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,-4.02343281678e-06,10.0000050657,10.0080571005,0.000879272034725,0.00100234846838,0.0,-0.000248895994103,0.000295149067074,0.268544969768,-0.0115417336266,0.00983281063391,0.0,487.2889474567243,488.02324254880745,487.68656851709846,486.8239416128337
0.12000000000000001,-9.58951746188e-05,10.0000741035,10.0268776687,0.0102803885059,0.01664931467,0.0,-0.00434556986901,0.00291756077338,0.358769788009,0.0220817733556,0.0511565895462,0.0,432.6227120831499,436.0879223676677,431.9979296354771,434.8234042433004
0.18,-0.00070078380317,10.0004657043,10.0506595749,0.0137214251284,0.020150027098,0.0,-0.0161552029116,0.0104592952003,0.433924531617,0.0368621380773,0.05725003152,0.0,428.7033639870711,429.2226983299614,428.69396422511954,429.9480520571525
0.23999999999999996,-0.00219858153641,10.0014535122,10.0841475655,0.0169001914927,0.024751879244,0.0,-0.0343558289148,0.0228747789299,0.682207411709,0.0248229350099,0.0441559219435,0.0,482.72283349907036,481.7354853251542,482.17453133419946,481.26462639705795
0.3,-0.00474965993025,10.0031959248,10.1256098999,0.0347307217536,0.0369392604034,0.0,-0.0517456375135,0.0368467918418,0.699790514201,-0.020675812993,0.0768082765189,0.0,409.9236955308657,412.8170487515697,411.74669752707905,407.70221351534184
0.36000000000000004,-0.00866444181699,10.0061500479,10.1711810006,0.0363524782656,0.0433785609695,0.0,-0.0794057205817,0.0617719825316,0.819135072311,-0.00330391213107,0.0904784673796,0.0,444.2049606492171,445.32976939904376,442.1671184071488,443.5958284217775
0.4200000000000001,-0.0141699166953,10.010459631,10.219266818,0.0363300474469,0.0497465555698,0.0,-0.104643660282,0.0818756885981,0.783725217473,0.000243386301345,0.0785935526175,0.0,393.2963010202769,392.2014129424221,392.34999953837644,392.6792023417283
0.48000000000000015,-0.0213431583353,10.0160169567,10.2660758801,0.0393790591681,0.0578728775348,0.0,-0.135149424424,0.103646925735,0.776533269688,-0.0200764495023,0.0976593973702,0.0,401.89539615452776,403.626313520454,403.2042221000089,401.36456991625397
0.5400000000000001,-0.0309057245499,10.023214883,10.3196064831,0.041950948627,0.0637411053856,0.0,-0.18430967182,0.136562175337,1.00758545787,4.52877077062e-05,0.0948836180387,0.0,476.5399882858055,476.33509953889836,478.6882162955548,480.21687336016987
0.6000000000000002,-0.0434900392533,10.0323946522,10.3858235407,0.0425689436971,0.0702066687029,0.0,-0.23591751351,0.169501926111,1.19940738278,-0.0098306723372,0.0839801116327,0.0,467.43125592807064,466.58744672615614,467.1659684281414,466.3954152404407
0.6600000000000003,-0.0590025005295,10.0433671356,10.4590302798,0.0419780550252,0.0778847327833,0.0,-0.281864715557,0.196186803801,1.24071771056,-0.00988428667754,0.100616364053,0.0,419.35796530257494,420.80762927460273,420.1582840507255,420.15375381952964
0.7200000000000003,-0.0775513316999,10.0560125343,10.5364324269,0.0446586959979,0.0845062491291,0.0,-0.337090189766,0.2255715642,1.33916904401,0.0087723342109,0.107876535733,0.0,438.9826778435392,439.59401686131554,437.77012065634153,439.31968131254115
0.7800000000000004,-0.0998858523877,10.0706105947,10.6228715212,0.0454029193708,0.104901358728,0.0,-0.409814123275,0.261101206763,1.54163453687,0.00232013341234,0.0657840996418,0.0,472.75152554832727,469.50438414942107,471.8088967807461,471.3104239999093
