SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 170 * Raw log
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• Previous call tries 1 • 72.85 of 350.00 AH used of 24V (79.19% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.4 deg, depth 0.97 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 11 s • Transponder ping count: 12
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
14 end surface: CONTROL_FINISHED_OK
14 begin dive
19 - - - 104 VBD -0.68 - - 216 - - - 2261 - -116.8 -84.47 - 2922 - - - - - - - - 14.70 - 14.74
108 5.2 -7.5 3 132 roll -0.68 8.82 0.421 1963 198.1 2.78 2.114 3688 513.3 -116.8 -5.05 - 3220 -59.0 - - - - - - - 14.18 13.38 14.54
362 82.8 -14.2 40 368 done -0.47 0.30 0.281 2040 256.7 2.42 0.045 2257 -591.3 -116.8 - - 3223 - - - - - - - - 14.32 14.57 14.58
693 109.2 -6.6 52 698 roll -0.40 - - 2040 - 2.33 0.055 884 -589.3 -116.8 - - 3225 - - - - - - - - 14.89 14.60 14.91
754 114.2 -7.7 61 761 done -0.40 0.10 0.232 2063 230.0 2.47 0.065 2271 561.5 -116.8 - - 3225 - - - - - - - - 14.45 14.60 14.58
1085 137.7 -7.2 73 1090 roll -0.40 - - 2056 - 2.45 0.086 3689 578.8 -116.8 - - 3225 - - - - - - - - 14.93 14.64 14.95
1147 142.4 -7.6 82 1152 done -0.40 - - 2056 - 2.33 0.046 2261 -612.9 -116.8 - - 3225 - - - - - - - - 14.80 14.74 14.81
1476 166.8 -7.5 94 1481 roll -0.40 - - 2056 - 2.33 0.056 887 -589.7 -116.8 - - 3224 - - - - - - - - 14.95 14.70 14.97
1510 169.6 -8.2 99 1516 done -0.40 - - 2056 - 2.47 0.067 2273 561.1 -116.8 - - 3223 - - - - - - - - 14.72 14.66 14.76
1869 197.2 -7.7 108 1870 done -0.40 - - 2056 - - - 2273 - -116.8 - - 3221 - - - - - - - - 14.97 15.00 14.99
2204 221.6 -7.2 114 2209 roll -0.40 - - 2055 - 2.38 0.057 892 -580.3 -116.8 - - 3219 - - - - - - - - 14.99 14.71 15.01
2266 226.3 -7.3 123 2272 done -0.40 - - 2055 - 2.45 0.068 2262 559.2 -116.8 - - 3219 - - - - - - - - 14.73 14.66 14.84
2597 249.6 -7.1 135 2602 roll -0.40 - - 2052 - 2.50 0.093 3693 572.4 -116.8 - - 3216 - - - - - - - - 14.98 14.66 15.00
2644 253.2 -7.4 142 2652 done -0.40 - - 2053 - 2.40 0.051 2267 -594.2 -116.8 - - 3216 - - - - - - - - 14.77 14.73 14.79
2988 277.2 -6.9 149 2994 roll -0.40 - - 2052 - 2.38 0.063 887 -579.8 -116.8 - - 3216 - - - - - - - - 14.99 14.71 15.01
3072 283.1 -7.0 161 3078 done -0.40 - - 2047 - 2.42 0.069 2264 569.0 -116.8 - - 3212 - - - - - - - - 14.78 14.69 14.83
3436 309.9 -7.5 171 3441 roll -0.40 - - 2041 - 2.50 0.093 3695 572.4 -116.8 - - 3209 - - - - - - - - 14.99 14.65 15.01
3470 312.7 -8.0 176 3477 done -0.40 - - 2043 - 2.42 0.050 2255 -595.0 -116.8 - - 3209 - - - - - - - - 14.77 14.73 14.80
