       0           0           0
   beta            0           0           1           0           0
   phi             0           0           0           1           0
 
                 psi           p           q           r          pn
   Az              0  -4.096e-08       0.978   -0.001336           0
   q               0           0           1           0           0
   alpha           0           0           0           0           0
   theta           0           0           0           0       