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 3320 40  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3320 40  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 52521 16176  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3320 40  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 52521 16176  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3320 40  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3320 40  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3320 40  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3320 40  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3320 40  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 52521 16176  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3321 40  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3322 15  "starting focus loop"
mirror 3322 17 2       -384 0  0 0 0
mirror 3322 19 2       -560 0  0 0 0
mirror 3322 20 2       -575 0  0 0 0
mirror 3322 22 2       -574 0  0 0 0
mirror 3322 24 2       -547 0  0 0 0
mirror 3322 25 2       -529 0  0 0 0
mirror 3322 27 2       -517 0  0 0 0
mirror 3322 29 2       -509 0  0 0 0
mirror 3322 31 2       -508 0  0 0 0
mirror 3322 32 2       -507 0  0 0 0
fcomment 3322 33  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
mirror 3322 34 2       -505 0  0 0 0
mirror 3322 36 2       -503 0  0 0 0
mirror 3322 37 2       -503 0  0 0 0
mirror 3322 39 2       -502 0  0 0 0
mirror 3322 41 2       -501 0  0 0 0
mirror 3322 43 2       -499 0  0 0 0
mirror 3322 45 2       -499 0  0 0 0
mirror 3322 46 2       -500 0  0 0 0
mirror 3322 48 2       -500 0  0 0 0
mirror 3322 50 2       -500 0  0 0 0
mirror 3322 51 2       -501 0  0 0 0
mirror 3322 53 2       -502 0  0 0 0
mirror 3322 55 2       -503 0  0 0 0
mirror 3322 56 2       -503 0  0 0 0
mirror 3322 58 2       -501 0  0 0 0
mirror 3322 60 2       -501 0  0 0 0
mirror 3322 62 2       -501 0  0 0 0
mirror 3322 63 2       -502 0  0 0 0
mirror 3322 65 2       -502 0  0 0 0
mirror 3322 67 2       -502 0  0 0 0
mirror 3322 68 2       -503 0  0 0 0
mirror 3322 70 2       -504 0  0 0 0
mirror 3322 72 2       -504 0  0 0 0
mirror 3322 73 2       -502 0  0 0 0
mirror 3322 75 2       -502 0  0 0 0
mirror 3322 77 2       -502 0  0 0 0
mirror 3322 79 2       -501 0  0 0 0
mirror 3322 80 2       -499 0  0 0 0
mirror 3322 82 2       -499 0  0 0 0
mirror 3322 84 2       -500 0  0 0 0
mirror 3322 85 2       -500 0  0 0 0
mirror 3322 87 2       -499 0  0 0 0
mirror 3322 89 2       -498 0  0 0 0
mirror 3322 91 2       -495 0  0 0 0
mirror 3322 92 2       -497 0  0 0 0
mirror 3322 94 2       -497 0  0 0 0
mirror 3322 96 2       -495 0  0 0 0
mirror 3322 97 2       -494 0  0 0 0
mirror 3322 99 2       -492 0  0 0 0
mirror 3322 101 2       -492 0  0 0 0
mirror 3322 102 2       -492 0  0 0 0
mirror 3322 104 2       -492 0  0 0 0
mirror 3322 106 2       -492 0  0 0 0
mirror 3322 108 2       -493 0  0 0 0
mirror 3322 109 2       -492 0  0 0 0
mirror 3322 111 2       -491 0  0 0 0
mirror 3322 113 2       -490 0  0 0 0
mirror 3322 114 2       -490 0  0 0 0
mirror 3322 116 2       -489 0  0 0 0
mirror 3322 118 2       -488 0  0 0 0
mirror 3322 120 2       -487 0  0 0 0
mirror 3322 121 2       -486 0  0 0 0
mirror 3322 123 2       -485 0  0 0 0
mirror 3322 125 2       -481 0  0 0 0
mirror 3322 127 2       -480 0  0 0 0
