Peeter, Juri, Kati and Mari are standing at the entrance of a dark tunnel. They have one torch and none of them dares to be in the tunnel without it, but the tunnel is so narrow that at most two people can move together. It takes $1$ minute for Peeter, $2$ minutes for Juri, $5$ for Kati and $10$ for Mari to pass the tunnel. Find the minimum time in which they can all pass through the tunnel.