1402
Produced in collaboration with the Kennedy Space Center Visitor Complex and NASA  Mad  Mission to Mars was staged at its permanent home at the Kennedy Space Center in Cape Canaveral Florida  United States  where it premiered in 2001 through to 2009 as the feature family audience show offering .
 country of headquarters: Mad, United States
Given a phrase that describes the relationship between two words, extract the words and the lexical relationship between them. The output format should be "relation1: word1, word2; relation2: word3, word4". 
Option: cities of residence, top members employees, members, alternate names, origin, state or provinces of residence, title of person, spouse, city of headquarters, NA, founded by, state or province of headquarters, employee of, countries of residence, country of birth, founded, subsidiaries, country of headquarters 
Text: {0} 
Answer:
 country of headquarters: Mad, United States