2
  0.949446   0.313842 0.00749151    0.15588
  0.233437  -0.689845  -0.685289  0.0878731
 -0.209904   0.652394  -0.728233    0.61854
         0          0          0          1
   0.97359  -0.228143 0.00856076   0.113016
  -0.16275  -0.719846  -0.674784  -0.121396
   0.16011    0.65557  -0.737965    0.83402
         0          0          0          1
