k1 = 1111/20000;
k2 = 17/10;
k3 = 3/10;
k4 = 1111/2000;
k5 = 1111/8000;
k6 = 8;
k7 = 4;
k8 = 1/200;
k9 = 1/100;
k10 = 5;
k11 = 5/2;
k12 = 5/2;
k13 = 1;
k14 = 3/2;
k15 = 3333/10000;
k16 = 60;
k17 = 10;
k18 = 100;
k19 = 25;
k20 = 1;
k21 = 10;
k22 = 0;