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