mirror 3322 128 2       -479 0  0 0 0
mirror 3322 130 2       -477 0  0 0 0
mirror 3322 132 2       -477 0  0 0 0
mirror 3322 133 2       -476 0  0 0 0
mirror 3322 142 2       -475 0  0 0 0
mirror 3322 142 2       -474 0  0 0 0
fcomment 3322 142  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
mirror 3322 142 2       -473 0  0 0 0
mirror 3322 142 2       -472 0  0 0 0
mirror 3323 11 2       -473 0  0 0 0
mirror 3323 13 2       -471 0  0 0 0
mirror 3323 14 2       -469 0  0 0 0
mirror 3323 16 2       -467 0  0 0 0
mirror 3323 18 2       -465 0  0 0 0
mirror 3323 19 2       -464 0  0 0 0
mirror 3323 21 2       -465 0  0 0 0
mirror 3323 23 2       -464 0  0 0 0
mirror 3323 25 2       -463 0  0 0 0
mirror 3323 26 2       -464 0  0 0 0
mirror 3323 28 2       -465 0  0 0 0
mirror 3323 30 2       -466 0  0 0 0
mirror 3323 31 2       -465 0  0 0 0
mirror 3323 33 2       -466 0  0 0 0
mirror 3323 35 2       -468 0  0 0 0
mirror 3323 36 2       -469 0  0 0 0
mirror 3323 38 2       -470 0  0 0 0
mirror 3323 40 2       -471 0  0 0 0
mirror 3323 42 2       -472 0  0 0 0
mirror 3323 43 2       -472 0  0 0 0
mirror 3323 45 2       -474 0  0 0 0
mirror 3323 47 2       -477 0  0 0 0
mirror 3323 48 2       -477 0  0 0 0
mirror 3323 50 2       -476 0  0 0 0
mirror 3323 52 2       -474 0  0 0 0
mirror 3323 54 2       -474 0  0 0 0
mirror 3323 55 2       -476 0  0 0 0
mirror 3323 57 2       -478 0  0 0 0
mirror 3323 59 2       -480 0  0 0 0
mirror 3323 60 2       -482 0  0 0 0
mirror 3323 62 2       -484 0  0 0 0
mirror 3323 64 2       -486 0  0 0 0
fcomment 52522 16188  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 52522 16188  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3323 80  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3323 80  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3323 86  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3323 86  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3323 86  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3323 88  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3323 88  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3323 100  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3323 100  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3324 39  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3325 8  "starting focus loop"
mirror 3325 10 2       -479 0  0 0 0
mirror 3325 12 2       -469 0  0 0 0
mirror 3325 14 2       -461 0  0 0 0
mirror 3325 15 2       -456 0  0 0 0
fcomment 3325 17  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
mirror 3325 17 2       -452 0  0 0 0
mirror 3325 19 2       -449 0  0 0 0
mirror 3325 20 2       -448 0  0 0 0
mirror 3325 22 2       -446 0  0 0 0
mirror 3325 24 2       -446 0  0 0 0
mirror 3325 25 2       -446 0  0 0 0
mirror 3325 27 2       -447 0  0 0 0
mirror 3325 29 2       -447 0  0 0 0
mirror 3325 31 2       -448 0  0 0 0
mirror 3325 32 2       -448 0  0 0 0
mirror 3325 34 2       -449 0  0 0 0
mirror 3325 36 2       -450 0  0 0 0
mirror 3325 37 2       -451 0  0 0 0
mirror 3325 39 2       -452 0  0 0 0
mirror 3325 41 2       -452 0  0 0 0
mirror 3325 42 2       -452 0  0 0 0
mirror 3325 44 2       -452 0  0 0 0
mirror 3325 46 2       -452 0  0 0 0
mirror 3325 48 2       -451 0  0 0 0
mirror 3325 49 2       -452 0  0 0 0
mirror 3325 51 2       -452 0  0 0 0
