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,-3.75510101692e-07,-7.00498443019e-08,10.0061522025,6.28286581389,0.000302665808766,0.0,-3.21196846121e-05,-1.75886251442e-05,0.205058235786,-0.018975857394,0.0135938533464,0.0,468.5759677911365,469.6312914660142,469.73570352996296,468.262213428907
0.12000000000000001,-1.3907341561e-05,-1.48727202877e-05,10.0266283471,6.28137994317,0.000914063472488,0.0,-0.000511257342133,-0.000638431780138,0.477405564576,-0.0400360567152,0.00232360477802,0.0,488.9612508367876,488.1209342291858,489.45935136340825,487.88965018868635
0.18,-6.42962274997e-05,-9.98742335313e-05,10.0584779144,6.27921953454,0.00116856207243,0.0,-0.00118887461906,-0.00242879336672,0.584196970854,-0.028970433197,0.00782564888028,0.0,438.54619226261684,439.00282259121457,439.38014407404876,440.29581767886395
0.23999999999999996,-0.000158380934395,-0.000322678027634,10.0938335631,6.27736290413,0.00186635865007,0.0,-0.00199986087603,-0.00515711854399,0.594318548405,-0.0352147975767,0.0183205708423,0.0,407.19471104850976,408.1322463821469,408.1188880196221,407.56081545385376
0.3,-0.000327458438531,-0.000774921106744,10.1351716275,6.27646871467,0.00351489522119,0.0,-0.00379920805862,-0.0100712185538,0.783504683968,0.00924515659002,0.0413600954048,0.0,464.5744595160312,466.37734135803294,462.2421703129819,465.7320124091584
0.36000000000000004,-0.000629228791549,-0.00150146990583,10.1830189062,6.27709075497,0.00631343870688,0.0,-0.00650237209894,-0.0140931327335,0.811384283738,0.0125222010029,0.0555305760514,0.0,413.1992130902815,414.44784449880785,414.09727285654265,414.38529052397234
0.4200000000000001,-0.00115288646445,-0.00246161966007,10.2332653908,6.27764633132,0.00994457299157,0.0,-0.0112844823703,-0.017848700391,0.863458164882,0.00177113698861,0.0689834049704,0.0,421.42954815847696,422.59337599075945,422.68215137868395,421.75462120511236
0.48000000000000015,-0.00204816225937,-0.00364420667622,10.2877867737,6.27717179737,0.0140747827936,0.0,-0.0189731475062,-0.0215686412138,0.953845005027,-0.0474888978797,0.0685422121193,0.0,434.3750807361039,434.3417922183181,436.9565837675507,432.8309874552342
0.5400000000000001,-0.00346228351214,-0.00505998093839,10.3459447741,6.27405097937,0.0181352461805,0.0,-0.0285389300093,-0.0258957065947,0.984720801571,-0.0630865141512,0.0658806257012,0.0,415.8152947589366,415.585879200958,415.70063733768023,414.32971671146646
0.6000000000000002,-0.00553749916303,-0.00680245953345,10.4066043997,6.27068461341,0.0218527580196,0.0,-0.0409997047608,-0.0325233644224,1.0372093124,-0.0449050648026,0.0526623646407,0.0,423.8619643136737,422.72752603380064,421.129175129499,422.6962733067554
0.6600000000000003,-0.00843026032411,-0.00900466705995,10.4704646157,6.26786184723,0.0248678389446,0.0,-0.0557190953338,-0.0411451420429,1.09140327885,-0.0517128970773,0.0449333445296,0.0,423.2349191244457,422.5709812454439,423.9787223531693,423.3920188238902
0.7200000000000003,-0.0122297529218,-0.0117581057019,10.5362442142,6.26540751944,0.0282011666277,0.0,-0.0712029082182,-0.0508770559416,1.10122884148,-0.0251678245631,0.0710910071078,0.0,407.06309895988517,409.3991531171067,407.80815031560525,410.1708855040028
0.7800000000000004,-0.0171731613025,-0.0152280264782,10.6078018838,6.26438990003,0.0321125015758,0.0,-0.0940436170412,-0.0649236218368,1.28382169325,-0.00420741473745,0.0495106123045,0.0,465.42265649656355,463.73359436459293,462.04152741060926,463.690928464311
