k1 = 1;
k2 = 1;
k3 = 30;
k4 = 460;
k5 = 2500;
k6 = 2000;
k7 = 1000;
k8 = 0;
k9 = 0;
k10 = 0;
k11 = 10000;
k12 = 15;