content: package v108;
  
  import java.io.BufferedReader;
  import java.io.IOException;
  import java.io.InputStream;
  import java.io.InputStreamReader;
  import java.io.PrintWriter;
  import java.util.StringTokenizer;
  
  public class Yoyodyne_UVa10832 {
  
  	static final double EPS = 1e-9, INF = 1e9;
  	
  	public static void main(String[] args) throws IOException {
  		
  		Scanner sc = new Scanner(System.in);
  		PrintWriter out = new PrintWriter(System.out);
  
  		int k = 1;
  		while(true)
  		{
  			double f = sc.nextInt(), b = sc.nextInt(), r = sc.nextInt();
  			int n = sc.nextInt();
  			if(n == 0) break;
  			
  			Point[] buoys = new Point[n];
  			for(int i = 0; i < n; i++) buoys[i] = new Point(sc.nextInt(), sc.nextInt(), sc.nextInt());
  			
  			Point start = new Point(0, 0, 1), end = start;
  			double totalDistance = 0, totalTime = 0;
  			boolean success = true;
  			for(int i = 0; i < n; i++)
  			{
  				int idx = -1;
  				double d = INF;
  				for(int j = 0; j < n; j++)
  					if(buoys[j] != null && buoys[j].dist(end) + EPS < d)
  					{
  						d = buoys[j].dist(end);
  						idx = j;
  					}
  				Point c = buoys[idx];
  				buoys[idx] = null;
  				
  				if(success)
  					if(d / r * b <= EPS + f)
  					{
  						f -= d / r * b;
  						totalDistance += d;
  						totalTime += d / r;
  						end = c;
  					}
  					else
  					{
  						success = false;
  						
  						Vector v = new Vector(end, c);
  						v = v.scale(f / b * r /v.norm());
  						start = end.translate(v);
  						totalDistance += f / b * r;
  					}
  				end = c;
  			}
  			if(success)
  				out.printf("Mission %d: SUCCESS!! Time: %.2f  Traveled: %.2f  Fuel Left: %.2f\n",k++, round(totalTime), round(totalDistance), round(f));
  			else
  				out.printf("Mission %d: FAILURE!! Traveled: %.2f  From Home: %.2f\n", k++, round(totalDistance), round(end.dist(start)));
  		}
  		out.flush();
  	}
  	
  	static double round(double d)
  	{
  		return Math.round(d * 100) / 100.0;
  	}
  	static class Point
  	{
  		double x, y, z;
  		
  		Point(double a, double b, double c)
  		{
  			x = a; y = b; z = c;
  		}
  		
  		double dist(Point p)
  		{
  			return Math.sqrt((x - p.x) * (x - p.x) + (y - p.y) * (y - p.y) + (z - p.z) * (z - p.z));
  		}
  		
  		Point translate(Vector v)
  		{
  			return new Point(x + v.x, y + v.y, z + v.z);
  		}
  	}
  
  	static class Vector
  	{
  		double x, y, z;
  		
  		Vector(Point p, Point q)
  		{
  			x = q.x - p.x;
  			y = q.y - p.y;
  			z = q.z - p.z;
  		}
  		
  		Vector(double a, double b, double c)
  		{
  			x = a;
  			y = b;
  			z = c;
  		}
  		double norm()
  		{
  			return Math.sqrt(x * x + y * y + z * z);
  		}
  		
  		Vector scale(double s)
  		{
  			return new Vector(x * s, y * s, z * s);
  		}
  	}
  	
  	static class Scanner 
  	{
  		StringTokenizer st;
  		BufferedReader br;
  
  		public Scanner(InputStream s){	br = new BufferedReader(new InputStreamReader(s));}
  
  		public String next() throws IOException 
  		{
  			while (st == null || !st.hasMoreTokens()) 
  				st = new StringTokenizer(br.readLine());
  			return st.nextToken();
  		}
  
  		public int nextInt() throws IOException {return Integer.parseInt(next());}
  		
  		public long nextLong() throws IOException {return Long.parseLong(next());}
  
  		public String nextLine() throws IOException {return br.readLine();}
  		
  		public double nextDouble() throws IOException
  		{
  			String x = next();
  			StringBuilder sb = new StringBuilder("0");
  			double res = 0, f = 1;
  			boolean dec = false, neg = false;
  			int start = 0;
  			if(x.charAt(0) == '-')
  			{
  				neg = true;
  				start++;
  			}
  			for(int i = start; i < x.length(); i++)
  				if(x.charAt(i) == '.')
  				{
  					res = Integer.parseInt(sb.toString());
  					sb = new StringBuilder("0");
  					dec = true;
  				}
  				else
  				{
  					sb.append(x.charAt(i));
  					if(dec)
  						f *= 10;
  				}
  			res += Integer.parseInt(sb.toString()) / f;
  			return res * (neg?-1:1);
  		}
  		
  		public boolean ready() throws IOException {return br.ready();}
  
  
  	}
  }
  