1     1   0   0   -1.6   -0.8   1      0;
2     1   0   0   -2     -1     1      0;
3     1   0   0   -3.7   -1.3   1      0;
4     2   5   0    0      0     1.05   0;
5     3   0   0    0      0     1.05   0;