SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 287 * Raw log
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• Previous call tries 1 • 116.49 of 350.00 AH used of 24V (66.72% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.9 deg, depth 0.89 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 27 s
• GPS2 time: 16 s • Transponder ping count: 11
• 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
12 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 102 VBD -0.68 - - 210 - - - 2293 - -116.8 -84.25 - 2855 - - - - - - - - 14.67 - 14.69
106 4.4 -6.1 3 130 roll -0.68 8.85 0.411 1981 200.1 2.75 2.061 879 -514.2 -116.8 -6.53 - 3220 -55.9 - - - - - - - 14.03 13.21 14.44
187 34.3 -29.1 15 192 done -0.44 0.32 0.282 2050 215.6 2.50 0.061 2288 563.6 -116.8 - - 3222 - - - - - - - - 14.10 14.39 14.40
522 82.8 -9.4 30 527 roll -0.36 0.12 0.260 2075 208.3 2.45 0.073 3693 573.5 -116.8 - - 3223 - - - - - - - - 14.24 14.39 14.37
551 85.2 -8.7 34 556 done -0.36 - - 2078 - 2.38 0.043 2261 -601.7 -116.8 - - 3224 - - - - - - - - 14.61 14.55 14.63
887 106.8 -5.9 47 891 roll -0.36 - - 2075 - 2.35 0.049 888 -584.3 -116.8 - - 3225 - - - - - - - - 14.85 14.52 14.88
942 110.1 -6.0 55 947 done -0.36 - - 2069 - 2.45 0.055 2301 576.7 -116.8 - - 3225 - - - - - - - - 14.61 14.51 14.64
1279 133.5 -7.3 68 1284 roll -0.36 - - 2069 - 2.45 0.048 890 -575.9 -116.8 - - 3225 - - - - - - - - 14.88 14.54 14.90
1368 140.3 -7.3 81 1375 done -0.36 - - 2069 - 2.50 0.056 2321 572.4 -116.8 - - 3224 - - - - - - - - 14.62 14.53 14.66
1727 162.9 -6.2 90 1732 roll -0.36 - - 2069 - 2.50 0.050 885 -574.4 -116.8 - - 3223 - - - - - - - - 14.90 14.54 14.92
1795 167.5 -6.8 100 1801 done -0.36 - - 2069 - 2.58 0.057 2352 568.6 -116.8 - - 3223 - - - - - - - - 14.64 14.53 14.67
2119 188.2 -6.5 111 2123 roll -0.36 - - 2068 - 2.55 0.048 886 -574.9 -116.8 - - 3220 - - - - - - - - 14.90 14.54 14.92
2237 196.6 -6.9 128 2242 done -0.36 - - 2068 - 2.62 0.059 2375 568.3 -116.8 - - 3219 - - - - - - - - 14.57 14.51 14.59
2566 219.7 -7.1 140 2571 roll -0.36 - - 2065 - 2.35 0.082 3700 563.8 -116.8 - - 3219 - - - - - - - - 14.87 14.47 14.90
2699 229.1 -7.2 159 2704 done -0.41 - - 2070 - 2.20 0.044 2390 -595.5 -116.8 - - 3217 - - - - - - - - 14.66 14.59 14.68
3014 251.6 -7.1 169 3020 roll -0.41 - - 2065 - 2.62 0.055 886 -574.0 -116.8 - - 3215 - - - - - - - - 14.93 14.52 14.95
3034 253.2 -7.1 172 3041 done -0.41 - - 2065 - 2.70 0.060 2385 555.2 -116.8 - - 3215 - - - - - - - - 14.52 14.45 14.65
3351 273.9 -6.5 182 3356 roll -0.41 - - 2057 - 2.33 0.085 3690 560.1 -116.8 - - 3213 - - - - - - - - 14.92 14.46 14.95
3463 281.3 -6.6 198 3467 done -0.47 - - 2057 - 2.17 0.047 2411 -589.4 -116.8 - - 3212 - - - - - - - - 14.65 14.57 14.68
3798 303.3 -6.6 211 3799 done -0.47 - - 2057 - - - 2409 - -116.8 - - 3210 - - - - - - - - 14.91 14.93 14.92
4135 325.4 -6.6 217 4141 roll -0.47 - - 2057 - 2.67 0.055 890 -568.9 -116.8 - - 3208 - - - - - - - - 14.91 14.50 14.93
4190 329.4 -7.1 225 4196 done -0.47 - - 2056 - 2.72 0.061 2419 562.1 -116.8 - - 3208 - - - - - - - - 14.60 14.47 14.64
