DR pi_C DB pi_C R f -0.00012 time_ 20 time_ 80 0 DB pi_C R kB B DC pi_L DA pi_C C k3 k4 KLP 1 pi_P B 1 k3 K k4 k1 k2 ko KOP 1 pi_P R Io 1 IL rL f0 dB C f0 C_s C C_s P P_0 P P_s IP kP SP kP k6 k5