k1 = 1/50000;
k2 = 129/100;
k3 = 1/10;
k4 = 1/10000;
k5 = 10;
k6 = 1/1000;
k7 = 1;
k8 = 7/40000;
k9 = 1/5;
k10 = 1;
k11 = 0;
k12 = 1/10;