typedef struct {
	 int run;
	 int frame;
	 int mirror; 	 # which mirror
	 int piston; 	 # microns
	 int x_tilt; 	 # arcsec
	 int y_tilt; 	 # arcsec
	 int x_trans; 	 # microns
	 int y_trans;  	 # microns
} MIRROR;

typedef struct {
	 int run;
	 int frame;
	 int g1;
	 int g2;
	 int g3;
	 int g4;
	 int g5;
} S_GALIL;

typedef struct {
	 int run;
	 int frame;
	 int g1;
	 int g2;
	 int g3;
	 int g4;
	 int g5;
	 int g6;
} P_GALIL;

typedef struct {int run; int frame;  char comment[60];} FCOMMENT

fcomment 7147 46  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 54414 47261  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7147 46  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7148 8  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 54415 47262  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7148 11  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7148 13  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 54414 363074  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 54414 363074  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 54415 363075  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7148 33  "stopping focus loop"
fcomment 7148 41  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7148 41  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7148 41  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 54415 47266  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7148 41  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7149 35  "stopping focus loop"
fcomment 7149 43  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7150 10  "starting focus loop"
fcomment 7150 12  "stopping focus loop"
fcomment 7150 12  "stopping focus loop"
fcomment 7150 12  "starting focus loop"
mirror 7150 12 2       -407 0  0 0 0
mirror 7150 13 2       -406 0  0 0 0
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mirror 7150 20 2       -399 0  0 0 0
mirror 7150 22 2       -397 0  0 0 0
mirror 7150 24 2       -397 0  0 0 0
mirror 7150 25 2       -397 0  0 0 0
mirror 7150 27 2       -397 0  0 0 0
mirror 7150 29 2       -397 0  0 0 0
mirror 7150 30 2       -398 0  0 0 0
mirror 7150 32 2       -398 0  0 0 0
mirror 7150 34 2       -399 0  0 0 0
mirror 7150 35 2       -399 0  0 0 0
mirror 7150 44 2       -399 0  0 0 0
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mirror 7150 49 2       -401 0  0 0 0
mirror 7150 51 2       -402 0  0 0 0
mirror 7150 52 2       -402 0  0 0 0
mirror 7150 54 2       -403 0  0 0 0
mirror 7150 56 2       -404 0  0 0 0
mirror 7150 57 2       -405 0  0 0 0
mirror 7150 59 2       -406 0  0 0 0
mirror 7150 61 2       -406 0  0 0 0
mirror 7150 63 2       -406 0  0 0 0
mirror 7150 64 2       -407 0  0 0 0
mirror 7150 66 2       -407 0  0 0 0
mirror 7150 68 2       -408 0  0 0 0
mirror 7150 69 2       -409 0  0 0 0
mirror 7150 71 2       -410 0  0 0 0
mirror 7150 73 2       -411 0  0 0 0
mirror 7150 74 2       -412 0  0 0 0
mirror 7150 76 2       -413 0  0 0 0
