On a spacecraft two engines fire for a time of 578 s. One gives the craft an acceleration in the x direction of ax = 5.33 m/s2, while the other produces an acceleration in the y direction of ay = 7.03 m/s2. At the end of the firing period, the craft has velocity components of vx = 3796 m/s and vy = 4894 m/s. Calculate the magnitude of the initial velocity.