0.8400000000000004,-0.0235280588787,-0.0195341819446,10.6889663824,6.26415577162,0.0350244887285,0.0,-0.118097868083,-0.0786379811083,1.42148774325,-0.00329844085275,0.0465034553943,0.0,450.0315766825309,449.789544031254,451.0474320646007,451.1209023551583
0.9000000000000005,-0.0315357092708,-0.0247467961735,10.7825146817,6.26393554002,0.0375234999557,0.0,-0.14915248933,-0.0951355165395,1.69640711072,-0.00442533042474,0.0295520601018,0.0,492.25556874984676,491.00041287162213,491.2399202479587,491.1564317569507
0.9600000000000005,-0.0413493877921,-0.0308953529409,10.8894489151,6.26362268631,0.0395729455205,0.0,-0.178177323595,-0.109843841167,1.86779142941,-0.00684072057774,0.0420622400684,0.0,462.20493749077696,463.19017149626626,461.35997835327515,461.16933883486405
1.0200000000000005,-0.0528674700922,-0.0378896731906,11.004496248,6.26440826954,0.0416901118511,0.0,-0.205994967508,-0.123261671255,1.96694205122,0.0369676989315,0.0161359651406,0.0,441.85031788121137,439.7083665557144,437.96249998929216,441.59094262363527
1.0800000000000005,-0.0662496881331,-0.045732985616,11.1292307825,6.26698100337,0.0430206531939,0.0,-0.240203966007,-0.137884609766,2.19047045223,0.0526491503382,0.0321239947824,0.0,477.23695361648055,478.45565012717503,478.29329854056755,479.4868763297444
1.1400000000000006,-0.0816931288982,-0.0543766612053,11.266713033,6.26964914119,0.0455855225261,0.0,-0.27483054279,-0.149879770689,2.39186134941,0.018259229663,0.058286737112,0.0,471.229525690713,473.24834505529367,474.52967259470944,471.88338695461766
1.2000000000000006,-0.0992735179135,-0.0636828879421,11.4161087822,6.27143514393,0.0491977023018,0.0,-0.311577008385,-0.160147528426,2.58755205336,0.0462499071083,0.0637822355034,0.0,472.62674711831613,473.05241687967805,469.8766271209892,472.04171816065906
1.2600000000000007,-0.118975710637,-0.073518187542,11.5738383339,6.27465550085,0.0534023000255,0.0,-0.345555813288,-0.167393256586,2.66988831524,0.0654433090514,0.08036737358,0.0,437.81797845782256,439.1994216056887,436.86499246858455,438.464321095064
1.3200000000000007,-0.140942403658,-0.0837390715898,11.7390342248,6.27893298875,0.0582600179555,0.0,-0.387187864111,-0.172839702319,2.83620969545,0.0809725941865,0.0821246816609,0.0,464.08374136167015,464.22663832223196,464.2676777886509,465.4880918298855
1.3800000000000008,-0.165459671065,-0.0941832946401,11.9132174558,0.000331600289698,0.0634296712445,0.0,-0.430576544737,-0.174793962381,2.96952166049,0.0651779316482,0.093205196006,0.0,454.2742031110503,455.16773248847113,456.7083874617358,455.451254202064
1.4400000000000008,-0.192461674927,-0.104652749849,12.0917777493,0.00465182187423,0.0689274231236,0.0,-0.469983918013,-0.173819762152,2.98241291746,0.0830014283308,0.0882772177269,0.0,417.7433301127356,417.32103212513016,417.05727721953116,418.61541552129285
1.5000000000000009,-0.222259164916,-0.114956364958,12.2758459618,0.00971042740126,0.0745020674554,0.0,-0.523847919847,-0.169073807822,3.15268030255,0.0868051871054,0.100853624831,0.0,467.2542014400486,468.24037372783243,467.22303510743103,467.5249310530483
