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