diff --git a/LaunchScript/VirtualAcousticStarterConfig.ITC16100.json b/LaunchScript/VirtualAcousticStarterConfig.ITC16100.json
index 4eabe72854126436b40843554022b946b9040bb9..25b1b847ad06842f8239b1ea01e51ec3aba766a6 100644
--- a/LaunchScript/VirtualAcousticStarterConfig.ITC16100.json
+++ b/LaunchScript/VirtualAcousticStarterConfig.ITC16100.json
@@ -3,6 +3,7 @@
 	"nLauncherPort": 41578,
 	"nVAServerPort": 12340,
 	"nWaitForVAServerStart": 5,
+	"sVASetupIni": "VASetup.aixCAVE.ini",
 	"lsBinauralReproductionModules": ["TalkthroughHP", "CTC"],
 
 	"dVAServerDirectories" = {
diff --git a/LaunchScript/VirtualAcousticStarterConfig.json b/LaunchScript/VirtualAcousticStarterConfig.json
index 9b3010ac35e172d807c369d49c257f347e2def5f..f0cb806d83af63d9ff1a74fef645445eccb5f7a9 100644
--- a/LaunchScript/VirtualAcousticStarterConfig.json
+++ b/LaunchScript/VirtualAcousticStarterConfig.json
@@ -3,6 +3,7 @@
 	"nLauncherPort": 41578,
 	"nVAServerPort": 12340,
 	"nWaitForVAServerStart": 3,
+	"sVASetupIni": "VASetup.Launcher.ini",
 	"lsBinauralReproductionModules": ["TalkthroughHP"],
 	"lsAmbisonicsReproductionModules": ["AmbisonicsBinauralMixdown"],
 
diff --git a/LaunchScript/VirtualAcousticsStarterServer.py b/LaunchScript/VirtualAcousticsStarterServer.py
index 7dce6e3f4bf25edf6287debec6e1ed3b1032b7ba..24a84c27024a11f3e3e4bbbb062e20209559264c 100644
--- a/LaunchScript/VirtualAcousticsStarterServer.py
+++ b/LaunchScript/VirtualAcousticsStarterServer.py
@@ -40,6 +40,11 @@ class LauncherConfig:
       print( "ERROR reading the json config. Missing " + str(e.args[0]) )
       sys.exit( ErrorCodes.ERROR_INCOMPLETE_CONFIG )
     
+    try:
+      conf.sVASetupIni = json_config["sVASetupIni"]
+    except KeyError:
+      conf.sVASetupIni = None
+
     try:
       conf.lsBinauralReproductionModules = json_config["lsBinauralReproductionModules"]
     except KeyError:
@@ -56,6 +61,7 @@ class LauncherConfig:
 
 class VAComposedIniParser:
   def __init__(self, oLauncherConf : LauncherConfig):
+    self.sVASetupIni = oLauncherConf.sVASetupIni
     self.lsBinauralReproductionModules = oLauncherConf.lsBinauralReproductionModules
     self.lsAmbisonicsReproductionModules = oLauncherConf.lsAmbisonicsReproductionModules
     self.lsCustomReproductionModules = oLauncherConf.lsCustomReproductionModules
@@ -73,29 +79,33 @@ class VAComposedIniParser:
 
   def prepare_inis(self):
     print("Parsing VA ini-files")
-    self.link_renderer_ini()
+    self.link_setup_and_renderer_ini()
     return self.prepare_reproduction_ini()
 
-  def link_renderer_ini(self):
+  def link_setup_and_renderer_ini(self):
     if not self.sRendererIniPath:
-      print("No renderer ini-file sent by client, using default one.")
+      print("No renderer ini-file sent by client, using default one: 'VARenderer.Default.ini'")
       self.sRendererIniPath = "VARenderer.Default.ini"
+    if not self.sVASetupIni:
+      print("No setup ini-file specified, using default one: 'VASetup.Launcher.ini'")
+      self.sVASetupIni = "VASetup.Launcher.ini"
     
     sMainInifile = self.get_main_inifile()
     if not os.path.isfile(sMainInifile):
       print("ERROR: Could not find 'VACore.Main.ini' in 'conf' folder. Did you delete it?")
       sys.exit( ErrorCodes.ERROR_MISSING_VA_INI )
 
