Sample    Phi     Theta     Psi       X        Y        Z      Xworld   YWorld   ZWorld   Quat[0]   Quat[1]   Quat[2]   Quat[3]

     1  0.00000  0.00000  0.00000  0.00000  0.00000 -1.00000  0.00000  0.00000 -1.00000  1.00000  0.00000  0.00000  0.00000

     2  2.94531  0.30078 -25.08203  0.00011 -0.00121 -0.02626  0.00024  0.00000 -0.02628  0.97583  0.02454 -0.00818 -0.21698

     3  2.87500  0.25781 -25.05469  0.00172  0.00055  0.00069  0.00174 -0.00029  0.00067  0.97589  0.02399 -0.00769 -0.21680

     4  2.87500  0.25781 -25.05469  0.00172  0.00055  0.00069  0.00174 -0.00029  0.00067  0.97589  0.02399 -0.00769 -0.21680

     5  3.05078  0.32031 -25.03125 -0.00078 -0.00012  0.00505 -0.00090 -0.00003  0.00502  0.97589  0.02533 -0.00854 -0.21655

     6  2.95313  0.23047 -25.00781  0.00084  0.00023  0.00385  0.00075 -0.00034  0.00383  0.97595  0.02472 -0.00763 -0.21637