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 8158 131  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8158 131  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8158 131  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 55131 410909  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 55131 410909  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8158 131  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8158 131  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8158 131  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8158 131  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8158 131  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8158 131  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8159 8  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8159 8  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8159 16  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8159 29  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8159 49  "stopping focus loop"
fcomment 8159 58  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8160 0  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8160 41  "stopping focus loop"
fcomment 8160 49  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8161 9  "pausing focus loop"
fcomment 8161 11  "pausing focus loop"
mirror 8161 11 2       400 0  0 0 0
fcomment 8161 11  "starting focus loop"
fcomment 8161 14  "pausing focus loop"
mirror 8161 14 2       0 0  0 0 0
fcomment 8161 14  "starting focus loop"
fcomment 8161 15  "pausing focus loop"
mirror 8161 15 2       -400 0  0 0 0
fcomment 8161 15  "starting focus loop"
fcomment 8161 17  "pausing focus loop"
mirror 8161 17 2       -600 0  0 0 0
fcomment 8161 17  "starting focus loop"
fcomment 8161 18  "pausing focus loop"
mirror 8161 18 2       -700 0  0 0 0
fcomment 8161 18  "starting focus loop"
fcomment 8161 19  "pausing focus loop"
mirror 8161 19 2       -300 0  0 0 0
fcomment 8161 19  "starting focus loop"
fcomment 8161 20  "pausing focus loop"
mirror 8161 20 2       -400 0  0 0 0
fcomment 8161 20  "starting focus loop"
fcomment 8161 20  "pausing focus loop"
mirror 8161 20 2       -300 0  0 0 0
fcomment 8161 20  "starting focus loop"
fcomment 8161 21  "stopping focus loop"
fcomment 8161 29  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8161 29  "stopping focus loop"
mirror 8162 8 2       -200 0  0 0 0
mirror 8162 9 2       -100 0  0 0 0
mirror 8162 9 2       0 0  0 0 0
mirror 8162 10 2       100 0  0 0 0
fcomment 55131 410909  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 10  "pausing focus loop"
fcomment 8162 11  "starting focus loop"
fcomment 55131 410909  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
mirror 8162 14 2       100 0  0 0 0
mirror 8162 16 2       102 0  0 0 0
mirror 8162 18 2       95 0  0 0 0
mirror 8162 19 2       98 0  0 0 0
mirror 8162 21 2       92 0  0 0 0
mirror 8162 23 2       77 0  0 0 0
mirror 8162 24 2       76 0  0 0 0
mirror 8162 26 2       80 0  0 0 0
mirror 8162 28 2       85 0  0 0 0
mirror 8162 30 2       89 0  0 0 0
mirror 8162 31 2       94 0  0 0 0
mirror 8162 33 2       99 0  0 0 0
mirror 8162 35 2       99 0  0 0 0
mirror 8162 36 2       102 0  0 0 0
mirror 8162 38 2       104 0  0 0 0
mirror 8162 40 2       104 0  0 0 0
mirror 8162 41 2       101 0  0 0 0
mirror 8162 43 2       98 0  0 0 0
mirror 8162 45 2       96 0  0 0 0
mirror 8162 46 2       95 0  0 0 0
mirror 8162 48 2       93 0  0 0 0
mirror 8162 50 2       91 0  0 0 0
mirror 8162 51 2       89 0  0 0 0
mirror 8162 53 2       87 0  0 0 0
mirror 8162 55 2       87 0  0 0 0
mirror 8162 57 2       91 0  0 0 0
mirror 8162 58 2       90 0  0 0 0
mirror 8162 60 2       89 0  0 0 0
mirror 8162 62 2       88 0  0 0 0
mirror 8162 63 2       87 0  0 0 0
mirror 8162 65 2       86 0  0 0 0
mirror 8162 67 2       86 0  0 0 0
mirror 8162 68 2       84 0  0 0 0
mirror 8162 70 2       84 0  0 0 0
mirror 8162 72 2       84 0  0 0 0
mirror 8162 74 2       84 0  0 0 0
mirror 8162 75 2       85 0  0 0 0
