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