3829 342.0 -8.3 185 3834 roll -0.40 - - 2042 - 2.33 0.060 894 -584.1 -116.8 - - 3208 - - - - - - - - 14.99 14.71 15.00
3876 346.2 -8.6 192 3883 done -0.40 0.05 0.256 2065 460.0 2.45 0.072 2253 554.7 -116.8 - - 3207 - - - - - - - - 14.47 14.65 14.62
4221 370.8 -7.0 199 4225 roll -0.40 - - 2053 - 2.55 0.096 3700 567.5 -116.8 - - 3205 - - - - - - - - 15.00 14.65 15.02
4304 376.7 -7.0 211 4309 done -0.40 - - 2057 - 2.38 0.054 2278 -597.5 -116.8 - - 3205 - - - - - - - - 14.80 14.75 14.84
4669 400.6 -6.5 221 4674 roll -0.40 - - 2053 - 2.40 0.066 884 -580.8 -116.8 - - 3202 - - - - - - - - 14.97 14.70 14.99
4751 406.3 -6.8 233 4758 done -0.40 - - 2053 - 2.45 0.073 2263 562.9 -116.8 - - 3202 - - - - - - - - 14.78 14.66 14.81
5117 431.1 -6.9 243 5122 roll -0.40 - - 2045 - 2.53 0.096 3692 564.8 -116.8 - - 3200 - - - - - - - - 14.98 14.64 15.00
5206 437.7 -7.2 256 5212 done -0.40 - - 2042 - 2.40 0.055 2261 -596.2 -116.8 - - 3199 - - - - - - - - 14.81 14.73 14.83
5565 463.0 -7.1 265 5571 roll -0.40 - - 2045 - 2.35 0.063 888 -584.3 -116.8 - - 3198 - - - - - - - - 14.97 14.64 15.00
5648 469.4 -7.6 277 5654 done -0.40 - - 2043 - 2.50 0.074 2265 550.8 -116.8 - - 3198 - - - - - - - - 14.69 14.62 14.73
6012 496.9 -7.6 287 6013 done -0.40 - - 2043 - - - 2264 - -116.8 - - 3196 - - - - - - - - 14.98 15.06 15.00
6349 521.5 -7.2 293 6355 roll -0.40 - - 2043 - 2.40 0.060 884 -575.0 -116.8 - - 3194 - - - - - - - - 14.97 14.68 15.00
6397 525.1 -7.3 300 6403 done -0.40 - - 2043 - 2.53 0.076 2271 548.2 -116.8 - - 3194 - - - - - - - - 14.68 14.61 14.73
6741 546.7 -6.2 307 6745 roll -0.40 - - 2040 - 2.55 0.103 3698 559.6 -116.8 - - 3193 - - - - - - - - 14.99 14.61 15.00
6782 549.3 -6.4 313 6789 done -0.40 0.12 0.240 2069 241.7 2.42 0.056 2257 -595.5 -116.8 - - 3193 - - - - - - - - 14.49 14.69 14.71
7134 567.3 -5.2 321 7134 done -0.46 - - 2069 - - - 2256 - -116.8 - - 3192 - - - - - - - - 14.97 15.00 15.00
7469 587.6 -6.2 327 7474 roll -0.52 0.12 0.148 2013 -466.7 2.38 0.065 892 -573.1 -116.8 - - 3194 - - - - - - - - 14.66 14.64 14.71
7525 592.4 -9.1 335 7530 done -0.52 - - 2012 - 2.47 0.079 2266 556.3 -116.8 - - 3189 - - - - - - - - 14.76 14.62 14.78
7861 622.8 -9.1 348 7865 roll -0.52 - - 2006 - 2.58 0.102 3703 557.0 -116.8 - - 3189 - - - - - - - - 14.98 14.59 15.00
7923 628.6 -9.2 357 7929 done -0.52 - - 2004 - 2.45 0.056 2274 -583.3 -116.8 - - 3191 - - - - - - - - 14.71 14.69 14.76
8253 656.8 -8.4 369 8259 roll -0.52 - - 2005 - 2.42 0.068 886 -573.6 -116.8 - - 3187 - - - - - - - - 14.96 14.63 14.98
8343 664.4 -8.2 382 8349 done -0.52 0.12 0.296 2026 175.0 2.50 0.077 2280 557.6 -116.8 - - 3187 - - - - - - - - 14.40 14.59 14.67