mirror 3325 53 2       -451 0  0 0 0
mirror 3325 54 2       -449 0  0 0 0
mirror 3325 56 2       -448 0  0 0 0
mirror 3325 58 2       -448 0  0 0 0
mirror 3325 59 2       -446 0  0 0 0
mirror 3325 61 2       -445 0  0 0 0
mirror 3325 63 2       -444 0  0 0 0
mirror 3325 65 2       -443 0  0 0 0
mirror 3325 66 2       -444 0  0 0 0
mirror 3325 68 2       -443 0  0 0 0
mirror 3325 70 2       -442 0  0 0 0
mirror 3325 71 2       -441 0  0 0 0
mirror 3325 73 2       -441 0  0 0 0
mirror 3325 75 2       -441 0  0 0 0
mirror 3325 77 2       -441 0  0 0 0
mirror 3325 78 2       -441 0  0 0 0
mirror 3325 80 2       -441 0  0 0 0
mirror 3325 82 2       -441 0  0 0 0
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mirror 3325 85 2       -440 0  0 0 0
mirror 3325 87 2       -438 0  0 0 0
mirror 3325 88 2       -438 0  0 0 0
mirror 3325 90 2       -438 0  0 0 0
mirror 3325 92 2       -437 0  0 0 0
mirror 3325 94 2       -437 0  0 0 0
mirror 3325 95 2       -437 0  0 0 0
mirror 3325 97 2       -437 0  0 0 0
mirror 3325 99 2       -437 0  0 0 0
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mirror 3325 117 2       -436 0  0 0 0
mirror 3325 119 2       -437 0  0 0 0
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mirror 3325 126 2       -440 0  0 0 0
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mirror 3325 129 2       -441 0  0 0 0
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mirror 3325 152 2       -444 0  0 0 0
mirror 3325 153 2       -446 0  0 0 0
mirror 3325 155 2       -449 0  0 0 0
mirror 3325 157 2       -451 0  0 0 0
mirror 3325 158 2       -452 0  0 0 0
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mirror 3325 162 2       -455 0  0 0 0
mirror 3325 163 2       -457 0  0 0 0
mirror 3325 165 2       -460 0  0 0 0
mirror 3325 167 2       -463 0  0 0 0
mirror 3325 169 2       -465 0  0 0 0
mirror 3325 170 2       -472 0  0 0 0
mirror 3325 172 2       -477 0  0 0 0
mirror 3325 174 2       -481 0  0 0 0
mirror 3325 175 2       -483 0  0 0 0
mirror 3325 177 2       -485 0  0 0 0
mirror 3325 179 2       -488 0  0 0 0
mirror 3325 180 2       -489 0  0 0 0
mirror 3325 182 2       -489 0  0 0 0
mirror 3325 184 2       -490 0  0 0 0
mirror 3325 186 2       -491 0  0 0 0
mirror 3325 187 2       -495 0  0 0 0
mirror 3325 189 2       -498 0  0 0 0
mirror 3325 191 2       -504 0  0 0 0
mirror 3325 192 2       -510 0  0 0 0
mirror 3325 194 2       -515 0  0 0 0
mirror 3325 196 2       -520 0  0 0 0
mirror 3325 198 2       -524 0  0 0 0
mirror 3325 199 2       -529 0  0 0 0
mirror 3325 201 2       -534 0  0 0 0
mirror 3325 203 2       -541 0  0 0 0
mirror 3325 204 2       -547 0  0 0 0
mirror 3325 206 2       -554 0  0 0 0
mirror 3325 208 2       -560 0  0 0 0
mirror 3325 210 2       -562 0  0 0 0
mirror 3325 211 2       -565 0  0 0 0
mirror 3325 213 2       -567 0  0 0 0
mirror 3325 215 2       -568 0  0 0 0
mirror 3325 216 2       -570 0  0 0 0
mirror 3325 218 2       -572 0  0 0 0
mirror 3325 220 2       -574 0  0 0 0
mirror 3325 222 2       -576 0  0 0 0
mirror 3325 223 2       -577 0  0 0 0
mirror 3325 225 2       -578 0  0 0 0
mirror 3325 227 2       -580 0  0 0 0
mirror 3325 228 2       -584 0  0 0 0
mirror 3325 230 2       -589 0  0 0 0
mirror 3325 232 2       -597 0  0 0 0
mirror 3325 233 2       -604 0  0 0 0
mirror 3325 235 2       -613 0  0 0 0