-    rendererIni = self._create_parser()
+    mainIni = self._create_parser()
     try:
-      rendererIni.read( sMainInifile )
-      rendererIni["Files"]["VARendererIni"] = self.sRendererIniPath
+      mainIni.read( sMainInifile )
+      mainIni["Files"]["VARendererIni"] = self.sRendererIniPath
+      mainIni["Files"]["VASetupIni"] = self.sVASetupIni
     except Exception as e:
       print( "ERROR: " + str(e) )
       sys.exit( ErrorCodes.ERROR_INCOMPLETE_VA_INI )
     
     with open( sMainInifile, 'w' ) as inifile:
-      rendererIni.write(inifile)
+      mainIni.write(inifile)
   
   def prepare_reproduction_ini(self):
     sFileToRead = self.sConfFolder + "VAReproduction.Prototype.ini"
diff --git a/README.md b/README.md
index ef14fcdfbd77c3b40dc0149741bc86d55500d483..5a1f4c3b710518e05b0fce5d79ae2effa4ec1386 100644
--- a/README.md
+++ b/README.md
@@ -39,6 +39,7 @@ The VAServerLauncher can be configured by adjusting the settings in `./LaunchScr
 | nLauncherPort | Port used for communication with launcher | 41578 |
 | nVAServerPort | Port used for communication with VAServer | 12340 |
 | nWaitForVAServerStart | Time to wait for VAServer to start [seconds] | 3 |
+| sVASetupIni | Name of VA ini-file with [audio hardware](#audio-hardware) settings located in `conf` folder | "VASetup.Launcher.ini" |
 | lsBinauralReproductionModules | [Reproduction modules](#audio-reproduction) used for [binaural](#unreal-project-configuration) input signals | ["TalkthroughHP"] |
 | lsAmbisonicsReproductionModules | [Reproduction modules](#audio-reproduction) used for [ambisonics](#unreal-project-configuration) input signals | ["AmbisonicsBinauralMixdown"] |
 | lsCustomReproductionModules | [Reproduction modules](#audio-reproduction) used for [custom](#unreal-project-configuration) purposes (e.g. multiple renderers with different signal types) | e.g. ["TalkthroughHP", "AmbisonicsBinauralMixdown"] |
@@ -51,7 +52,7 @@ If you want to use other VAServer versions than provided, you can extend the `dV
 A set of .ini files is provided in the `./conf` directory. The VAServerLauncher will automatically combine them before starting the VAServer. For this to work, you should **not** change those files with the following exceptions.
 
 ### Audio hardware
-The audio hardware settings are specific to each computer and typically have to be modified in the `VASetup.Launcher.ini`. Those include [audio driver](https://www.virtualacoustics.org/VA/documentation/configuration/#audio-driver-configuration) and [output device](https://www.virtualacoustics.org/VA/documentation/configuration/#audio-hardware-configuration) settings including the respective channels (e.g. headphones on channels 1 & 2).
+The audio hardware settings are specific to each computer and typically have to be modified in the VASetup ini file (see `sVASetupIni` in [Launcher config](#launcher-configuration), default `VASetup.Launcher.ini`). Those include [audio driver](https://www.virtualacoustics.org/VA/documentation/configuration/#audio-driver-configuration) and [output device](https://www.virtualacoustics.org/VA/documentation/configuration/#audio-hardware-configuration) settings including the respective channels (e.g. headphones on channels 1 & 2).
 
 ### Audio reproduction
 The audio [reproduction settings](https://www.virtualacoustics.org/VA/documentation/reproduction/) can to be modified in the `VAReproduction.Prototype.ini`. VA uses reproduction modules to specify how the audio stream is processed before being sent to the output devices. For examples binaural signals can be reproduced using a direct routing to headphones or using cross-talk cancellation (CTC) and loudspeakers.
@@ -64,7 +65,7 @@ Per default the following reproduction modules are defined
 - AmbisonicsLS
 - AmbisonicsBinauralMixdown
 
-You can add additional modules, if you want. However, you should *not* rename the existing ones. Furthermore, all modules must be disbaled [Enabled = false]. The VAServerLauncher will automatically enable the reproduction modules specified in the `VirtualAcousticStarterConfig.json` (see [Launcher configuration](#launcher-configuration)) when starting the VAServer.
+You can add additional modules, if you want. However, you should **not** rename the existing ones. Furthermore, all modules must be disbaled [Enabled = false]. The VAServerLauncher will automatically enable the reproduction modules specified in the `VirtualAcousticStarterConfig.json` (see [Launcher configuration](#launcher-configuration)) when starting the VAServer.
 