mirror 8162 77 2       85 0  0 0 0
mirror 8162 79 2       85 0  0 0 0
mirror 8162 80 2       84 0  0 0 0
mirror 8162 82 2       84 0  0 0 0
mirror 8162 84 2       83 0  0 0 0
mirror 8162 85 2       82 0  0 0 0
mirror 8162 87 2       82 0  0 0 0
mirror 8162 89 2       82 0  0 0 0
mirror 8162 90 2       82 0  0 0 0
mirror 8162 92 2       82 0  0 0 0
mirror 8162 94 2       82 0  0 0 0
mirror 8162 96 2       81 0  0 0 0
mirror 8162 97 2       80 0  0 0 0
mirror 8162 99 2       79 0  0 0 0
mirror 8162 101 2       78 0  0 0 0
mirror 8162 102 2       78 0  0 0 0
mirror 8162 104 2       78 0  0 0 0
mirror 8162 106 2       79 0  0 0 0
mirror 8162 107 2       79 0  0 0 0
mirror 8162 109 2       78 0  0 0 0
mirror 8162 111 2       78 0  0 0 0
mirror 8162 112 2       79 0  0 0 0
mirror 8162 114 2       80 0  0 0 0
mirror 8162 116 2       81 0  0 0 0
mirror 8162 118 2       81 0  0 0 0
mirror 8162 119 2       81 0  0 0 0
mirror 8162 121 2       81 0  0 0 0
mirror 8162 123 2       80 0  0 0 0
mirror 8162 124 2       79 0  0 0 0
mirror 8162 126 2       78 0  0 0 0
mirror 8162 128 2       78 0  0 0 0
mirror 8162 129 2       77 0  0 0 0
mirror 8162 131 2       76 0  0 0 0
mirror 8162 133 2       76 0  0 0 0
mirror 8162 134 2       75 0  0 0 0
mirror 8162 136 2       72 0  0 0 0
mirror 8162 138 2       71 0  0 0 0
mirror 8162 140 2       72 0  0 0 0
mirror 8162 141 2       71 0  0 0 0
mirror 8162 143 2       72 0  0 0 0
mirror 8162 145 2       74 0  0 0 0
mirror 8162 146 2       75 0  0 0 0
mirror 8162 148 2       76 0  0 0 0
mirror 8162 150 2       76 0  0 0 0
mirror 8162 151 2       77 0  0 0 0
mirror 8162 153 2       78 0  0 0 0
mirror 8162 155 2       78 0  0 0 0
mirror 8162 156 2       78 0  0 0 0
mirror 8162 158 2       78 0  0 0 0
mirror 8162 160 2       78 0  0 0 0
mirror 8162 162 2       78 0  0 0 0
mirror 8162 163 2       81 0  0 0 0
mirror 8162 165 2       83 0  0 0 0
mirror 8162 167 2       85 0  0 0 0
mirror 8162 168 2       85 0  0 0 0
mirror 8162 170 2       87 0  0 0 0
mirror 8162 172 2       88 0  0 0 0
mirror 8162 173 2       89 0  0 0 0
mirror 8162 175 2       90 0  0 0 0
mirror 8162 177 2       91 0  0 0 0
mirror 8162 179 2       90 0  0 0 0
mirror 8162 180 2       90 0  0 0 0
mirror 8162 182 2       91 0  0 0 0
mirror 8162 184 2       94 0  0 0 0
mirror 8162 185 2       93 0  0 0 0
mirror 8162 187 2       93 0  0 0 0
mirror 8162 189 2       98 0  0 0 0
mirror 8162 190 2       100 0  0 0 0
mirror 8162 192 2       101 0  0 0 0
mirror 8162 194 2       99 0  0 0 0
mirror 8162 195 2       97 0  0 0 0
mirror 8162 197 2       99 0  0 0 0
mirror 8162 199 2       99 0  0 0 0
mirror 8162 201 2       98 0  0 0 0
mirror 8162 202 2       94 0  0 0 0
mirror 8162 204 2       93 0  0 0 0
mirror 8162 206 2       90 0  0 0 0
mirror 8162 207 2       90 0  0 0 0
fcomment 55131 410909  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
mirror 8162 209 2       88 0  0 0 0
mirror 8162 211 2       83 0  0 0 0
mirror 8162 212 2       82 0  0 0 0
mirror 8162 214 2       81 0  0 0 0
mirror 8162 216 2       81 0  0 0 0
fcomment 55131 410909  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
mirror 8162 217 2       79 0  0 0 0
mirror 8162 219 2       77 0  0 0 0
mirror 8162 221 2       75 0  0 0 0
mirror 8162 223 2       75 0  0 0 0
mirror 8162 224 2       76 0  0 0 0
mirror 8162 226 2       76 0  0 0 0
mirror 8162 228 2       74 0  0 0 0
mirror 8162 229 2       74 0  0 0 0
mirror 8162 231 2       74 0  0 0 0
mirror 8162 233 2       73 0  0 0 0
mirror 8162 234 2       74 0  0 0 0
mirror 8162 236 2       74 0  0 0 0
mirror 8162 238 2       76 0  0 0 0
mirror 8162 240 2       76 0  0 0 0
mirror 8162 241 2       78 0  0 0 0
mirror 8162 243 2       79 0  0 0 0
mirror 8162 245 2       77 0  0 0 0
mirror 8162 246 2       75 0  0 0 0
mirror 8162 248 2       75 0  0 0 0
fcomment 8162 248  "stopping focus loop"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  "stopping focus loop"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 8162 256  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"