TCAV : 0 0 0 0 0 0
R1:   1  0     0  0        0  0
R2:   0  1     0  0        0  0
R3:   0  0     1  0        0  0
R4:   0  0     0  1    7.97 0
R5:   0  0     0  0        1  0
R6:   0  0  7.97 0       0  1