 In any case, especially for the loudspeaker-based modules, you will have to update the `Outputs` setting according to what you defined in the `VASetup.Launcher.ini`.
 
diff --git a/conf/VASetup.aixCAVE.ini b/conf/VASetup.aixCAVE.ini
new file mode 100644
index 0000000000000000000000000000000000000000..71eb29d01a62d529ef22913d80ad0dac59a101c5
--- /dev/null
+++ b/conf/VASetup.aixCAVE.ini
@@ -0,0 +1,497 @@
+#
+#  -------------------------------------------------------------------------------------------
+#
+#    VVV        VVV A
+#     VVV      VVV AAA        Virtual Acoustics (VA)
+#      VVV    VVV   AAA       Real-time auralization for virtual reality
+#       VVV  VVV     AAA
+#        VVVVVV       AAA     (c) Copyright Institute of Technical Acoustics (ITA)
+#         VVVV         AAA        RWTH Aachen University (http://www.akustik.rwth-aachen.de)
+#
+#  -------------------------------------------------------------------------------------------
+#
+
+[Debug]
+
+# Set log level: 0 = quiet; 1 = errors; 2 = warnings; 3 = info (default); 4 = verbose; 5 = trace;
+LogLevel = 3
+
+[Audio driver]
+
+# MANDATORY: Audio driver backend (ASIO|Portaudio|Virtual)
+Driver = ASIO
+
+# MANDATORY: Audio device ( e.g. ASIO4ALL v2, ASIO Hammerfall DSP, Portaudio 'default', 0,1,2,3,..., virtual user 'Trigger' )
+Device = ASIO Hammerfall DSP
+
+# MANDATORY: Sampling rate [Hz]
+Samplerate = 44100
+
+# OPTIONAL: Buffer size / block length used for audio streaming [Samples]
+# AUTO will determine the buffer size from the audio device automatically [recommended, set in sound card driver configuration]
+# Note: Adjust this to your latency requirements
+BufferSize = AUTO
+
+# Define number of output channels manually (e.g. for virtual device)
+OutputChannels = AUTO
+
+
+[Setup]
+# -- outputs
+
+[Output:Ac_Op]
+Description = Acoustic Operator Monitor Loudspeaker
+Devices = MONL, MONR
+
+[Output:Wireless_HP]
+Description = Wireless Headphones
+Devices = WHP
+
+[Output:HP_1]
+Description = Wired Headphones 1
+Devices = HP1
+
+[Output:HP_2]
+Description = Wired Headphones 2
+Devices = HP2
+
+[Output:Cave_LS]
+Type = Group
+Description = aixCave Loudspeaker Array
+Devices = LS1, LS2, LS3, LS4, LS5, LS6, LS7, LS8, LS9, LS10, LS11, LS12
+
+[Output:Cave_SW]
+Description = aixCave Subwoofer Array
+Devices = SW1, SW2, SW3, SW4, SW5, SW6, SW7, SW8, SW9
+
+[Output:Cave_LS_QuadConfig]
+Type = Group
+Description = aixCave quadratic loudspeaker configuration (center of screen edges)
+Devices = LS2, LS5, LS8, LS11
+
+# -- inputs
+
+[Input:Cave_MikeArray]
+Description = aixCave Microphone Array
+Devices = MIC1,MIC2,MIC3,MIC4,MIC5,MIC6,MIC7,MIC8,MIC9,MIC10,MIC11,MIC12,MIC13,MIC14,MIC15,MIC16,MIC17,MIC18,MIC19,MIC20,MIC21,MIC22
+
+[Input:Ac_Op_TableMike]
+Description = Acoustic Operator Table Microphone
+Devices = TMIC1
+
+[Input:Cave_Op_TableMike]
+Description = Cave Operator Table Microphone Panasonic xyz
+Devices = TMIC2
+
+[Input:Cave_WirelessMike]
+Description = Cave Wireless Microphone
+Devices = WMIC
+
+
+# -- hardware output devices
+
+# Top-Down View			
+# RPY in -z direction, -x =	+yaw, y = +pitch				
+#Subwoofer (Pro Dipe 10S V2)				Lautsprecher Neumann KH120
+#+--------------+         					+---4---5---6---+     
+#|              |							|               |
+#|  7   8   9   |          					3               7    
+#|              |          					|               |  
+#|  4   5   6   |          +----> +X		2       +       8      
+#|              |          |				|               |  
+#|  1   2   3   |          V				1               9
+#|              |         					|               |  
+#+==============+         +Z				+==12==11==10===+
+#      Door										   Door
+
+
+[OutputDevice:MONL]
+Type = LS
+Description = Neumann K110
+Channels = 1
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:MONR]
+Type = LS
+Description = Neumann K110
+Channels = 2
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:WHP]
+Type = HP
+Description = Sennheiser
+Channels = 3,4
+DataFileName = Sennheiser_WHP_Equalization.wav
