pa2-debug-c-auxilliary2.txt
Estimated Registration

   P   =  325.0168,   274.9831,   299.9788
   R*x = 0.999749242258,  0.020080306547, -0.009911301296
   R*y =-0.020080379526,  0.999798364604,  0.000092160642
   R*z = 0.009911153440,  0.000106885160,  0.999950877600
RegistrationError FregInv*EstFreg

   P   =    0.0166,    -0.0173,    -0.0210
   R*x = 0.999999992780,  0.000081980926,  0.000087861515
   R*y =-0.000081980166,  0.999999996602, -0.000008655357
   R*z =-0.000087862224,  0.000008648154,  0.999999996103
Nav Point 0
0 WRT world:           399.59,   304.26,   348.50
0 Est WRT world (a):   399.78,   303.99,   348.48
0 Est WRT world (b):   399.59,   304.26,   348.49
0 WRT CT:               74.67,    27.77,    49.25
0 Est WRT CT:           74.85,    27.51,    49.24

Nav Point 1
1 WRT world:           351.64,   406.15,   432.94
1 Est WRT world (a):   352.26,   406.09,   433.02
1 Est WRT world (b):   351.65,   406.14,   432.94
1 WRT CT:               27.92,   130.61,   133.21
1 Est WRT CT:           28.55,   130.54,   133.32

Nav Point 2
2 WRT world:           349.51,   363.67,   389.48
2 Est WRT world (a):   350.08,   363.62,   389.24
2 Est WRT world (b):   349.53,   363.67,   389.46
2 WRT CT:               25.38,    88.17,    89.73
2 Est WRT CT:           25.95,    88.12,    89.52

Nav Point 3
3 WRT world:           485.01,   385.75,   424.82
3 Est WRT world (a):   485.72,   385.70,   424.65
3 Est WRT world (b):   485.02,   385.74,   424.80
3 WRT CT:              160.94,   107.54,   126.42
3 Est WRT CT:          161.66,   107.48,   126.27

