      0           0           0
   theta           0           0           0           0           1
   Vt              1           0           0           0           0
   Ay              0           0       -5.02           0           0
   p               0           0           0           0           0
   r               0           0           0           0           0
   beta            0           0           1           0           0
   phi             0           0           0           1          