0.8400000000000004,-0.126698970946,10.0872247662,10.7186015677,0.0455376110712,0.110165162655,0.0,-0.484475905679,0.292706348485,1.6491421799,0.00206776962184,0.0772111052273,0.0,443.26314419896744,444.20482939670825,442.74177051514465,442.720961643506
0.9000000000000005,-0.158213049139,10.1057811596,10.8217383908,0.0456607618686,0.115519096414,0.0,-0.566563872129,0.325837451301,1.78845373262,0.00202109039652,0.0666301880786,0.0,454.45446847875496,453.60974334031545,453.30062178691344,453.29682754211706
0.9600000000000005,-0.194608258589,10.1262877014,10.9318743513,0.0520491164373,0.119626107854,0.0,-0.647018903633,0.358321021571,1.88248836786,0.0282708720692,0.0616160137133,0.0,440.6098570732616,440.19830169139135,438.74141444444183,440.9152294397411
1.0200000000000005,-0.236130741085,10.14897382,11.0494121107,0.059064261107,0.123525720233,0.0,-0.737463396575,0.398661576601,2.03504574308,0.00177837482402,0.0654909810758,0.0,458.8051474758815,459.1154092545462,460.00372639239885,457.9011614028547
1.0800000000000005,-0.282212187099,10.1737659887,11.1684228991,0.0647687319848,0.128040309703,0.0,-0.798937996707,0.428141194057,1.93207668399,0.0265239316768,0.0727555885182,0.0,373.4596763736186,374.17199273178113,372.1546109298501,374.56879153287946
1.1400000000000006,-0.332557116795,10.2006518114,11.2851257995,0.0663516710414,0.132921581803,0.0,-0.879684899844,0.468184203009,1.95787490767,0.025972397489,0.0635956759131,0.0,419.81159298276833,419.0201007112559,418.7457480488209,418.6979610594623
1.2000000000000006,-0.387967080029,10.2300341385,11.404332432,0.0685505796437,0.136901533133,0.0,-0.967691589421,0.511412249591,2.01547569595,0.0336214516353,0.0669937891019,0.0,430.6389586054052,430.9295135917376,428.7590728325459,429.40866671283226
1.2600000000000007,-0.449065673642,10.2622188489,11.5293031183,0.0727293268356,0.141800675866,0.0,-1.06944448949,0.561811827494,2.1498084347,0.0485710404394,0.0554501681124,0.0,454.76006111778116,453.83731892640475,454.79536083922665,455.9918272116057
1.3200000000000007,-0.516374756591,10.2975321371,11.662278926,0.0816652934615,0.146896118576,0.0,-1.17469852969,0.61619070917,2.28224653815,0.0742787964187,0.0688666806906,0.0,454.8951050439769,455.97060995732284,453.8509260121616,455.91173482751293
1.3800000000000008,-0.589977106663,10.3362054075,11.8022316675,0.0861681618575,0.15234259727,0.0,-1.27926845495,0.673339502434,2.38244472772,0.0757199230426,0.0550497106534,0.0,446.737968353396,445.612968671273,445.8922185375431,446.0142892419647
1.4400000000000008,-0.670234572298,10.3785518456,11.9499042796,0.0914807538424,0.15667601234,0.0,-1.39641268952,0.738734557023,2.53942463243,0.0842028649185,0.065033855262,0.0,464.3913385760235,465.1760305186425,463.9995642641362,464.6696745309612
1.5000000000000009,-0.75751866583,10.4248778365,12.1063022933,0.0969609925235,0.161185964207,0.0,-1.51350156959,0.806007691388,2.6733063584,0.0757353656558,0.0724584960664,0.0,457.94565831327606,458.53912732095193,459.3895471018596,458.7227752982575
1.560000000000001,-0.85125460963,10.4749463879,12.2665755565,0.101527691224,0.165522767916,0.0,-1.61143290359,0.863319338752,2.66896719837,0.0724976707202,0.0716534506481,0.0,414.4256519365034,414.3593224086012,415.56095996135616,415.2818442192063
1.620000000000001,-0.951538420758,10.5288940803,12.4299410495,0.110912300998,0.17416187176,0.0,-1.73224779418,0.935814489251,2.77590343218,0.0959063375944,0.0476007533067,0.0,452.328097078804,450.3898477009788,451.4954739546779,453.38526901124396