mirror 7150 78 2       -413 0  0 0 0
mirror 7150 80 2       -414 0  0 0 0
mirror 7150 81 2       -415 0  0 0 0
mirror 7150 83 2       -416 0  0 0 0
mirror 7150 85 2       -415 0  0 0 0
mirror 7150 86 2       -417 0  0 0 0
mirror 7150 88 2       -419 0  0 0 0
mirror 7150 90 2       -419 0  0 0 0
mirror 7150 91 2       -419 0  0 0 0
mirror 7150 93 2       -419 0  0 0 0
mirror 7150 95 2       -419 0  0 0 0
mirror 7150 97 2       -419 0  0 0 0
mirror 7150 98 2       -419 0  0 0 0
mirror 7150 100 2       -419 0  0 0 0
mirror 7150 102 2       -419 0  0 0 0
mirror 7150 103 2       -419 0  0 0 0
mirror 7150 105 2       -420 0  0 0 0
mirror 7150 107 2       -421 0  0 0 0
mirror 7150 108 2       -421 0  0 0 0
mirror 7150 110 2       -421 0  0 0 0
mirror 7150 112 2       -421 0  0 0 0
mirror 7150 113 2       -421 0  0 0 0
mirror 7150 115 2       -421 0  0 0 0
mirror 7150 117 2       -421 0  0 0 0
mirror 7150 119 2       -422 0  0 0 0
mirror 7150 120 2       -422 0  0 0 0
mirror 7150 122 2       -423 0  0 0 0
mirror 7150 124 2       -423 0  0 0 0
mirror 7150 125 2       -424 0  0 0 0
mirror 7150 127 2       -424 0  0 0 0
mirror 7150 129 2       -425 0  0 0 0
mirror 7150 130 2       -424 0  0 0 0
mirror 7150 132 2       -424 0  0 0 0
mirror 7150 134 2       -424 0  0 0 0
mirror 7150 135 2       -424 0  0 0 0
mirror 7150 137 2       -425 0  0 0 0
mirror 7150 139 2       -425 0  0 0 0
mirror 7150 141 2       -426 0  0 0 0
mirror 7150 142 2       -426 0  0 0 0
mirror 7150 144 2       -426 0  0 0 0
mirror 7150 146 2       -426 0  0 0 0
mirror 7150 147 2       -426 0  0 0 0
mirror 7150 149 2       -426 0  0 0 0
mirror 7150 151 2       -428 0  0 0 0
mirror 7150 152 2       -428 0  0 0 0
mirror 7150 154 2       -428 0  0 0 0
mirror 7150 156 2       -427 0  0 0 0
mirror 7150 158 2       -427 0  0 0 0
mirror 7150 159 2       -427 0  0 0 0
mirror 7150 161 2       -427 0  0 0 0
mirror 7150 163 2       -427 0  0 0 0
mirror 7150 164 2       -429 0  0 0 0
mirror 7150 166 2       -429 0  0 0 0
mirror 7150 168 2       -430 0  0 0 0
mirror 7150 169 2       -431 0  0 0 0
mirror 7150 171 2       -431 0  0 0 0
mirror 7150 173 2       -431 0  0 0 0
mirror 7150 174 2       -431 0  0 0 0
mirror 7150 176 2       -432 0  0 0 0
mirror 7150 178 2       -432 0  0 0 0
mirror 7150 180 2       -432 0  0 0 0
mirror 7150 181 2       -433 0  0 0 0
mirror 7150 183 2       -433 0  0 0 0
mirror 7150 185 2       -433 0  0 0 0
mirror 7150 186 2       -431 0  0 0 0
mirror 7150 188 2       -431 0  0 0 0
mirror 7150 190 2       -433 0  0 0 0
mirror 7150 191 2       -433 0  0 0 0
mirror 7150 193 2       -433 0  0 0 0
mirror 7150 195 2       -434 0  0 0 0
mirror 7150 196 2       -435 0  0 0 0
mirror 7150 198 2       -436 0  0 0 0
fcomment 7150 200  "stopping focus loop"
fcomment 7150 208  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7151 9  "starting focus loop"
mirror 7151 13 2       -437 0  0 0 0
mirror 7151 15 2       -437 0  0 0 0
mirror 7151 16 2       -438 0  0 0 0
mirror 7151 18 2       -438 0  0 0 0
