GPS navigation originated with the US NAVSTAR program in the 1970s, but civilian use began after two key events: the downing of KAL007, which led Reagan to open GPS to public use, and Clinton removing "Selective Availability" in 2000 to improve civilian accuracy. TomTom launched the first popular standalone GPS device in 2004. These personal navigation devices (PNDs) grew rapidly in Europe, with over 5 million sold in 2006, but smartphones with built-in GPS like the Nokia N95 beginning in 2007 started competing with and replacing PNDs. By 2008, PND sales were declining as mobile navigation rose on smartphones and built-in car navigation became more affordable, leading to over 6 million factory