8701 689.3 -6.9 391 8702 done -0.52 - - 2026 - - - 2280 - -116.8 - - 3186 - - - - - - - - 14.96 14.97 14.97
9037 713.3 -7.2 397 9043 roll -0.52 - - 2026 - 2.45 0.067 890 -567.3 -116.8 - - 3185 - - - - - - - - 14.95 14.62 14.97
9085 717.2 -8.2 404 9091 done -0.52 - - 2028 - 2.53 0.080 2262 542.3 -116.8 - - 3185 - - - - - - - - 14.64 14.57 14.69
9429 741.7 -7.1 411 9433 roll -0.52 - - 2018 - 2.58 0.105 3693 554.7 -116.8 - - 3184 - - - - - - - - 14.96 14.56 14.97
9512 747.9 -7.2 423 9517 done -0.52 - - 2018 - 2.42 0.063 2279 -584.3 -116.8 - - 3184 - - - - - - - - 14.76 14.67 14.79
9877 773.3 -6.9 433 9882 roll -0.52 - - 2018 - 2.45 0.071 880 -571.0 -116.8 - - 3180 - - - - - - - - 14.95 14.59 14.97
9953 778.9 -5.9 444 9958 done -0.52 - - 2021 - 2.53 0.080 2272 550.2 -116.8 - - 3182 - - - - - - - - 14.71 14.57 14.75
10269 802.8 -7.7 454 10270 done -0.52 - - 2015 - - - 2273 - -116.8 - - 3182 - - - - - - - - 14.95 14.98 14.97
10604 829.9 -8.2 460 10605 done -0.52 - - 2014 - - - 2272 - -116.8 - - 3181 - - - - - - - - 14.95 14.97 14.97
10941 857.7 -8.1 466 10945 roll -0.52 - - 2015 - 2.47 0.071 880 -563.6 -116.8 - - 3179 - - - - - - - - 14.95 14.59 14.97
10968 860.1 -8.6 470 10973 done -0.52 - - 2015 - 2.53 0.083 2269 549.0 -116.8 - - 3179 - - - - - - - - 14.72 14.58 14.76
11332 887.6 -7.4 480 11333 done -0.52 - - 2013 - - - 2269 - -116.8 - - 3179 - - - - - - - - 14.94 14.96 14.96
11669 909.9 -6.5 486 11670 done -0.52 - - 2015 - - - 2269 - -116.8 - - 3178 - - - - - - - - 14.94 14.96 14.96
12005 930.3 -6.0 492 12010 roll -0.52 - - 2015 - 2.45 0.068 879 -567.3 -116.8 - - 3178 - - - - - - - - 14.94 14.58 14.95
12039 932.5 -4.2 497 12045 done -0.52 - - 2015 - 2.58 0.084 2268 538.4 -116.8 - - 3177 - - - - - - - - 14.61 14.52 14.66
12397 955.4 -6.6 506 12398 done -0.52 - - 2015 - - - 2267 - -116.8 - - 3177 - - - - - - - - 14.93 14.96 14.95
12733 979.8 -7.4 512 12737 roll -0.52 - - 2011 - 2.62 0.112 3702 547.7 -116.8 - - 3176 - - - - - - - - 14.93 14.47 14.95
12767 982.5 -10.0 517 12773 done -0.52 - - 2011 - 2.47 0.063 2257 -585.0 -116.8 - - 3176 - - - - - - - - 14.76 14.64 14.76
12897 end dive: TARGET_DEPTH_EXCEEDED
12897 begin apogee
12905 992.2 -7.1 522 13060 roll -0.19 0.45 0.221 2135 275.6 - - 2257 - - 147.90 2.385 2741 -2.9 0.234 - - - - 1 - 14.37 13.83 12.82
13062 end apogee: CONTROL_FINISHED_OK
13062 begin climb
13065 997.2 - 524 13230 roll 0.68 0.93 0.164 2409 294.6 2.72 0.113 3646 510.7 116.8 155.52 1.945 2256 -3.1 0.306 - - - - - - 13.83 13.85 12.98
