fast_lio2_SC/Log/mat_pre.txt

            0.199676 0 0 0     -7.12899      2.49997 -2.99513e-05 0 0 0 0.05512 0.02226 -0.0297  1.86156e-06  -0.00122469 -0.000970106   0.00464148 -0.000870643  0.000336383 0 0 0  0.123513 -0.104763  -9.80766 
            0.299528    0.336845 -0.00665055   -0.295737  -7.09647   2.55902 0.0524542  3.47004e-06  1.16491e-06 -4.40443e-06  0.0551203  0.0222606 -0.0296995    0.003329 -0.00623542  0.00461199  0.00464139 -0.00087063 0.000336437 -1.63869e-07 -3.04352e-07  -2.6525e-07  0.123513 -0.104763  -9.80766 
            0.399378  0.275098 -0.167176 -0.532669    -7.0657    2.57988 -0.0133141  0.000129849 -0.000176921  2.48062e-05    0.05512  0.0222605 -0.0296992  0.153697 0.0969923 -0.328103   0.00485513 -0.000299866   0.00115769 -2.36462e-05 -1.68018e-05  5.03149e-05  0.123535 -0.104747  -9.80766 
            0.499218   0.336702 -0.0982113  -0.642529   -7.02973    2.58575 -0.0447578 -0.00164777   -0.103213  0.00128784  0.0551173  0.0221916 -0.0296558  0.238531 0.0776154 -0.323048   0.00464595 -0.000178481    0.0015198   -0.0183762  0.000307649 -0.000443912 0.141191 -0.10519 -9.80742 
            0.599858  0.727053 -0.290012 -0.514673   -7.01705    2.50224 -0.0540624    -0.30817   0.0428974 -0.00431915  0.0550099  0.0223068 -0.0295188  0.186883 -0.237426 -0.244952   0.00434637 -6.00997e-05   0.00101622 0.00789977  0.0545194 -0.0265759  0.115723 -0.157509  -9.80705 
            0.699698  0.821333  -0.48661 -0.506166  -7.01611   2.44584 -0.025839  -0.514034     0.2944 -0.0107318  0.0550353  0.0225474 -0.0294227   0.100327  -0.364238 -0.0676286    0.0046987 -0.000305849  0.000964423 0.0539036 0.0898803 -0.140683  0.072383 -0.193225  -9.80683 
            0.799555  0.179839 -0.654088 -0.843384   -7.00834    2.46609 -0.0561265 -0.00585028    0.317101 -0.00321389  0.054968 0.0227545 -0.029145 0.0731343 -0.184008 -0.136804    0.005125 0.000170583  0.00206204   0.0569284 0.000105008  -0.0700647 0.0694308 -0.105304  -9.80819 
            0.899395 -0.413014 -0.677849  -1.23473 -7.01386  2.51487 -0.02519  0.627766  0.456992 0.0113526  0.0547431  0.0221508 -0.0287935 0.000468793   0.0568207   0.0242281   0.00501508 -0.000225516   0.00325559 0.0837415 -0.112653 -0.215365   0.0456643 3.76025e-05    -9.80889 
            0.999233 -0.868656 -0.654661  -1.69459   -7.01519    2.57462 0.00595212   1.10572  0.457918 0.0235214  0.0544943  0.0218165 -0.0284686 -0.0252153   0.277333   0.141917   0.00492007 -0.000339005   0.00463237 0.0855349 -0.197372 -0.304898 0.0454622 0.0798594  -9.80857 
             1.09987 -0.895258   -0.6992  -2.12407  -7.02518   2.59858 0.0199077   1.04851  0.513059 0.0195701  0.0545246  0.0217829 -0.0285018 -0.0774682   0.310114   0.165343   0.00520115 -0.000397136   0.00589476 0.0948447 -0.187301 -0.300185  0.036274 0.0705249  -9.80868 
             1.19971  -0.39553 -0.674439  -2.34025  -7.02838   2.58246 0.0139767 0.694164 0.465877 0.012825  0.0546043  0.0214558 -0.0280562 -0.0826777   0.191166   0.117179   0.00472213 -0.000332907   0.00647379 0.0855197 -0.124594 -0.235881  0.0437599 0.00898636    -9.8089 
             1.29954  0.356995 -0.638708  -2.32782    -7.0347    2.48961 0.00270136 -0.0360141   0.431105 -0.0113497  0.0541054  0.0208304 -0.0261424 -0.101337  -0.15252 0.0689334   0.0046055 -0.00030355   0.0064453   0.0781804 0.000178774   -0.179852 0.0464816 -0.112786  -9.80824 
             1.39937  0.945425 -0.561155  -2.24354  -7.04067   2.35883 0.0135846  -0.701543   0.371995 -0.0373174  0.0532895  0.0208194 -0.0242511 -0.107959 -0.521441  0.102573    0.0048609 -0.000323258   0.00618378 0.0685054  0.110563 -0.188173  0.050397 -0.219133  -9.80642 
              1.4992   1.34959 -0.583753  -2.15574   -7.05118     2.2307 0.00103485   -1.0765  0.354104 -0.055243  0.0527496  0.0204922 -0.0235595  -0.12736 -0.792619 0.0491135   0.00477245 -0.000202705   0.00590221  0.064066  0.174852 -0.141027 0.0512368 -0.281847  -9.80482 
