
1.0800000000000005,0.150405247383713,-0.02732113347247107,11.482785427750182,6.24362669752497,6.197129887439186,0.0,0.46649645762558534,-0.13582399444204923,2.632768622222804,-0.09077691817557722,-0.1441547488605092,0.0,434.0847515013141,431.9583738371799,432.03811566075325,432.77890213174294
1.1400000000000006,0.18009399465299256,-0.03625583512059544,11.64243766922822,6.237868076592624,6.1885128840720185,0.0,0.5239373229704875,-0.16252254341406988,2.688727030042472,-0.10919441221600269,-0.1425630468047181,0.0,430.5348023598117,430.64947421320164,431.52061184797316,429.95469801174784
1.2000000000000006,0.21323114372965501,-0.046828317265590134,11.803738067090755,6.231427010595613,6.180524567536722,0.0,0.5813454614704014,-0.1904548486607791,2.6878360907251753,-0.10390104469778472,-0.11895267502199838,0.0,411.9202585609139,413.9846525471514,411.4652686321934,411.92248220751765
1.2600000000000007,0.24998329590904733,-0.05920607882027321,11.965295100271316,6.225246662724292,6.17337329639178,0.0,0.6443498496070257,-0.22268123094141345,2.697254201238825,-0.10127425842711094,-0.11966193854186907,0.0,416.1422404119902,416.0663039602544,415.94954689777876,416.1695078459676
1.3200000000000007,0.29122108252346884,-0.073933058112451,12.132572358002395,6.218773409583928,6.166643097662524,0.0,0.7309732655251923,-0.26889381961099496,2.8780455728361947,-0.1263317334329387,-0.10031654231418394,0.0,469.563600178021,471.05128375541824,472.0922941786665,470.14496878211116
1.3800000000000008,0.3377959440953951,-0.09158201333513537,12.310583865488423,6.21119822367643,6.160246861229194,0.0,0.8221541939519657,-0.3202253199901927,3.0550264193179992,-0.1260964518353769,-0.12373564873292055,0.0,472.1202918519619,470.3002857015157,470.4586360121739,470.46329921782785
1.4400000000000008,0.3896194872079476,-0.11226446534105623,12.496205387968187,6.203886402565486,6.15332377683464,0.0,0.9059609783739383,-0.36989704708084103,3.1319559422977648,-0.11452221304139748,-0.10246625760075763,0.0,441.10029810756237,442.8410314523093,440.1642016424375,441.10737755982495
1.5000000000000009,0.4466727628676385,-0.1361113252529319,12.686936068903385,6.197479224954872,6.146739715321331,0.0,0.996399480086049,-0.42563415098620866,3.2252763857974633,-0.09462510515754974,-0.1310726834935114,0.0,447.65712307223725,445.3120501970176,447.4452221210228,449.05203545582265
1.560000000000001,0.5095618036050982,-0.16359687835617773,12.885174248676826,6.191543577730622,6.138568140261198,0.0,1.1007011257071193,-0.49113469844135665,3.3819535409880706,-0.10932516412296524,-0.1491400694503762,0.0,467.54581559835356,466.1195544915325,469.6230723483876,468.47344528787886
1.620000000000001,0.5781420084298231,-0.19467319217370452,13.087688809538554,6.185056758574932,6.129513013395165,0.0,1.1860578343697346,-0.5452868304517863,3.36833453601614,-0.10579645576383258,-0.15473210353887856,0.0,415.78184369375896,415.2683859520602,414.01552794950027,414.31467553441223
1.680000000000001,0.6519882434820208,-0.22910148570261568,13.289285607646882,6.178746471781672,6.119854941511143,0.0,1.2762654863941207,-0.6028464993781413,3.351348417855589,-0.10395085896227266,-0.1778858532158416,0.0,415.3559202198416,413.2928717403969,413.93748487357493,414.0893207717445