1.560000000000001,-0.254908560494,-0.124931249717,12.4633795059,0.0144909867418,0.0809549176976,0.0,-0.564975868153,-0.163021437983,3.09853275101,0.0589740627707,0.118368677955,0.0,395.5126502852206,397.1340873851709,396.9366110276663,394.3798457764254
1.620000000000001,-0.290729214894,-0.134361484614,12.654890743,0.0184472380081,0.0876123319957,0.0,-0.629802395644,-0.150896305228,3.28456456618,0.0771158884073,0.0889270345805,0.0,473.36033845548224,471.0989368819696,473.4221960211824,474.81889668621375
1.680000000000001,-0.330309952864,-0.143028492272,12.8544279651,0.0232276172322,0.092866152898,0.0,-0.690063421951,-0.137542835062,3.36636190777,0.0843483114868,0.0846892625526,0.0,443.699299987856,443.3576097572393,441.25843334022574,441.86021980611577
1.740000000000001,-0.373671214771,-0.150781919049,13.0594853183,0.0281912769786,0.0982040371073,0.0,-0.755821005603,-0.120401316123,3.46849078135,0.0792739659009,0.0963727333592,0.0,449.08924093785635,450.04238908496063,449.8596572854346,449.4540402048713
1.8000000000000012,-0.420827463366,-0.157482840761,13.2679925334,0.0329830014975,0.104577836466,0.0,-0.816600191272,-0.102540705689,3.48161604628,0.0810123886302,0.120912412429,0.0,420.7131366100504,422.84285258969487,421.76596715940434,421.92158723153665
1.8600000000000012,-0.471995150503,-0.162948031051,13.47956613,0.0376691054727,0.111864303139,0.0,-0.889693006526,-0.0791656682015,3.57043253498,0.0715358428855,0.122477075127,0.0,446.17739294615296,446.3183794857792,447.3710936481269,446.6035697293502
1.9200000000000013,-0.527676514892,-0.16692550011,13.6962570986,0.0416744755876,0.119162838562,0.0,-0.967053899962,-0.0530167008382,3.65219925936,0.0548945387081,0.119919815195,0.0,445.39569118975425,445.19982771537747,445.9153129977612,444.55698504981416
1.9800000000000013,-0.588019155292,-0.169302603744,13.9167705336,0.0445656326027,0.126700546841,0.0,-1.04504780151,-0.0259352527743,3.69795590313,0.029326591088,0.135112051877,0.0,433.81988815546714,435.10834513223375,435.8282857674212,433.6872828422203
2.0400000000000014,-0.653961664541,-0.169736313071,14.145991365,0.0468240473639,0.134530885753,0.0,-1.15391756116,0.0116862020081,3.94171560615,0.050521029404,0.119191991436,0.0,495.30627650703923,494.1476079248365,495.0515612087449,496.60918139409944
2.1000000000000014,-0.726363095354,-0.167945016258,14.3878496456,0.0498673412544,0.142389731923,0.0,-1.26023949207,0.0483301565182,4.11938801266,0.0511195099641,0.147744585866,0.0,477.86811178191095,480.0536829837353,477.29677744890637,477.3438926466932
2.1600000000000015,-0.804751952173,-0.16408829151,14.6363328564,0.0527569856514,0.151307401633,0.0,-1.35353429118,0.0804897069091,4.16301068698,0.0414692970393,0.150336211856,0.0,437.8586637413576,438.09532131747807,439.55332166167904,438.75421480664505
2.2200000000000015,-0.889094029738,-0.158186446467,14.8885878844,0.0558785293167,0.160631173018,0.0,-1.4587349935,0.11649462701,4.24493384099,0.0674901136963,0.16395814442,0.0,450.74768596533306,451.86955099540023,450.80246591992847,452.9019611745403
2.2800000000000016,-0.9805057765,-0.149863385367,15.1491577544,0.0599239152106,0.170760496707,0.0,-1.58935743475,0.161350353309,4.43964043973,0.067288797362,0.177098666678,0.0,486.3318799230336,487.3396144931546,486.9443737833439,486.9322831433359
2.3400000000000016,-1.07925254297,-0.139015972957,15.4170873751,0.0636339084251,0.181476390655,0.0,-1.70317441844,0.200569801404,4.49081614751,0.0477448615151,0.181436240174,0.0,445.029276600274,445.4149140501059,446.2745646611453,444.6789102617424
