Robust                                                                                                                 
                                                                       1000 ms                                                        
                                                                                                                                      
               On                                                                                                                     
                                                                                                                                      
               Off                                                                                                                    
                                                                                                                                      
               Concise                                                                                                                
                                                                       1000 ms                                                        
                                                                                                                                      
                                                                                                                                      
                                           Off                                                                                        
                                                                                                                                      
                                                                                                                                      
                                                                                   0                                                 1