4526 352.8 -7.0 238 4531 roll -0.47 - - 2055 - 2.28 0.088 3688 556.6 -116.8 - - 3206 - - - - - - - - 14.93 14.42 14.95
4659 362.2 -6.9 257 4665 done -0.51 - - 2056 - 2.12 0.047 2436 -590.6 -116.8 - - 3205 - - - - - - - - 14.65 14.59 14.67
4974 384.3 -7.1 267 4979 roll -0.51 - - 2056 - 2.72 0.054 884 -570.6 -116.8 - - 3202 - - - - - - - - 14.90 14.49 14.92
5079 391.9 -7.2 282 5086 done -0.51 - - 2056 - 2.78 0.063 2422 553.2 -116.8 - - 3203 - - - - - - - - 14.58 14.45 14.62
5422 415.7 -6.9 289 5428 roll -0.51 - - 2056 - 2.28 0.088 3691 556.6 -116.8 - - 3201 - - - - - - - - 14.92 14.40 14.93
5492 420.6 -6.9 299 5497 done -0.58 0.15 0.121 1993 -420.0 2.15 0.047 2426 -588.4 -116.8 - - 3201 - - - - - - - - 14.50 14.57 14.59
5814 452.2 -10.1 310 5819 roll -0.53 0.12 0.265 2024 258.3 2.72 0.058 888 -565.4 -116.8 - - 3199 - - - - - - - - 14.18 14.40 14.29
5883 458.4 -8.3 320 5889 done -0.53 - - 2025 - 2.75 0.063 2422 557.8 -116.8 - - 3199 - - - - - - - - 14.57 14.44 14.60
6207 484.9 -8.3 331 6208 done -0.53 - - 2025 - - - 2422 - -116.8 - - 3198 - - - - - - - - 14.92 14.94 14.93
6542 511.8 -7.9 337 6548 roll -0.53 - - 2016 - 2.28 0.086 3696 558.8 -116.8 - - 3196 - - - - - - - - 14.92 14.40 14.94
6667 521.7 -7.6 355 6673 done -0.53 - - 2016 - 2.17 0.048 2451 -573.7 -116.8 - - 3196 - - - - - - - - 14.52 14.49 14.55
6991 546.9 -7.9 366 6996 roll -0.53 - - 2016 - 2.78 0.059 892 -560.8 -116.8 - - 3194 - - - - - - - - 14.92 14.42 14.93
7038 550.8 -7.9 373 7046 done -0.53 - - 2014 - 2.80 0.063 2441 553.2 -116.8 - - 3194 - - - - - - - - 14.54 14.41 14.59
7382 577.1 -7.7 380 7387 roll -0.53 - - 2011 - 2.25 0.089 3697 558.2 -116.8 - - 3193 - - - - - - - - 14.92 14.38 14.93
7410 579.3 -7.8 384 7415 done -0.53 - - 2010 - 2.12 0.049 2447 -589.6 -116.8 - - 3193 - - - - - - - - 14.62 14.55 14.64
7774 606.9 -7.5 394 7779 roll -0.53 - - 2010 - 2.78 0.060 891 -559.7 -116.8 - - 3192 - - - - - - - - 14.89 14.40 14.91
7850 612.6 -7.3 405 7857 done -0.53 - - 2007 - 2.78 0.064 2437 556.1 -116.8 - - 3191 - - - - - - - - 14.55 14.42 14.59
8167 635.8 -7.4 415 8172 roll -0.53 - - 1999 - 2.28 0.090 3693 550.9 -116.8 - - 3190 - - - - - - - - 14.88 14.34 14.90
8228 640.7 -7.6 424 8234 done -0.53 0.08 0.216 2022 287.5 2.17 0.051 2457 -569.6 -116.8 - - 3190 - - - - - - - - 14.14 14.42 14.27
8559 663.1 -6.8 436 8564 roll -0.53 - - 2022 - 2.78 0.058 896 -561.5 -116.8 - - 3189 - - - - - - - - 14.90 14.33 14.92
8600 666.1 -7.2 442 8605 done -0.53 - - 2014 - 2.80 0.065 2437 550.4 -116.8 - - 3189 - - - - - - - - 14.53 14.40 14.57
8950 691.8 -7.4 450 8955 roll -0.53 - - 2010 - 2.28 0.093 3688 548.7 -116.8 - - 3188 - - - - - - - - 14.91 14.32 14.92
9047 699.2 -7.3 464 9053 done -0.53 - - 2010 - 2.15 0.050 2460 -571.2 -116.8 - - 3187 - - - - - - - - 14.49 14.45 14.55
9399 726.3 -7.9 472 9404 roll -0.53 - - 2010 - 2.80 0.059 890 -560.7 -116.8 - - 3187 - - - - - - - - 14.90 14.39 14.92
9481 733.2 -8.2 484 9487 done -0.53 - - 2008 - 2.83 0.067 2447 550.2 -116.8 - - 3185 - - - - - - - - 14.50 14.37 14.55
9846 764.0 -8.6 494 9851 roll -0.53 - - 1999 - 2.25 0.090 3687 551.1 -116.8 - - 3184 - - - - - - - - 14.90 14.31 14.92