13313 978.8 10.8 567 13319 done 0.59 - - 2419 - 2.58 0.078 2258 -538.0 116.8 - - 2239 - - - - 1 - - - 14.05 13.95 14.07
13630 945.0 10.8 577 13635 roll 0.51 0.17 0.273 2372 -276.5 2.60 0.108 3641 531.9 116.8 - - 2231 - - - - - - - - 14.16 14.31 14.31
13778 931.4 8.9 598 13783 done 0.51 - - 2381 - 2.53 0.077 2226 -559.3 116.8 - - 2231 - - - - - - - - 14.52 14.40 14.54
14134 899.5 9.0 607 14138 roll 0.51 - - 2391 - 2.58 0.096 824 -543.4 116.8 - - 2229 - - - - - - - - 14.77 14.45 14.80
14195 893.8 9.0 616 14201 done 0.51 - - 2392 - 2.58 0.085 2232 545.7 116.8 - - 2228 - - - - - - - - 14.61 14.48 14.65
14525 862.3 9.7 628 14530 roll 0.47 0.12 0.282 2358 -283.3 2.60 0.112 3648 544.6 116.8 - - 2228 - - - - - - - - 14.31 14.49 14.46
14582 857.1 9.0 636 14586 done 0.47 - - 2367 - 2.53 0.078 2224 -562.8 116.8 - - 2227 - - - - - - - - 14.65 14.54 14.69
14917 830.0 8.0 649 14923 roll 0.47 - - 2376 - 2.58 0.096 821 -543.8 116.8 - - 2227 - - - - - - - - 14.85 14.50 14.88
14973 825.7 7.7 657 14979 done 0.47 - - 2378 - 2.58 0.083 2234 547.7 116.8 - - 2226 - - - - - - - - 14.65 14.52 14.69
15310 797.8 8.5 670 15314 roll 0.47 - - 2378 - 2.58 0.112 3638 544.2 116.8 - - 2227 - - - - - - - - 14.89 14.49 14.90
15365 792.5 9.7 678 15370 done 0.47 0.15 0.267 2354 -160.0 2.50 0.075 2227 -564.4 116.8 - - 2226 - - - - - - - - 14.35 14.56 14.62
15702 767.4 7.6 691 15706 roll 0.47 - - 2364 - 2.55 0.094 823 -550.6 116.8 - - 2225 - - - - - - - - 14.88 14.51 14.90
15749 763.5 7.8 698 15756 done 0.47 - - 2363 - 2.60 0.083 2225 539.2 116.8 - - 2225 - - - - - - - - 14.58 14.50 14.62
16093 734.9 8.4 705 16099 roll 0.47 - - 2364 - 2.62 0.113 3646 542.4 116.8 - - 2225 - - - - - - - - 14.89 14.50 14.91
16155 729.2 8.9 714 16161 done 0.47 - - 2373 - 2.55 0.076 2210 -563.1 116.8 - - 2225 - - - - - - - - 14.68 14.55 14.72
16485 700.7 8.7 726 16490 roll 0.47 - - 2384 - 2.55 0.093 815 -547.1 116.8 - - 2225 - - - - - - - - 14.89 14.52 14.91
16519 697.7 8.6 731 16525 done 0.47 0.12 0.272 2357 -225.0 2.60 0.083 2241 548.5 116.8 - - 2224 - - - - - - - - 14.35 14.53 14.63
16878 670.4 7.5 740 16882 roll 0.47 - - 2357 - 2.55 0.112 3639 548.2 116.8 - - 2224 - - - - - - - - 14.89 14.50 14.91
16960 663.6 8.2 752 16966 done 0.47 - - 2366 - 2.50 0.073 2246 -557.2 116.8 - - 2223 - - - - - - - - 14.59 14.53 14.64
17325 636.1 7.6 762 17330 roll 0.47 - - 2376 - 2.60 0.093 819 -548.8 116.8 - - 2224 - - - - - - - - 14.91 14.51 14.92
17402 630.4 7.3 773 17408 done 0.47 - - 2376 - 2.60 0.081 2251 550.8 117.2 - - 2223 - - - - - - - - 14.66 14.53 14.71
17717 605.2 8.1 783 17722 roll 0.47 - - 2376 - 2.55 0.112 3638 543.9 117.2 - - 2224 - - - - - - - - 14.89 14.48 14.91