             1.59984   1.77905 -0.493213  -2.07316    -7.05991      2.0485 -0.00614024   -1.52715   0.302596 -0.0781575   0.052144  0.0204112 -0.0233576 -0.133152  -1.15687 0.0247036   0.00482783 -0.000298327   0.00567747 0.0545094  0.252348 -0.117412 0.0538524 -0.356779  -9.80236 
             1.69968   2.1478 -0.40358 -1.94986    -7.06528      1.8237 -0.00310582  -1.95347  0.229352 -0.102992  0.0516771   0.020393 -0.0234588 -0.117885  -1.55511 0.0364771   0.00497196 -0.000353102      0.00535 0.0415202  0.327184 -0.117756 0.0576744 -0.430084   -9.7994 
             1.79954    2.5306 -0.325873  -1.77716     -7.06901      1.56694 -0.000177004  -2.30754  0.160989 -0.124618  0.0514094  0.0204045 -0.0238531 -0.100705  -1.94835 0.0410749   0.00487764 -0.000395217   0.00488792 0.0293135  0.390714 -0.116334 0.0604377  -0.49209  -9.79646 
             1.89937   2.82571 -0.247509   -1.6494   -7.06675    1.24251 -0.0134631  -2.74017 0.0694491  -0.15088  0.0512294  0.0205238 -0.0245816  -0.0681355    -2.43965 -0.00421502    0.0051952 -0.000367838   0.00458821  0.0126915   0.468444 -0.0919446 0.0637467 -0.564301  -9.79255 
             1.99921   3.24665 -0.121813  -1.46523   -7.05152   0.825076 -0.0107051   -3.25249 -0.0745023  -0.192667  0.0511295  0.0205115 -0.0254485  0.0112016   -3.07896 0.00937973   0.00538094 -0.000346597   0.00420724 -0.0129646   0.564856  -0.101007 0.0703687 -0.661153  -9.78644 
             2.09987   3.60124 0.0275236   -1.2092    -7.03294    0.361838 -0.00206466  -3.66757 -0.188536 -0.223536  0.0510647  0.0204835 -0.0258848 0.0758616  -3.68648 0.0398377   0.00549642 -0.000469309   0.00361663 -0.0331205   0.644845  -0.117489 0.0734017 -0.743384  -9.78051 
             2.19971      3.5942 -0.00626557   -0.887192   -7.01749 -0.0680569 -0.0183523  -3.84933 -0.236371 -0.237355  0.0509829  0.0205859 -0.0263398    0.10295   -4.03479 -0.0137531    0.0059501 -0.000320784   0.00278836 -0.0413044   0.674793 -0.0933499 0.0746029 -0.764626  -9.77887 
             2.29957    3.40602 -0.0453024  -0.487438   -7.00838  -0.437141 -0.0288895  -3.74783  -0.21963 -0.242017  0.0510242  0.0207375 -0.0258005  0.0962766   -4.09254 -0.0345151   0.00615671 -0.000331516   0.00174594 -0.0384806   0.653321 -0.0795553 0.0767396 -0.739744  -9.78077 
              2.3994     2.9524 -0.0630898  -0.160849   -7.00422  -0.765998 -0.0347945  -3.51511 -0.173944 -0.246022  0.0510597  0.0208449 -0.0243484  0.0719388   -3.99826 -0.0319839   0.00669746 -0.000455641  0.000894066 -0.0311949   0.609963 -0.0726976  0.079623 -0.697327  -9.78386 
             2.49924   2.50266 -0.198557   0.11789   -7.01689   -1.08369 -0.0444925    -3.3039 -0.0886779  -0.215586  0.0509862  0.0209393 -0.0230114 -0.0116216   -3.89056 -0.0420773   0.00726524 -0.000364049  9.82998e-05 -0.0167659   0.569311 -0.0618797 0.0739072 -0.654661  -9.78685 
             2.59987   2.32222 -0.238719  0.290352   -7.03438   -1.43138 -0.0397285    -3.1684 -0.0298815  -0.187814  0.0508696  0.0207372 -0.0224468  -0.0804996    -3.89194 -0.00902005   0.00734269 -0.000417549 -0.000397109 -0.00645932    0.546273  -0.0694175 0.0677312  -0.63658  -9.78809 
             2.69971  1.99622 -0.18965 0.526424   -7.04793   -1.78663 -0.0284917     -3.0626 -0.00925562   -0.184438  0.0507373  0.0206414 -0.0222508 -0.108687  -3.91947 0.0325656   0.00783515 -0.000608023 -0.000950144 -0.00286584    0.528928  -0.0801345 0.0661514 -0.625277  -9.78883 
             2.79954  1.73958 -0.13882 0.714661   -7.05012   -2.13982 0.00158323   -2.93395 -0.0264739  -0.208612   0.050549  0.0206507 -0.0221289 -0.0828248   -3.92997    0.11911   0.00808385 -0.000703514  -0.00132922 -0.00698287    0.510041   -0.104944 0.0712518 -0.616826  -9.78933