mirror 7151 20 2       -437 0  0 0 0
mirror 7151 21 2       -436 0  0 0 0
mirror 7151 23 2       -435 0  0 0 0
mirror 7151 25 2       -434 0  0 0 0
mirror 7151 26 2       -434 0  0 0 0
mirror 7151 28 2       -434 0  0 0 0
mirror 7151 30 2       -434 0  0 0 0
mirror 7151 31 2       -433 0  0 0 0
mirror 7151 33 2       -434 0  0 0 0
mirror 7151 35 2       -433 0  0 0 0
mirror 7151 37 2       -433 0  0 0 0
mirror 7151 38 2       -433 0  0 0 0
mirror 7151 40 2       -432 0  0 0 0
mirror 7151 42 2       -432 0  0 0 0
mirror 7151 43 2       -432 0  0 0 0
mirror 7151 45 2       -431 0  0 0 0
mirror 7151 47 2       -431 0  0 0 0
mirror 7151 48 2       -431 0  0 0 0
mirror 7151 50 2       -432 0  0 0 0
mirror 7151 52 2       -432 0  0 0 0
mirror 7151 54 2       -432 0  0 0 0
mirror 7151 55 2       -431 0  0 0 0
mirror 7151 57 2       -431 0  0 0 0
mirror 7151 59 2       -431 0  0 0 0
mirror 7151 60 2       -429 0  0 0 0
mirror 7151 62 2       -428 0  0 0 0
mirror 7151 64 2       -428 0  0 0 0
mirror 7151 65 2       -428 0  0 0 0
mirror 7151 67 2       -428 0  0 0 0
mirror 7151 69 2       -428 0  0 0 0
mirror 7151 70 2       -428 0  0 0 0
mirror 7151 72 2       -428 0  0 0 0
mirror 7151 74 2       -427 0  0 0 0
mirror 7151 76 2       -426 0  0 0 0
mirror 7151 77 2       -425 0  0 0 0
mirror 7151 79 2       -424 0  0 0 0
mirror 7151 81 2       -424 0  0 0 0
mirror 7151 82 2       -423 0  0 0 0
mirror 7151 84 2       -422 0  0 0 0
mirror 7151 87 2       -422 0  0 0 0
fcomment 7151 88  "stopping focus loop"
fcomment 7152 9  "starting focus loop"
mirror 7152 12 2       -422 0  0 0 0
mirror 7152 14 2       -422 0  0 0 0
mirror 7152 15 2       -422 0  0 0 0
mirror 7152 17 2       -422 0  0 0 0
mirror 7152 19 2       -421 0  0 0 0
fcomment 7152 18  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
mirror 7152 20 2       -421 0  0 0 0
mirror 7152 22 2       -420 0  0 0 0
mirror 7152 24 2       -419 0  0 0 0
mirror 7152 26 2       -419 0  0 0 0
mirror 7152 27 2       -419 0  0 0 0
mirror 7152 29 2       -420 0  0 0 0
mirror 7152 31 2       -419 0  0 0 0
mirror 7152 32 2       -419 0  0 0 0
mirror 7152 34 2       -419 0  0 0 0
mirror 7152 36 2       -420 0  0 0 0
mirror 7152 37 2       -421 0  0 0 0
mirror 7152 39 2       -421 0  0 0 0
mirror 7152 41 2       -421 0  0 0 0
mirror 7152 42 2       -421 0  0 0 0
mirror 7152 51 2       -421 0  0 0 0
mirror 7152 53 2       -421 0  0 0 0
mirror 7152 54 2       -420 0  0 0 0
mirror 7152 56 2       -420 0  0 0 0
mirror 7152 58 2       -421 0  0 0 0
mirror 7152 59 2       -421 0  0 0 0
mirror 7152 61 2       -421 0  0 0 0
mirror 7152 63 2       -421 0  0 0 0
mirror 7152 64 2       -422 0  0 0 0
mirror 7152 66 2       -422 0  0 0 0
mirror 7152 68 2       -422 0  0 0 0
mirror 7152 70 2       -423 0  0 0 0
mirror 7152 71 2       -423 0  0 0 0
mirror 7152 73 2       -422 0  0 0 0
mirror 7152 75 2       -421 0  0 0 0
mirror 7152 76 2       -421 0  0 0 0
mirror 7152 78 2       -421 0  0 0 0
