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   Euler angles given ECI information.
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   Form:
   e = EulNED( r, qECIToB, e )
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   ------
   Inputs
   ------
   r           (3,1) ECI Position vector
   qECIToB     (4,1) Quaternion from ECI to B
   e           (3,1) Euler angles [phi;theta;psi]

   -------
   Outputs
   -------
   e           (3,1) Euler angles [phi;theta;psi]

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