+
+[OutputDevice:HP1]
+Type = HP
+Description = Superlux 1
+Channels = 5,6
+DataFileName = Superlux_Equalization.wav
+
+[OutputDevice:HP2]
+Type = HP
+Description = Superlux 2
+Channels = 7,8
+DataFileName = Superlux_Equalization.wav
+
+
+[OutputDevice:LS1]
+Type = LS
+Description = Neumann K110
+Channels = 9
+Position = -2.556, 3.405, 1.313
+OrientationRPY =  0, -42, -90
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:LS2]
+Type = LS
+Description = Neumann K110
+Channels = 10
+Position = -2.555, 3.402, 0
+OrientationRPY =   0, -42, -90
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:LS3]
+Type = LS
+Description = Neumann K110
+Channels = 11
+Position = -2.552, 3.402, -1.313
+OrientationRPY =   0, -42, -90
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:LS4]
+Type = LS
+Description = Neumann K110
+Channels = 12
+Position = -1.313, 3.405, -2.551
+OrientationRPY =   0, -42, 180
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:LS5]
+Type = LS
+Description = Neumann K110
+Channels = 13
+Position = 0, 3.403, -2.55
+OrientationRPY =   0, -42, 180
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:LS6]
+Type = LS
+Description = Neumann K110
+Channels = 14
+Position = 1.313, 3.403, -2.555
+OrientationRPY =   0, -42, 180
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:LS7]
+Type = LS
+Description = Neumann K110
+Channels = 15
+Position = 2.560, 3.402, -1.313
+OrientationRPY =   0, -42, 90
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:LS8]
+Type = LS
+Description = Neumann K110
+Channels = 16
+Position = 2.560, 3.402, 0
+OrientationRPY =   0, -42, 90
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:LS9]
+Type = LS
+Description = Neumann K110
+Channels = 17
+Position = 2.559, 3.404, 1.313
+OrientationRPY =   0, -42, 90
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:LS10]
+Type = LS
+Description = Neumann K110
+Channels = 18
+Position = 1.313, 3.399, 2.30
+OrientationRPY =   0, -42, 0
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:LS11]
+Type = LS
+Description = Neumann K110
+Channels = 19
+Position = 0, 3.401, 2.3
+OrientationRPY =   0, -42, 0
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+[OutputDevice:LS12]
+Type = LS
+Description = Neumann K110
+Channels = 20
+Position = -1.313, 3.401, 2.3
+OrientationRPY =   0, -42, 0
+DataFileName = Neumann_K110_Directivity_DFT.daff
+
+
+[OutputDevice:SW1]
+Type = LS
+Description = Pro Dipe 10S V2
+Channels = 21
+Position = -1.75, 3.45, -1.75
+OrientationRPY =   0, -90, 0
+DataFileName = ProDipe_Directivity_DFT.daff
+
+[OutputDevice:SW2]
+Type = LS
+Description = Pro Dipe 10S V2
+Channels = 22
+Position = 0, 3.45, -1.75
+OrientationRPY =   0, -90, 0
+DataFileName = ProDipe_Directivity_DFT.daff
+
+[OutputDevice:SW3]
+Type = LS
+Description = Pro Dipe 10S V2
+Channels = 23
+Position = 1.75, 3.45, -1.75
+OrientationRPY =   0, -90, 0
+DataFileName = ProDipe_Directivity_DFT.daff
+
+[OutputDevice:SW4]
+Type = LS
+Description = Pro Dipe 10S V2
+Channels = 24
+Position = -1.75, 3.45, 0
+OrientationRPY =   0, -90, 0
+DataFileName = ProDipe_Directivity_DFT.daff
+
+[OutputDevice:SW5]
+Type = LS
+Description = Pro Dipe 10S V2
+Channels = 25
+Position = 0, 3.45, 0
+OrientationRPY =   0, -90, 0
+DataFileName = ProDipe_Directivity_DFT.daff
+
+[OutputDevice:SW6]
+Type = LS
+Description = Pro Dipe 10S V2
+Channels = 26
+Position = 1.75, 3.45, 0
+OrientationRPY =   0, -90, 0
+DataFileName = ProDipe_Directivity_DFT.daff
+
+[OutputDevice:SW7]
+Type = LS
+Description = Pro Dipe 10S V2
+Channels = 27
+Position = -1.75, 3.45, 1.75
+OrientationRPY =   0, -90, 0
+DataFileName = ProDipe_Directivity_DFT.daff
+
+[OutputDevice:SW8]
+Type = LS
+Description = Pro Dipe 10S V2
+Channels = 28
+Position = 0, 3.45, 1.75
+OrientationRPY =   0, -90, 0
+DataFileName = ProDipe_Directivity_DFT.daff
+
+[OutputDevice:SW9]
+Type = LS
+Description = Pro Dipe 10S V2
+Channels = 29
+Position = 1.75, 3.45, 1.75
+OrientationRPY =   0, -90, 0
+DataFileName = ProDipe_Directivity_DFT.daff