mirror 7152 80 2       -421 0  0 0 0
mirror 7152 81 2       -421 0  0 0 0
mirror 7152 83 2       -421 0  0 0 0
mirror 7152 85 2       -421 0  0 0 0
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mirror 7152 88 2       -420 0  0 0 0
mirror 7152 90 2       -420 0  0 0 0
mirror 7152 92 2       -421 0  0 0 0
mirror 7152 93 2       -421 0  0 0 0
mirror 7152 95 2       -421 0  0 0 0
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mirror 7152 98 2       -420 0  0 0 0
mirror 7152 100 2       -420 0  0 0 0
mirror 7152 102 2       -420 0  0 0 0
mirror 7152 103 2       -420 0  0 0 0
mirror 7152 105 2       -421 0  0 0 0
mirror 7152 107 2       -421 0  0 0 0
mirror 7152 108 2       -421 0  0 0 0
mirror 7152 117 2       -421 0  0 0 0
mirror 7152 119 2       -421 0  0 0 0
mirror 7152 120 2       -426 0  0 0 0
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mirror 7152 124 2       -430 0  0 0 0
mirror 7152 125 2       -428 0  0 0 0
mirror 7152 127 2       -427 0  0 0 0
mirror 7152 129 2       -425 0  0 0 0
mirror 7152 130 2       -424 0  0 0 0
mirror 7152 132 2       -424 0  0 0 0
mirror 7152 134 2       -423 0  0 0 0
mirror 7152 136 2       -426 0  0 0 0
mirror 7152 137 2       -428 0  0 0 0
mirror 7152 139 2       -426 0  0 0 0
mirror 7152 141 2       -425 0  0 0 0
mirror 7152 142 2       -424 0  0 0 0
mirror 7152 144 2       -423 0  0 0 0
mirror 7152 146 2       -422 0  0 0 0
mirror 7152 147 2       -423 0  0 0 0
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mirror 7152 151 2       -421 0  0 0 0
mirror 7152 152 2       -422 0  0 0 0
mirror 7152 154 2       -422 0  0 0 0
mirror 7152 156 2       -423 0  0 0 0
mirror 7152 158 2       -422 0  0 0 0
mirror 7152 159 2       -423 0  0 0 0
mirror 7152 161 2       -423 0  0 0 0
mirror 7152 163 2       -423 0  0 0 0
mirror 7152 164 2       -422 0  0 0 0
mirror 7152 166 2       -420 0  0 0 0
mirror 7152 168 2       -420 0  0 0 0
mirror 7152 169 2       -421 0  0 0 0
mirror 7152 171 2       -423 0  0 0 0
mirror 7152 173 2       -423 0  0 0 0
mirror 7152 175 2       -422 0  0 0 0
mirror 7152 176 2       -422 0  0 0 0
mirror 7152 178 2       -421 0  0 0 0
mirror 7152 180 2       -422 0  0 0 0
mirror 7152 181 2       -422 0  0 0 0
mirror 7152 183 2       -421 0  0 0 0
mirror 7152 185 2       -421 0  0 0 0
mirror 7152 186 2       -423 0  0 0 0
mirror 7152 188 2       -424 0  0 0 0
mirror 7152 190 2       -425 0  0 0 0
mirror 7152 191 2       -425 0  0 0 0
mirror 7152 193 2       -425 0  0 0 0
mirror 7152 195 2       -425 0  0 0 0
mirror 7152 197 2       -426 0  0 0 0
mirror 7152 198 2       -425 0  0 0 0
mirror 7152 200 2       -424 0  0 0 0
mirror 7152 202 2       -423 0  0 0 0
mirror 7152 203 2       -424 0  0 0 0
mirror 7152 205 2       -426 0  0 0 0
mirror 7152 207 2       -427 0  0 0 0
mirror 7152 208 2       -426 0  0 0 0
mirror 7152 210 2       -427 0  0 0 0
mirror 7152 212 2       -427 0  0 0 0
mirror 7152 213 2       -428 0  0 0 0
mirror 7152 215 2       -429 0  0 0 0
mirror 7152 217 2       -430 0  0 0 0
