 q           r          pn
   Vt              0           0     -0.5785           0           0
   alpha           0           0      0.9051           0           0
   beta            0      0.0365           0     -0.9917           0
   phi             0           1           0     0.03704           0
   theta           0           0           1           0           0
   psi             0           0           0       1.001           0
   p               0      -3.678   0.0002627      0.6652           0
  