mirror 3325 237 2       -621 0  0 0 0
mirror 3325 239 2       -628 0  0 0 0
mirror 3325 240 2       -634 0  0 0 0
mirror 3325 242 2       -640 0  0 0 0
mirror 3325 244 2       -646 0  0 0 0
mirror 3325 245 2       -654 0  0 0 0
mirror 3325 247 2       -661 0  0 0 0
mirror 3325 249 2       -668 0  0 0 0
mirror 3325 251 2       -675 0  0 0 0
mirror 3325 252 2       -683 0  0 0 0
mirror 3325 254 2       -691 0  0 0 0
mirror 3325 256 2       -696 0  0 0 0
mirror 3325 257 2       -699 0  0 0 0
mirror 3325 259 2       -704 0  0 0 0
mirror 3325 261 2       -710 0  0 0 0
mirror 3325 262 2       -715 0  0 0 0
mirror 3325 264 2       -718 0  0 0 0
mirror 3325 266 2       -722 0  0 0 0
mirror 3325 268 2       -724 0  0 0 0
mirror 3325 269 2       -726 0  0 0 0
mirror 3325 271 2       -729 0  0 0 0
mirror 3325 273 2       -732 0  0 0 0
mirror 3325 274 2       -735 0  0 0 0
mirror 3325 276 2       -737 0  0 0 0
mirror 3325 278 2       -739 0  0 0 0
mirror 3325 280 2       -741 0  0 0 0
mirror 3325 281 2       -741 0  0 0 0
mirror 3325 283 2       -741 0  0 0 0
mirror 3325 285 2       -741 0  0 0 0
mirror 3325 286 2       -742 0  0 0 0
mirror 3325 288 2       -742 0  0 0 0
mirror 3325 290 2       -743 0  0 0 0
mirror 3325 292 2       -746 0  0 0 0
mirror 3325 293 2       -748 0  0 0 0
mirror 3325 295 2       -750 0  0 0 0
mirror 3325 297 2       -752 0  0 0 0
mirror 3325 299 2       -753 0  0 0 0
mirror 3325 300 2       -755 0  0 0 0
mirror 3325 302 2       -756 0  0 0 0
mirror 3325 304 2       -757 0  0 0 0
mirror 3325 305 2       -759 0  0 0 0
fcomment 3325 306  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
mirror 3325 307 2       -760 0  0 0 0
mirror 3325 309 2       -762 0  0 0 0
mirror 3325 311 2       -764 0  0 0 0
mirror 3325 312 2       -765 0  0 0 0
mirror 3325 314 2       -766 0  0 0 0
mirror 3325 316 2       -766 0  0 0 0
mirror 3325 317 2       -766 0  0 0 0
mirror 3325 319 2       -767 0  0 0 0
mirror 3325 321 2       -768 0  0 0 0
mirror 3325 323 2       -768 0  0 0 0
mirror 3325 324 2       -767 0  0 0 0
mirror 3325 326 2       -767 0  0 0 0
mirror 3325 328 2       -769 0  0 0 0
mirror 3325 330 2       -771 0  0 0 0
mirror 3325 331 2       -774 0  0 0 0
mirror 3325 333 2       -776 0  0 0 0
mirror 3325 335 2       -778 0  0 0 0
mirror 3325 336 2       -778 0  0 0 0
mirror 3325 338 2       -779 0  0 0 0
mirror 3325 340 2       -780 0  0 0 0
mirror 3325 342 2       -781 0  0 0 0
mirror 3325 343 2       -783 0  0 0 0
mirror 3325 345 2       -785 0  0 0 0
mirror 3325 347 2       -787 0  0 0 0
mirror 3325 348 2       -790 0  0 0 0
mirror 3325 350 2       -793 0  0 0 0
mirror 3325 352 2       -794 0  0 0 0
mirror 3325 354 2       -795 0  0 0 0
mirror 3325 355 2       -796 0  0 0 0
mirror 3325 357 2       -796 0  0 0 0
mirror 3325 359 2       -796 0  0 0 0
mirror 3325 360 2       -796 0  0 0 0
mirror 3325 362 2       -796 0  0 0 0
mirror 3325 364 2       -796 0  0 0 0
mirror 3325 366 2       -797 0  0 0 0
mirror 3325 367 2       -798 0  0 0 0
mirror 3325 369 2       -798 0  0 0 0
mirror 3325 371 2       -798 0  0 0 0
mirror 3325 373 2       -798 0  0 0 0
mirror 3325 374 2       -798 0  0 0 0
mirror 3325 376 2       -797 0  0 0 0
mirror 3325 378 2       -796 0  0 0 0
mirror 3325 380 2       -795 0  0 0 0
mirror 3325 381 2       -795 0  0 0 0
mirror 3325 383 2       -794 0  0 0 0