mirror 7152 219 2       -430 0  0 0 0
mirror 7152 220 2       -429 0  0 0 0
mirror 7152 222 2       -429 0  0 0 0
mirror 7152 224 2       -430 0  0 0 0
mirror 7152 225 2       -431 0  0 0 0
mirror 7152 227 2       -432 0  0 0 0
mirror 7152 229 2       -432 0  0 0 0
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mirror 7152 232 2       -433 0  0 0 0
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mirror 7152 236 2       -434 0  0 0 0
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mirror 7152 251 2       -437 0  0 0 0
mirror 7152 252 2       -437 0  0 0 0
mirror 7152 254 2       -437 0  0 0 0
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mirror 7152 259 2       -437 0  0 0 0
mirror 7152 261 2       -437 0  0 0 0
mirror 7152 263 2       -435 0  0 0 0
mirror 7152 264 2       -434 0  0 0 0
mirror 7152 266 2       -433 0  0 0 0
mirror 7152 268 2       -432 0  0 0 0
mirror 7152 269 2       -431 0  0 0 0
mirror 7152 271 2       -431 0  0 0 0
mirror 7152 273 2       -431 0  0 0 0
mirror 7152 274 2       -431 0  0 0 0
mirror 7152 276 2       -432 0  0 0 0
mirror 7152 278 2       -431 0  0 0 0
mirror 7152 280 2       -431 0  0 0 0
mirror 7152 281 2       -430 0  0 0 0
mirror 7152 283 2       -430 0  0 0 0
mirror 7152 285 2       -430 0  0 0 0
mirror 7152 286 2       -430 0  0 0 0
mirror 7152 288 2       -430 0  0 0 0
mirror 7152 290 2       -430 0  0 0 0
mirror 7152 291 2       -429 0  0 0 0
mirror 7152 293 2       -430 0  0 0 0
mirror 7152 295 2       -429 0  0 0 0
mirror 7152 296 2       -430 0  0 0 0
mirror 7152 298 2       -430 0  0 0 0
mirror 7152 300 2       -429 0  0 0 0
mirror 7152 302 2       -430 0  0 0 0
mirror 7152 303 2       -430 0  0 0 0
mirror 7152 305 2       -430 0  0 0 0
mirror 7152 307 2       -429 0  0 0 0
mirror 7152 308 2       -428 0  0 0 0
mirror 7152 310 2       -427 0  0 0 0
mirror 7152 312 2       -427 0  0 0 0
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mirror 7152 315 2       -426 0  0 0 0
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mirror 7152 318 2       -426 0  0 0 0
mirror 7152 320 2       -425 0  0 0 0
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mirror 7152 329 2       -423 0  0 0 0
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mirror 7152 332 2       -423 0  0 0 0
mirror 7152 334 2       -424 0  0 0 0
mirror 7152 335 2       -424 0  0 0 0
mirror 7152 337 2       -424 0  0 0 0
mirror 7152 339 2       -425 0  0 0 0
mirror 7152 340 2       -425 0  0 0 0
mirror 7152 342 2       -425 0  0 0 0
mirror 7152 344 2       -425 0  0 0 0
mirror 7152 346 2       -425 0  0 0 0
mirror 7152 347 2       -424 0  0 0 0
mirror 7152 349 2       -424 0  0 0 0
mirror 7152 351 2       -423 0  0 0 0
mirror 7152 352 2       -423 0  0 0 0
mirror 7152 354 2       -423 0  0 0 0
mirror 7152 356 2       -424 0  0 0 0
mirror 7152 357 2       -424 0  0 0 0
mirror 7152 359 2       -423 0  0 0 0
mirror 7152 361 2       -423 0  0 0 0
mirror 7152 363 2       -423 0  0 0 0
