Location of G200 Lateral Acceleration Sensor

[steamship]

Can anyone give me some idea of where to find the G200 lateral accerelation sensor on a D2 A8? I finally managed to get all four ABS sensors cleaned at the start of the week. Was out a few times in the car and did over 300 miles before the ABS and traction control lights came on. Car has been running fine since. I did a scan and it threw up engine codes about Lambda sensors, secondary air and fuel trims (the car runs on LPG). It also threw up the following:

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Address 03: ABS Brakes Labels: 8D0-907-389.lbl
Part No: 4D0 907 389 E
Component: ABS/ESP allrad D56
Coding: 08397
Shop #: WSC 02313
VCID: 31630B1DFB327B1

2 Faults Found:
01464 - Brake Pressure/lateral Acceleration Sensor
48-10 - Supply Voltage - Intermittent
01423 - Lateral Acceleration Sensor (G200)
35-10 - - - Intermittent

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It is intermittent and doesn't always show up on a scan. I've done the usual Google search and it seems to be that the G200 sensor is somewhere on the drivers seat. Now, I know several people on here have had their seats out, and was wondering if anyone has a decent photo of its location. I had a quick look under the seat and noticed that the wiring loom that disappears into the carpet isn't tied up as neatly as the passenger side one, but not sure exactly where to look.