At this point, the estimated location and orientation of each of {HEAD ~ the magnets} matches the actual location within {TAIL ~ a predetermined degree} of tolerance 
At this point , the estimated location and orientation of each of { HEAD ~ the magnets } matches the actual location within { TAIL ~ a predetermined degree } of tolerance
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH