Dacol and Berman. l= 70. 
Q P r R 
100 0
2
100 1500 0 0 0 1 0
100 5000 2000 0.1 0.2 3.0  -1. 70
1500 2

1
90 0 0 1 0

1300 1700
128 1 128

0 2 100
2 1