How much should be deposited now into an account earning $9\mathrm{.}4\%$ interest per year, compounded every $6$ months, in order to fund withdrawals from the account in the amount of $$1500$ at the end of each $6$ month period for the next $5$ years? The account is to be empty after the last withdrawal is made.

Round to the dollar and do not include $ sign in your answer just the number