T=[-0.017516 -0.328775 0.023053 0.003086 0.000616;
-0.198426 -0.020374 -0.1014156 -0.106059 -0.093423;
0.122761 0.197863 0.103410 0.023046 0.057627;
-0.034988 0.063419 0.038501 0.054376 -0.086538;
-0.000267 0.018141 0.023415 0.040521 0.125614;
-0.002667 -0.172160 -0.060057 -0.023602 0.015586;
0.021390 -0.180791 0.009128 0.084602 0.042971;
0.142932 0.153366 0.030151 0.042345 0.041789;
0.072148 -0.232346 0.027317 0.015608 -0.049718;
-0.034822  -0.229599 0.037037 0 -0.007729;
-0.039398 -0.545980 -0.075092 -0.043158 -0.014979 ;
-0.082719 0.558855 -0.110891 -0.329373 -0.102798];