1.740000000000001,0.7321970831264566,-0.26758366667993305,13.494491471556866,6.172513563723253,6.109449997312925,0.0,1.398393455575091,-0.680490096942864,3.4880549335700604,-0.1037441559661588,-0.1657205881518322,0.0,463.4980432430361,464.4255311823846,465.0002550434334,465.00757160524233
1.8000000000000012,0.8193583736506189,-0.3104809824338696,13.704504141257914,6.166747295103686,6.099503849906128,0.0,1.5078367033910438,-0.7499274220108489,3.51195615421769,-0.08406315306862595,-0.1658662361479625,0.0,430.82095949719513,430.7814448243269,428.7665823232329,430.42703388021835
1.8600000000000012,0.9136837873070056,-0.3579051445343787,13.918117295932248,6.1615752712055,6.089415021996809,0.0,1.6372580046265417,-0.8313270596925192,3.6077833660669705,-0.09085639818795384,-0.1731434068134574,0.0,454.1821183396785,453.57157157339685,455.16776696554945,454.61778215037833
1.9200000000000013,1.0166364767708953,-0.4107217868076269,14.14071548260234,6.156820224489326,6.079013623810074,0.0,1.7955280673269476,-0.9296907937710428,3.8109820646546226,-0.06267131190866704,-0.1737859165609878,0.0,488.0364293382642,487.9625187528272,488.06986013127124,490.1642765841365
1.9800000000000013,1.1295651433955778,-0.4696860380215404,14.376565736962677,6.153091235655394,6.069060553544592,0.0,1.9697607812885567,-1.0360849012293283,4.049315312885373,-0.06112715474071804,-0.15352224614404628,0.0,500.52255513127307,501.9720139055407,500.93325664423264,501.0432358511564
2.0400000000000014,1.2522145945848362,-0.5345431081209391,14.622261439790044,6.150259136338708,6.059546550478235,0.0,2.119346033711789,-1.1260502398017906,4.139752050167888,-0.02832491362903142,-0.1712626492302246,0.0,459.2497572814507,457.8169808153896,459.04605282857125,461.6403601762137
2.1000000000000014,1.3829810222968915,-0.6042385796906009,14.868798463542554,6.149017263965959,6.049973304138673,0.0,2.240284015185923,-1.1972448757316227,4.078007774298692,-0.008665839692262967,-0.14287714570287757,0.0,409.4489930957159,411.9396749949427,409.5082701811375,411.253431880346
2.1600000000000015,1.5219960089136177,-0.6786985002998098,15.115126201026964,6.148550334856129,6.0411930413808435,0.0,2.3942315060544317,-1.2847361937671768,4.132288571293197,-0.006070850068233828,-0.15434560557283603,0.0,449.7944603252291,448.8446822081034,450.5378175844211,450.7477180132219
2.2200000000000015,1.6704629798792499,-0.7584426920150849,15.364874701963776,6.148622818919957,6.032074929680224,0.0,2.555387389527092,-1.373344998082454,4.1919695337342375,0.012799365541693888,-0.14759932259149286,0.0,451.9857730770814,452.50785997024155,453.22559061199746,454.7398780354223
2.2800000000000016,1.8289152301426825,-0.8435750535276721,15.618733011799268,6.149244337313588,6.0228661521732185,0.0,2.7270427820397596,-1.4642514143009664,4.269187441211368,0.0049657899435177465,-0.1690597753081251,0.0,461.27808992880426,459.55824557978707,460.28605267703193,459.6654906891157
2.3400000000000016,1.996928319374908,-0.9336945084362607,15.873793542165245,6.149454179455873,6.013431588423629,0.0,2.8741055325808618,-1.5396969450690585,4.232519747830276,0.00038552197063891104,-0.1404534219761998,0.0,424.01505609657966,426.4404820890425,423.6276373994975,423.23348092063094
2.4000000000000017,2.174273032024705,-1.0285153133284441,16.127926043409467,6.149347040854899,6.005016412969862,0.0,3.0379761991563896,-1.620964755378402,4.238065851711667,-0.0065264478631833584,-0.1398553714238624,0.0,439.25897019177256,439.29003591361567,439.71251520147376,439.139492249741