2.4000000000000017,-1.18559218196,-0.125559379308,15.6910217848,0.0661895462763,0.192129437742,0.0,-1.84253799873,0.248219617813,4.63932979868,0.0295309250805,0.168370072423,0.0,476.86920579910736,475.8979310113664,477.5137011729882,476.122916784639
2.4600000000000017,-1.30040418485,-0.109237539438,15.9731732462,0.0677809156535,0.202446536888,0.0,-1.98549751752,0.295959838583,4.76479113434,0.0197025368868,0.178285959221,0.0,471.85764229894704,472.6489811543713,471.4976952768511,470.7377803467168
2.520000000000002,-1.42355000452,-0.0901775411569,16.2605279326,0.0687242614471,0.212583054365,0.0,-2.12030936824,0.339434285509,4.81308965252,0.00625579458822,0.133810454462,0.0,451.00983533920976,447.4281468640586,450.61212093925167,449.5235465635008
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3.000000000000002,-2.72265895891,0.161930372894,18.6130759648,0.0856666052405,0.272249748686,0.0,-3.31479806178,0.719088301866,4.87057952322,-0.0246041604548,0.129140957458,0.0,429.7368348837103,428.5989966125973,428.9988133072101,428.7201899125507
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3.720000000000003,-5.88612002096,0.886693801263,21.9670649298,0.0962794731787,0.353668602239,0.0,-5.58353834206,1.29923136058,4.39278470956,0.0491210353095,0.108035549739,0.0,430.448552529039,430.66998108867887,430.9920144073606,431.7901658923411
3.780000000000003,-6.22746574647,0.966113737687,22.2283861898,0.0997966780434,0.360516218502,0.0,-5.79534842587,1.34828757119,4.31741931441,0.0728996884777,0.124138863405,0.0,430.0969877323981,431.47089568115973,429.5152611490219,431.530042583183
3.840000000000003,-6.582218741,1.04866804652,22.4865300322,0.103946340178,0.368569121111,0.0,-6.0304771872,1.40377548346,4.28649462514,0.0603823678916,0.149140325508,0.0,446.6315797681634,448.68249159605426,447.2647189210344,446.24743587448836
3.900000000000003,-6.95088973224,1.13450553709,22.7417526078,0.108433669862,0.377822622271,0.0,-6.25939576228,1.45769882671,4.22013353069,0.0941099042972,0.162822680632,0.0,436.02800823558994,437.1925850712354,436.3934999528524,439.20455380946754
3.960000000000003,-7.33416902066,1.22382585477,22.9945704291,0.114989447747,0.387349052256,0.0,-6.51740368438,1.52002727209,4.20588721257,0.129255658197,0.149124492374,0.0,457.23601905553807,456.16622831789437,455.63367267605867,458.4450218260339
4.020000000000002,-7.73317737905,1.31699852691,23.2464907215,0.122953144931,0.396005038241,0.0,-6.78363000306,1.58623931873,4.19016666371,0.138892636784,0.132167555816,0.0,459.26825655236763,457.9395954901632,459.3716516166326,460.1508613912676
4.080000000000001,-8.14975397966,1.41467708681,23.5006263664,0.131253241928,0.404269688014,0.0,-7.10281732763,1.67028902844,4.27899318695,0.13719689487,0.147042405297,0.0,495.0481920431011,496.1570107648239,495.6917802218494,495.5826962712028
4.14,-8.5845796992,1.51719830013,23.7573237352,0.140254925715,0.412710901984,0.0,-7.39206782885,1.74762376952,4.27601418303,0.16784034291,0.123294170843,0.0,471.1726432488799,469.349477382057,470.024867383232,472.4133694062323
4.199999999999998,-9.03710447423,1.62454544462,24.014000129,0.150112119317,0.419742142773,0.0,-7.69266715109,1.83125154719,4.27822744632,0.156026720547,0.100753856045,0.0,476.34687801789585,474.6307156234488,476.7164437598039,475.83633717234966