mirror 7152 364 2       -423 0  0 0 0
mirror 7152 366 2       -422 0  0 0 0
mirror 7152 368 2       -422 0  0 0 0
mirror 7152 369 2       -423 0  0 0 0
mirror 7152 371 2       -422 0  0 0 0
mirror 7152 373 2       -422 0  0 0 0
mirror 7152 374 2       -422 0  0 0 0
mirror 7152 376 2       -422 0  0 0 0
mirror 7152 378 2       -422 0  0 0 0
mirror 7152 379 2       -422 0  0 0 0
mirror 7152 381 2       -421 0  0 0 0
mirror 7152 383 2       -422 0  0 0 0
mirror 7152 385 2       -421 0  0 0 0
mirror 7152 386 2       -421 0  0 0 0
mirror 7152 388 2       -420 0  0 0 0
mirror 7152 390 2       -419 0  0 0 0
mirror 7152 391 2       -419 0  0 0 0
mirror 7152 393 2       -420 0  0 0 0
mirror 7152 395 2       -420 0  0 0 0
mirror 7152 396 2       -420 0  0 0 0
mirror 7152 398 2       -420 0  0 0 0
mirror 7152 400 2       -420 0  0 0 0
mirror 7152 401 2       -420 0  0 0 0
mirror 7152 403 2       -419 0  0 0 0
mirror 7152 405 2       -419 0  0 0 0
mirror 7152 407 2       -418 0  0 0 0
mirror 7152 408 2       -419 0  0 0 0
mirror 7152 410 2       -419 0  0 0 0
mirror 7152 412 2       -419 0  0 0 0
mirror 7152 413 2       -419 0  0 0 0
mirror 7152 415 2       -421 0  0 0 0
mirror 7152 417 2       -421 0  0 0 0
mirror 7152 418 2       -421 0  0 0 0
mirror 7152 427 2       -419 0  0 0 0
mirror 7152 429 2       -418 0  0 0 0
mirror 7152 430 2       -418 0  0 0 0
mirror 7152 432 2       -417 0  0 0 0
mirror 7152 434 2       -416 0  0 0 0
mirror 7152 435 2       -415 0  0 0 0
mirror 7152 437 2       -414 0  0 0 0
mirror 7152 439 2       -414 0  0 0 0
mirror 7152 440 2       -413 0  0 0 0
mirror 7152 442 2       -412 0  0 0 0
mirror 7152 444 2       -412 0  0 0 0
mirror 7152 445 2       -412 0  0 0 0
mirror 7152 447 2       -412 0  0 0 0
mirror 7152 449 2       -412 0  0 0 0
mirror 7152 451 2       -413 0  0 0 0
mirror 7152 452 2       -413 0  0 0 0
mirror 7152 454 2       -413 0  0 0 0
mirror 7152 456 2       -413 0  0 0 0
mirror 7152 457 2       -413 0  0 0 0
mirror 7152 459 2       -412 0  0 0 0
mirror 7152 461 2       -411 0  0 0 0
mirror 7152 462 2       -410 0  0 0 0
mirror 7152 464 2       -411 0  0 0 0
mirror 7152 466 2       -412 0  0 0 0
mirror 7152 468 2       -411 0  0 0 0
mirror 7152 469 2       -411 0  0 0 0
mirror 7152 471 2       -410 0  0 0 0
mirror 7152 473 2       -410 0  0 0 0
mirror 7152 474 2       -409 0  0 0 0
mirror 7152 476 2       -410 0  0 0 0
mirror 7152 478 2       -410 0  0 0 0
mirror 7152 479 2       -409 0  0 0 0
mirror 7152 481 2       -408 0  0 0 0
mirror 7152 483 2       -408 0  0 0 0
mirror 7152 484 2       -408 0  0 0 0
mirror 7152 486 2       -407 0  0 0 0
mirror 7152 488 2       -407 0  0 0 0
mirror 7152 490 2       -406 0  0 0 0
fcomment 7152 491  "stopping focus loop"
fcomment 7152 498  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 54415 47277  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7152 498  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 7152 498  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"