+
+
+# -- microphones
+
+# Top-Down View
+
+# Mikrofone (Panasonic P9925-ND / WM-61A)
+# RPY in -z direction, -x =	+yaw, y = +pitch		
+#+--------------------------------------+
+#|            							|            
+#|		19		20		21		22		|
+#|            							|   
+#|	14		15		16		17		18	|
+#|            							|             
+#|		10		11		12		13		|
+#|            							|             
+#|	5		6		7		8		9	|          +----> +X
+#|            							|   	   |
+#|		1		2		3		4		|          |
+#|										|          V
+#+======================================+         +Z
+#      			Door
+
+[InputDevice:WMIC]
+Type = HP
+Description = Sennheiser Wireless Microphone
+Channels = 1
+
+[InputDevice:TMIC1]
+Type = HP
+Description = Table Microphone 1
+Channels = 7
+
+[InputDevice:TMIC2]
+Type = HP
+Description = Table Microphone 2
+Channels = 8
+
+[InputDevice:MIC1]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 9
+Position = -1.350, 3.435, 1.559
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC2]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 10
+Position = -0.450, 3.435, 1.559
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC3]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 11
+Position = 4.50, 3.435, 1.559
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC4]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 12
+Position = 1.350, 3.435, 1.559
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC5]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 13
+Position = -1.8, 3.435, 0.779
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC6]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 14
+Position = -0.9, 3.435, 0.779
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC7]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 15
+Position = 0, 3.435, 0.779
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC8]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 16
+Position = 0.9, 3.435, 0.779
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC9]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 17
+Position = 1.8, 3.435, 0.779
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC10]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 18
+Position = -1.35, 3.435, 0
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC11]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 19
+Position = -0.45, 3.435, 0
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC12]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 20
+Position = 0.45, 3.435,	0
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC13]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 21
+Position = 1.35, 3.435, 0
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC14]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 22
+Position = -1.8, 3.435, -0.779
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC15]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 23
+Position = -0.9, 3.435,	-0.779
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC16]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 24
+Position = 0, 3.435, -0.779
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC17]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 25
+Position = 0.9, 3.435, -0.779
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC18]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 9
+Position = 1.8,	3.435, -0.779
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC19]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 26
+Position = -1.35, 3.435, -1.559
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC20]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 27
+Position = -0.45, 3.435, -1.559
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC21]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 28
+Position = 0.45, 3.435, -1.559
+OrientationRPY =   0, -90, 0
+
+[InputDevice:MIC22]
+Type = MIC
+Description = Panasonic P9925-ND / WM-61A
+Channels = 29
+Position = 1.350, 3.435, -1.559
+OrientationRPY =   0, -90, 0