mirror 3325 385 2       -794 0  0 0 0
mirror 3325 386 2       -794 0  0 0 0
mirror 3325 388 2       -794 0  0 0 0
mirror 3325 390 2       -794 0  0 0 0
mirror 3325 392 2       -793 0  0 0 0
mirror 3325 393 2       -791 0  0 0 0
mirror 3325 395 2       -790 0  0 0 0
mirror 3325 397 2       -788 0  0 0 0
mirror 3325 398 2       -786 0  0 0 0
mirror 3325 400 2       -785 0  0 0 0
mirror 3325 402 2       -785 0  0 0 0
mirror 3325 404 2       -784 0  0 0 0
mirror 3325 405 2       -782 0  0 0 0
mirror 3325 407 2       -781 0  0 0 0
mirror 3325 409 2       -780 0  0 0 0
mirror 3325 410 2       -780 0  0 0 0
mirror 3325 412 2       -780 0  0 0 0
mirror 3325 414 2       -780 0  0 0 0
mirror 3325 416 2       -778 0  0 0 0
mirror 3325 417 2       -775 0  0 0 0
mirror 3325 419 2       -773 0  0 0 0
mirror 3325 421 2       -772 0  0 0 0
mirror 3325 422 2       -771 0  0 0 0
mirror 3325 424 2       -769 0  0 0 0
mirror 3325 426 2       -768 0  0 0 0
fcomment 3325 427  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
mirror 3325 428 2       -767 0  0 0 0
mirror 3325 429 2       -765 0  0 0 0
mirror 3325 431 2       -762 0  0 0 0
mirror 3325 433 2       -759 0  0 0 0
mirror 3325 435 2       -756 0  0 0 0
mirror 3325 436 2       -754 0  0 0 0
mirror 3325 438 2       -752 0  0 0 0
mirror 3325 440 2       -748 0  0 0 0
mirror 3325 441 2       -745 0  0 0 0
mirror 3325 443 2       -741 0  0 0 0
mirror 3325 445 2       -739 0  0 0 0
mirror 3325 446 2       -735 0  0 0 0
mirror 3325 448 2       -731 0  0 0 0
mirror 3325 450 2       -726 0  0 0 0
mirror 3325 452 2       -723 0  0 0 0
mirror 3325 453 2       -720 0  0 0 0
mirror 3325 455 2       -716 0  0 0 0
mirror 3325 457 2       -713 0  0 0 0
mirror 3325 458 2       -710 0  0 0 0
mirror 3325 460 2       -707 0  0 0 0
mirror 3325 462 2       -704 0  0 0 0
mirror 3325 464 2       -703 0  0 0 0
mirror 3325 465 2       -703 0  0 0 0
mirror 3325 467 2       -703 0  0 0 0
mirror 3325 469 2       -703 0  0 0 0
mirror 3325 471 2       -703 0  0 0 0
mirror 3325 472 2       -704 0  0 0 0
mirror 3325 474 2       -704 0  0 0 0
mirror 3325 476 2       -705 0  0 0 0
mirror 3325 477 2       -706 0  0 0 0
mirror 3325 479 2       -707 0  0 0 0
mirror 3325 481 2       -709 0  0 0 0
mirror 3325 483 2       -710 0  0 0 0
mirror 3325 484 2       -711 0  0 0 0
mirror 3325 486 2       -712 0  0 0 0
mirror 3325 488 2       -712 0  0 0 0
mirror 3325 490 2       -712 0  0 0 0
mirror 3325 491 2       -713 0  0 0 0
mirror 3325 493 2       -714 0  0 0 0
mirror 3325 495 2       -714 0  0 0 0
mirror 3325 496 2       -713 0  0 0 0
mirror 3325 498 2       -713 0  0 0 0
mirror 3325 500 2       -713 0  0 0 0
mirror 3325 502 2       -714 0  0 0 0
mirror 3325 503 2       -714 0  0 0 0
mirror 3325 505 2       -714 0  0 0 0
mirror 3325 507 2       -713 0  0 0 0
mirror 3325 509 2       -713 0  0 0 0
mirror 3325 510 2       -713 0  0 0 0
mirror 3325 512 2       -713 0  0 0 0
mirror 3325 514 2       -713 0  0 0 0
mirror 3325 515 2       -711 0  0 0 0
mirror 3325 517 2       -708 0  0 0 0
mirror 3325 526 2       -705 0  0 0 0
mirror 3325 526 2       -702 0  0 0 0
fcomment 3325 526  "stopping focus loop"
fcomment 3325 526  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3325 526  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"
fcomment 3325 526  " Kp: 0.2 Kd: 0.1 Ki: 0.005 naverage: 2 interval: 60"