4.259999999999997,-9.50592689627,1.73640811227,24.2663978206,0.159230864672,0.426206186686,0.0,-7.93553929613,1.8980086517,4.13439869218,0.142332577689,0.118930725279,0.0,428.3160908620312,429.870121008728,430.01962641886274,428.8802024592583
4.319999999999996,-9.99072904621,1.8528090284,24.5127241792,0.167396697077,0.433491120606,0.0,-8.22520930748,1.98244927916,4.07513115087,0.119174301367,0.125967934944,0.0,460.20185700712216,460.7714131508979,461.7367667721725,459.92173692415787
4.379999999999995,-10.492533376,1.97416568181,24.754120946,0.174114472887,0.440941019186,0.0,-8.50238104969,2.06306421814,3.97032265935,0.0908903489249,0.120294672714,0.0,448.4710542113036,448.02370983823135,449.0113252647425,446.7207899070837
4.439999999999993,-11.0108298125,2.10029893838,24.9883901748,0.1795340911,0.447806750385,0.0,-8.77499534529,2.14154783383,3.83772111085,0.0891765507939,0.0988935497235,0.0,441.31032089966084,439.55129868499245,441.2136416627795,441.0789773893694
4.499999999999992,-11.545783668,2.23122512444,25.2147932698,0.185116143674,0.453729271008,0.0,-9.05758822662,2.22282043397,3.70809455669,0.0998032730631,0.0983366393001,0.0,444.0712132318014,444.03389138432,443.61512052414076,444.49439184115766
4.559999999999991,-12.0962644966,2.36646003136,25.430027799,0.190869415662,0.459596725555,0.0,-9.29284141812,2.28522845519,3.46616572172,0.086614153276,0.0966773727567,0.0,404.75253885054786,404.61234903254837,404.4862510673255,403.305073303767
4.6199999999999894,-12.6635528198,2.50643000433,25.6355918741,0.195593964697,0.465083158718,0.0,-9.61745316981,2.3804916686,3.38453568545,0.0543214838265,0.0780995946865,0.0,464.3318344485197,462.87821168011084,465.7321754332388,463.2031649904912
4.679999999999988,-13.2493949208,2.65170427123,25.8339046075,0.198805872674,0.469968395708,0.0,-9.91150185853,2.46195877541,3.22503739212,0.051904362637,0.0873462650199,0.0,439.50816108501175,440.27951132930053,439.52760371393947,439.32909060014447
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4.799999999999986,-14.4736299178,2.9563667331,26.1984412394,0.205682990666,0.479203356187,0.0,-10.4834803934,2.61042686562,2.82197108079,0.0732568204725,0.0695129479596,0.0,417.65427329925535,417.456010250575,416.9664440219201,418.59591745851134
4.859999999999984,-15.1118165333,3.1153420697,26.3621076465,0.209718420397,0.483351764227,0.0,-10.7904307121,2.68874969307,2.63271984519,0.0512172769909,0.0683842847692,0.0,434.541847948926,434.45093186569653,435.017785047552,433.1711029764483
4.919999999999983,-15.7690820969,3.27918811292,26.5150824514,0.212526783372,0.487662012033,0.0,-11.1194195458,2.77265300314,2.4653593904,0.0360764244018,0.0779739879682,0.0,444.7933241212498,445.5821771873267,444.5608267607166,443.3193403631904
4.979999999999982,-16.4462836857,3.44803125034,26.6577729972,0.214491388329,0.492444299201,0.0,-11.4550339515,2.85523464433,2.28984914116,0.0250691661852,0.0829573832155,0.0,444.25081436776895,444.6644639095763,444.6644210940607,443.7618983286926
5.0399999999999805,-17.1455669561,3.62246402544,26.7928304678,0.215804186616,0.497317889918,0.0,-11.8552143358,2.95876417791,2.21010098074,0.014586516036,0.077520721488,0.0,481.55074207288817,481.1439568067673,481.10024458764406,480.3056274862316