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