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2.520000000000002,2.5590021626878174,-1.2327643039862244,16.636588454759128,6.1485127418031915,5.989645770811766,0.0,3.3721887406438835,-1.7813754590143205,4.2233664802327,0.01327859392505921,-0.11984056643765838,0.0,431.4452364958685,431.76208041848514,431.0756132842482,433.6088349350824
2.580000000000002,2.768068876833643,-1.3427530823712572,16.894837281493352,6.149066832110339,5.982098216267607,0.0,3.5970962668480193,-1.8847071349935165,4.383644589884717,-0.00041564855404188986,-0.14164267811808165,0.0,492.4351539955746,490.80644522886604,491.8450082281231,490.8295013121687
2.640000000000002,2.9896318290483395,-1.458439712590885,17.158989314250682,6.149214912384911,5.973760466612106,0.0,3.788850100673679,-1.9714476023632244,4.4206603227021475,0.007688414577557356,-0.13408401420538216,0.0,455.0048757205652,455.59225695335107,455.79143443590726,456.43871302732464
2.700000000000002,3.223990697063413,-1.5798090872051394,17.428881914107436,6.149968233589739,5.965640163377053,0.0,4.023525275579218,-2.0739877026829383,4.574361665180769,0.020846401296432275,-0.137970114708363,0.0,493.45073026100647,493.148793057307,493.87739969866163,494.84695276415187
2.760000000000002,3.470326479713663,-1.7064050638719133,17.70115191239544,6.151168904384935,5.957344044735191,0.0,4.188175752336586,-2.1458074227859543,4.501101477943239,0.018286268056790667,-0.13887179083580087,0.0,423.4105568885379,423.3141938872787,422.9639083716039,422.74331087911776
2.820000000000002,3.728580669412973,-1.8380463330172354,17.97463898001505,6.152471287571336,5.9489035962026655,0.0,4.420699561739342,-2.241994397782778,4.613870157861228,0.027792907295951408,-0.14454244469594763,0.0,485.18087529288096,484.73825096586177,484.35293515592525,485.06746122044945
2.880000000000002,4.000320375364761,-1.9752026567337018,18.253081691485054,6.154253695073322,5.9407329010899215,0.0,4.637695833268526,-2.329649103976674,4.666591045429959,0.033282792689674316,-0.12324554396296793,0.0,468.28414274810245,469.9217697273045,467.9530935980715,468.38054999906046
2.940000000000002,4.28543009689827,-2.1176689680534597,18.535267744997764,6.156684380643961,5.933385829311074,0.0,4.866223454024196,-2.418932556161351,4.738557716021727,0.052035107736800285,-0.12090952388947318,0.0,477.0483876487672,477.2143190449653,475.66646350529777,477.10134081655065
3.000000000000002,4.583543476915051,-2.265166247923559,18.81950713660547,6.159629206540423,5.92636615508124,0.0,5.0711748329337025,-2.497367078830726,4.735475421070607,0.04239956547826511,-0.11013831692409422,0.0,454.4690509508589,455.3197704813334,454.94266121657836,454.17174588293085
3.0600000000000023,4.8934076704805305,-2.4171212239177673,19.101850616720572,6.161902172002815,5.91979101246287,0.0,5.257912000816128,-2.567640413424511,4.6756957420605625,0.026832060343423354,-0.1085037268836189,0.0,436.57759782326855,436.7031620633168,437.77442591740873,436.4775225936071
3.1200000000000023,5.213865086288364,-2.573055007881375,19.37881780656965,6.163553987128832,5.913278012017262,0.0,5.4243277311081455,-2.6301122599243705,4.556599047829637,0.028891092042803993,-0.10864264794445568,0.0,416.93488317904274,416.9115155218561,416.0047157197421,416.1852623957255
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