 ---
 angular velocity
            lat.n    lon.e      rate (deg./m.y.
 sa  -ca    -55.211  101.371  0.2519
  
 covariance matrix (rad2/m.y.2 e-10
     123.3    -149.5      53.9
    -149.5     392.4    -111.1
      53.9    -111.1      80.2
  