17793 598.3 8.8 794 17799 done 0.47 0.15 0.259 2356 -133.3 2.47 0.073 2232 -569.2 117.2 - - 2223 - - - - - - - - 14.35 14.56 14.62
18110 576.4 6.9 804 18115 roll 0.48 - - 2362 - 2.55 0.088 824 -552.2 127.7 - - 2223 - - - - - - - - 14.89 14.52 14.91
18157 573.1 6.8 811 18184 done 0.48 - - 2361 - 2.65 0.080 2253 539.2 140.1 21.60 1.624 2165 -2.7 0.181 - - - - - - 14.58 14.50 13.88
18502 547.7 7.5 825 18507 roll 0.48 - - 2360 - 2.58 0.112 3646 539.9 140.1 - - 2150 - - - - - - - - 14.79 14.43 14.81
18557 543.0 8.6 833 18563 done 0.48 - - 2370 - 2.47 0.076 2256 -562.8 140.1 - - 2149 - - - - - - - - 14.60 14.50 14.64
18894 518.1 7.2 846 18898 roll 0.48 - - 2380 - 2.62 0.090 819 -548.5 142.4 - - 2149 - - - - - - - - 14.83 14.47 14.85
18970 512.9 6.7 857 18996 done 0.49 - - 2380 - 2.60 0.080 2250 550.4 158.5 21.27 1.571 2089 -2.8 0.176 - - - - - - 14.63 14.50 13.89
19341 484.7 7.8 868 19346 roll 0.49 - - 2380 - 2.55 0.112 3638 544.3 158.5 - - 2072 - - - - - - - - 14.78 14.42 14.81
19397 479.7 9.1 876 19402 done 0.49 - - 2389 - 2.47 0.073 2243 -564.8 158.5 - - 2072 - - - - - - - - 14.60 14.50 14.62
19734 448.8 9.4 889 19739 roll 0.49 - - 2398 - 2.60 0.090 819 -547.7 158.5 - - 2072 - - - - - - - - 14.83 14.47 14.84
19795 443.1 9.0 898 19801 done 0.49 0.15 0.243 2362 -240.0 2.62 0.080 2259 549.6 158.5 - - 2071 - - - - - - - - 14.35 14.50 14.60
20126 418.4 7.4 910 20131 roll 0.49 - - 2362 - 2.55 0.110 3647 544.3 158.5 - - 2070 - - - - - - - - 14.85 14.47 14.87
20181 414.0 8.0 918 20186 done 0.49 - - 2372 - 2.47 0.073 2248 -566.4 158.5 - - 2070 - - - - - - - - 14.64 14.55 14.69
20517 388.6 7.6 931 20522 roll 0.49 - - 2380 - 2.60 0.090 817 -550.4 158.5 - - 2069 - - - - - - - - 14.87 14.50 14.90
20594 382.6 7.6 942 20599 done 0.49 - - 2381 - 2.60 0.081 2248 550.4 158.5 - - 2070 - - - - - - - - 14.66 14.52 14.70
20909 355.8 8.6 952 20914 roll 0.49 - - 2381 - 2.58 0.111 3647 542.2 158.5 - - 2070 - - - - - - - - 14.88 14.49 14.90
20971 349.6 9.9 961 20978 done 0.49 0.05 0.188 2360 -420.0 2.50 0.073 2259 -555.2 158.5 - - 2072 - - - - - - - - 14.38 14.53 14.63
21302 324.4 7.6 973 21307 roll 0.49 - - 2371 - 2.60 0.086 818 -554.2 158.5 - - 2070 - - - - - - - - 14.88 14.52 14.90
21349 320.8 7.4 980 21356 done 0.56 - - 2369 - 2.62 0.078 2247 545.4 158.5 - - 2070 - - - - - - - - 14.57 14.50 14.63
21693 295.3 7.3 987 21698 roll 0.56 - - 2369 - 2.55 0.109 3640 546.3 158.5 - - 2070 - - - - - - - - 14.89 14.50 14.91
21756 290.2 8.1 996 21761 done 0.56 - - 2379 - 2.45 0.070 2241 -571.0 158.5 - - 2070 - - - - - - - - 14.69 14.59 14.73