1.680000000000001,-1.05947583946,10.5875375732,12.6009975204,0.120845541072,0.177965673725,0.0,-1.86604932361,1.02000243302,2.92524945159,0.0722802576736,0.0356687264691,0.0,467.1784881857074,466.24816605065337,466.9918415749678,465.1513616245302
1.740000000000001,-1.17556546923,10.6514513703,12.7811724215,0.126199754082,0.18044587553,0.0,-2.00383776642,1.11094516736,3.07989231451,0.0821941465357,0.0279685852665,0.0,468.8667498381756,468.26849214867235,469.9703413343044,470.7422966588753
1.8000000000000012,-1.29868341933,10.7200441825,12.9635031929,0.136921076343,0.183828095412,0.0,-2.10043757649,1.17626424338,2.99776485548,0.107379208083,0.0124181318622,0.0,392.1920311219353,390.7450681081707,392.3142349699867,394.6540052844685
1.8600000000000012,-1.42880332206,10.7935579488,13.1470024861,0.143848878127,0.184614812685,0.0,-2.23694679076,1.27484205772,3.11826444408,0.0984553607467,0.0137549570043,0.0,460.74691922690437,460.8524747106257,460.78470310042013,460.08777854201594
1.9200000000000013,-1.56771180813,10.8735632558,13.340711564,0.149780300029,0.18542813685,0.0,-2.39334588677,1.39256147947,3.33773401459,0.099336449738,0.0124979706683,0.0,492.529295874038,492.43618334434836,490.917899069181,490.99064130396243
1.9800000000000013,-1.71430805471,10.9593909714,13.538448006,0.157596286203,0.186253949647,0.0,-2.49336168104,1.4689552518,3.25351030911,0.083164633976,0.00804955031342,0.0,396.0955681582404,395.6861128841593,395.76737927981145,394.2846820474511
2.0400000000000014,-1.86845813003,11.0511834853,13.7390921291,0.162752508765,0.187346453529,0.0,-2.64502367668,1.59123267856,3.43373698954,0.0773378457551,0.0154857392592,0.0,481.77300584467093,482.3348246187115,482.4658127499802,482.03042989701345
2.1000000000000014,-2.03140349002,11.1501071936,13.9485321703,0.1705580128,0.196995194675,0.0,-2.78746879998,1.70688724659,3.54660620235,0.0566113105544,-0.0180838384859,0.0,464.89072178993956,462.25265770791594,464.6097142447738,462.985325733084
2.1600000000000015,-2.20343728824,11.2563709409,14.1662279247,0.173970389295,0.209490673637,0.0,-2.94822841506,1.83538061036,3.70869142045,0.053587669303,0.0211030785402,0.0,478.99407107140064,481.9652059235568,481.2478835591226,481.02077632320146
2.2200000000000015,-2.38367870163,11.3690415128,14.3857570018,0.183279113129,0.210756702104,0.0,-3.06004515364,1.92099286606,3.60895395086,0.0253198007616,0.0210952411987,0.0,396.7921224211108,396.79145544766726,398.0878641259261,395.4938429764014
2.2800000000000016,-2.57091970058,11.4871575435,14.600369038,0.184787537935,0.21680911535,0.0,-3.18187291764,2.01625737888,3.54466223116,0.0237341205146,0.0438918600516,0.0,408.78808317077414,410.8150609102928,409.354446353542,409.2134520991809
2.3400000000000016,-2.76638443706,11.6116849439,14.814686227,0.190556947012,0.219641836555,0.0,-3.33390256111,2.13503732253,3.59861427865,0.0454006262479,0.0376571870349,0.0,451.2823243531941,450.7796529136408,447.9934801640037,449.75228806216245
2.4000000000000017,-2.97126808428,11.7436094381,15.033144868,0.193290534764,0.223743989055,0.0,-3.49595610511,2.26252226201,3.68257885905,0.0458086744604,0.0215383563017,0.0,461.3886023070779,460.11448994656774,461.1185005700311,461.15186218409946
2.4600000000000017,-3.18531806816,11.8826721588,15.2537938445,0.196971045348,0.225550615564,0.0,-3.63927352715,2.37309702422,3.67206653476,0.055251681073,0.0282855389067,0.0,431.46553847881194,432.0349589355067,431.06832291633043,431.8672242809162
