     0.003978        16.2  -4.855e-08           0           0
   q               0           0           0           0           0
   alpha           0           1           0           0           0
   theta           0           0           0           0           1
   Vt              1           0           0           0           0
   Ay              0           0       -5.02           0           0
   p               0           0           0           0           0
   r               0           0    