Phi	T3			T4			T5			T6

	-177.5542  179.2027	-177.1957  179.9116  	-178.5021 -8.0377	-179.5360  179.5580
	357			358			171			360

Psi
	-179.9999  179.9970	-179.9987 179.9999 	-179.9996  179.9975	-179.9975  179.9974