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A = [0.000003743580137265097, -0.00005391986341424325, 0.007838068900435494;
-0.00005297859416648438, -0.000001414188542664033, 0.07037461181699467;
-0.0136475554597181, -0.0723244945675682, 1]
B = rref(A)
C = svd(A)
D = A*C
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