SafeRTOS stack size, RTOS task stack sizes, Project Stack and Heap Size, LM3S9D96

I'm a little confused about how to set my stack sizes when using the SafeRTOS.  How does the  g_sSafeRTOSPortInit.ulSystemStackSizeBytes relate to the project stack size and the individual task stack sizes? Does the sum of the individual task stack sizes have to be less than the g_sSafeRTOSPortInit.ulSystemStackSizeBytes?  Should the g_sSafeRTOSPortInit.ulSystemStackSizeBytes be less than the project stack size?

project stack size is 16384.

g_sSafeRTOSPortInit.ulSystemStackSizeBytes = 4096;

Task 1 stack size = 512;

Task 2 stack size = 1024;

Task 3 stack size = 256;

Task 4 stack size = 64;