k1 = 10;
k2 = 10;
k3 = 10;
k4 = 10;
k5 = 10;
k6 = 10;
k7 = 1;
k8 = 17/2;
k9 = 1;
k10 = 1;
k11 = 1;
k12 = 1;
k13 = 0;
k14 = 1;
k15 = 5;
k16 = 1;
k17 = 1;
k18 = 1;
k19 = 1;
k20 = 1;
k21 = 1;