2.520000000000002,-3.40841962068,12.0287553222,15.4754585496,0.200995679258,0.22823664398,0.0,-3.79771375738,2.49655668188,3.71614167377,0.0447462991321,0.0380447635759,0.0,450.29721484434725,451.08643757111344,450.73640469295503,449.8881904864819
2.580000000000002,-3.64046273933,12.1817430522,15.6970079274,0.203694936037,0.232109090249,0.0,-3.93749462639,2.6031408916,3.66860218253,0.0417633537476,0.0229805586177,0.0,422.60252704769425,421.30235746358665,420.3110097745505,420.0535665177697
2.640000000000002,-3.88143653416,12.341528197,15.9174904224,0.206872956226,0.239612498758,0.0,-4.09568927633,2.723120472,3.68015142162,0.0315018765992,-0.0053559532375,0.0,443.29160391853014,440.95657563680646,441.9840488001188,441.13813944593096
2.700000000000002,-4.13255788547,12.5089356877,16.140496923,0.208751355548,0.252468339018,0.0,-4.27624706932,2.85699185571,3.75223746004,0.0301153012865,-0.0463392228933,0.0,465.2663738181073,462.0460690862214,462.66474049174855,462.5558327775471
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2.880000000000002,-4.94956252045,13.0569917825,16.8229187842,0.217712182152,0.252922961095,0.0,-4.7883553408,3.22217116846,3.7754277216,0.00571390716748,-0.0180349392403,0.0,437.3832802730809,439.89774273568435,440.4236799428795,438.6438933690409
2.940000000000002,-5.24220552025,13.2541266395,17.0499994087,0.218984475729,0.252681064785,0.0,-4.9665145178,3.34890733771,3.79345858008,-0.00611500191126,-0.0293475951243,0.0,451.63797619732645,450.72446826100116,450.7342620253218,449.7770852888121
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3.0600000000000023,-5.85839346743,13.6704098509,17.5022446373,0.231858726378,0.253101919719,0.0,-5.3164549527,3.60232104203,3.78962376285,0.0280922172069,-0.00707595303113,0.0,460.1717539166114,461.7472645939784,461.5656927853136,461.4315891703682
3.1200000000000023,-6.18271201855,13.8904122387,17.7295116754,0.235593049264,0.252712173305,0.0,-5.49429411351,3.73121600768,3.78547083435,0.0111665168772,-0.0106460112714,0.0,446.7313741253938,446.4402382179652,448.0208276612575,446.6423372261895
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3.2400000000000024,-6.8674924298,14.3569778511,18.1967092102,0.237769148368,0.263083773694,0.0,-5.9079535216,4.031803421,3.94716558754,-0.0106073716647,0.0307463311691,0.0,461.1961053464829,462.0061168215859,462.5466966943149,461.7949683829388
3.3000000000000025,-7.22768235322,14.6027607959,18.4334379547,0.237208602418,0.271077291387,0.0,-6.09913207598,4.16056455839,3.94301249769,-0.0150550870855,0.056735995451,0.0,452.71816157537074,454.8057771284102,452.61884921631474,452.2608040769406
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3.4200000000000026,-7.9822858629,15.1169083705,18.9022912434,0.251417990443,0.279149617923,0.0,-6.48432875593,4.41460411398,3.88358825649,-0.042960245044,0.0327184038045,0.0,452.8394671539876,451.8060000292242,452.70395437478885,454.0728145130285
3.4800000000000026,-8.37656839512,15.384985649,19.1319302827,0.250498232076,0.281106779003,0.0,-6.65894061184,4.52107081422,3.77108531578,-0.0583161994858,0.0323710075776,0.0,421.4704339249488,421.44086501173285,421.24382758608084,419.9119131605112
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3.6000000000000028,-9.19964921435,15.941930345,19.5786962434,0.245238054811,0.306329900635,0.0,-7.06616203719,4.76050325481,3.67950349546,-0.0512611066139,0.0981109146903,0.0,446.88826995503615,449.90671471516396,446.9476332097182,448.0786840548049
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