22085 267.0 7.0 1008 22091 roll 0.56 - - 2387 - 2.62 0.086 823 -541.2 166.8 1.90 0.194 2059 -5.8 1.525 - - - - - - 14.89 14.53 14.42
22148 262.4 7.3 1017 22154 done 0.56 - - 2387 - 2.58 0.078 2254 554.7 168.2 2.30 0.464 2052 -3.0 0.329 - - - - - - 14.66 14.54 13.74
22470 236.0 8.4 1028 22476 roll 0.56 - - 2387 - 2.60 0.107 3647 535.8 168.2 1.67 0.201 2053 - - - - - - - - 14.90 14.52 14.42
22553 228.0 9.4 1040 22559 done 0.56 - - 2392 - 2.47 0.071 2264 -559.9 168.2 - - 2062 - - - - - - - - 14.61 14.54 14.65
22912 196.5 8.8 1049 22918 roll 0.56 - - 2405 - 2.65 0.084 822 -544.2 168.2 1.62 0.200 2051 -6.8 1.276 - - - - - - 14.88 14.54 14.43
23001 188.7 8.3 1062 23007 done 0.56 - - 2405 - 2.60 0.077 2263 554.2 168.2 - - 2061 - - - - - - - - 14.67 14.54 14.70
23360 156.4 9.0 1071 23364 roll 0.56 - - 2405 - 2.50 0.105 3640 550.8 168.2 - - 2062 - - - - - - - - 14.89 14.50 14.90
23435 148.6 10.1 1082 23442 done 0.56 0.05 0.250 2385 -400.0 2.45 0.067 2264 -561.6 168.2 1.75 0.207 2052 -5.7 0.785 - - - - - - 14.37 14.56 14.45
23751 124.0 7.8 1092 23756 roll 0.56 - - 2393 - 2.58 0.083 823 -558.5 168.2 - - 2063 - - - - - - - - 14.89 14.53 14.91
23808 120.0 7.1 1100 23820 done 0.62 - - 2393 - 2.58 0.075 2253 554.3 173.4 5.15 0.338 2035 -5.4 0.369 - - - - - - 14.63 14.50 14.14
24143 96.0 6.8 1114 24162 roll 0.63 - - 2393 - 2.55 0.103 3638 543.1 186.5 12.05 0.393 1978 -4.7 0.221 - - - - - - 14.89 14.55 14.26
24300 86.2 5.3 1136 24340 done 0.72 - - 2402 - 2.40 0.064 2255 -576.2 235.2 32.60 0.405 1780 -6.1 0.247 - - - - - - 14.68 14.59 14.27
24650 71.0 4.2 1153 24703 roll 0.89 0.22 0.096 2499 440.9 2.60 0.100 3640 532.7 309.9 48.38 0.356 1475 -6.3 0.241 - - - - - - 14.54 14.49 14.27
24748 64.9 7.0 1167 24759 done 0.90 - - 2505 - 2.40 0.065 2262 -574.2 318.9 7.32 0.299 1438 -5.1 0.210 - - - - - - 14.58 14.50 14.23
25068 44.3 5.8 1180 25096 roll 0.92 - - 2513 - 2.65 0.081 820 -544.2 354.5 23.92 0.267 1293 -6.1 0.192 - - - - - - 14.81 14.50 14.30
25145 40.3 5.4 1191 25184 done 1.05 - - 2513 - 2.62 0.070 2279 556.9 401.7 31.62 0.257 1100 -6.1 0.183 - - - - - - 14.62 14.50 14.29
25519 19.6 5.5 1211 25556 roll 1.24 0.22 0.095 2623 500.0 2.50 0.097 3637 543.2 445.6 28.15 0.188 921 -6.4 0.127 - - - - - - 14.59 14.46 14.38
25645 7.0 11.6 1229 25651 done 1.24 0.12 0.284 2604 -158.3 2.42 0.063 2234 -579.8 445.6 - - 925 - - - - - - - - 14.34 14.55 14.57
25683 end climb: SURFACE_DEPTH_REACHED
25683 begin surface coast
25711 end surface coast: CONTROL_FINISHED_OK
25711 begin surface
SM 0.80 - - - - -6.14 6.80 0.068 213 31.3 0.12 0.129 2305 -23508.3 500.17 35.65 0.139 700 19.6 -0.012 - - - - - -