9937 772.4 -8.9 507 9942 done -0.53 0.12 0.243 2028 241.7 2.10 0.050 2462 -583.3 -116.8 - - 3184 - - - - - - - - 14.12 14.51 14.36
10294 800.1 -7.7 516 10299 roll -0.53 - - 2028 - 2.80 0.060 892 -560.7 -116.8 - - 3183 - - - - - - - - 14.87 14.35 14.89
10371 806.1 -7.7 527 10376 done -0.53 - - 2025 - 2.83 0.067 2446 549.1 -116.8 - - 3183 - - - - - - - - 14.50 14.35 14.54
10687 828.9 -7.2 537 10692 roll -0.53 - - 2021 - 2.28 0.094 3688 544.7 -116.8 - - 3182 - - - - - - - - 14.86 14.29 14.88
10743 832.6 -5.7 545 10748 done -0.53 - - 2020 - 2.15 0.052 2441 -580.0 -116.8 - - 3186 - - - - - - - - 14.54 14.47 14.57
11079 855.2 -6.7 558 11084 roll -0.53 - - 2021 - 2.80 0.063 889 -554.3 -116.8 - - 3181 - - - - - - - - 14.88 14.33 14.90
11119 858.1 -5.3 564 11125 done -0.53 - - 2017 - 2.83 0.068 2440 548.1 -116.8 - - 3181 - - - - - - - - 14.50 14.35 14.54
11471 881.3 -6.6 572 11476 roll -0.53 - - 2011 - 2.30 0.094 3693 544.8 -116.8 - - 3181 - - - - - - - - 14.85 14.28 14.87
11575 888.3 -6.7 587 11581 done -0.53 - - 2011 - 2.17 0.054 2452 -571.9 -116.8 - - 3178 - - - - - - - - 14.55 14.47 14.57
11919 912.1 -7.1 594 11920 done -0.53 - - 2012 - - - 2456 - -116.8 - - 3179 - - - - - - - - 14.88 14.90 14.90
12255 935.6 -7.0 600 12255 done -0.53 - - 2011 - - - 2455 - -116.8 - - 3179 - - - - - - - - 14.85 14.87 14.87
12591 958.6 -6.8 606 12596 roll -0.53 - - 2012 - 2.83 0.061 893 -551.9 -116.8 - - 3178 - - - - - - - - 14.84 14.33 14.85
12617 961.3 -10.4 610 12623 done -0.53 - - 2011 - 2.83 0.068 2441 547.0 -116.8 - - 3176 - - - - - - - - 14.48 14.35 14.53
12983 984.3 -6.4 620 12988 roll -0.53 - - 2008 - 2.28 0.096 3684 545.2 -116.8 - - 3177 - - - - - - - - 14.86 14.26 14.88
13069 end dive: TARGET_DEPTH_EXCEEDED
13069 begin apogee
13080 990.0 -6.2 633 13271 roll -0.19 0.45 0.218 2129 268.9 - - 2202 - - 189.20 1.645 2739 -2.3 0.265 - - - - - - 14.09 13.92 13.23
13273 end apogee: CONTROL_FINISHED_OK
13273 begin climb
13277 993.9 - 636 13439 roll 0.68 0.95 0.154 2413 298.9 2.62 0.061 797 -536.3 116.8 148.18 1.885 2259 -3.2 0.324 - - - - - - 13.88 13.95 12.92
13529 974.8 9.5 677 13536 done 0.68 - - 2413 - 2.67 0.066 2197 524.3 116.8 - - 2238 - - - - - - - - 13.99 13.93 14.03
13860 941.2 10.2 689 13866 roll 0.62 - - 2413 - 2.62 0.096 3616 541.6 116.8 - - 2232 - - - - - - - - 14.63 14.27 14.64
13929 933.6 10.8 699 13934 done 0.54 0.20 0.279 2378 -175.0 2.55 0.063 2188 -560.0 116.8 - - 2230 - - - - - - - - 14.06 14.35 14.37
14251 907.9 7.8 710 14256 roll 0.54 - - 2378 - 2.65 0.092 3622 541.1 116.8 - - 2230 - - - - - - - - 14.76 14.33 14.77
14377 897.5 8.1 728 14382 done 0.54 - - 2387 - 2.62 0.063 2145 -563.7 116.8 - - 2229 - - - - - - - - 14.52 14.40 14.56
14700 872.1 8.0 739 14704 roll 0.54 - - 2387 - 2.72 0.091 3612 539.3 116.8 - - 2229 - - - - - - - - 14.78 14.33 14.81
14856 858.4 8.9 761 14862 done 0.49 0.15 0.275 2365 -146.7 2.60 0.062 2134 -568.5 116.8 - - 2227 - - - - - - - - 14.09 14.40 14.40
15206 831.8 7.6 769 15211 roll 0.49 - - 2374 - 2.47 0.080 790 -544.1 116.8 - - 2227 - - - - - - - - 14.81 14.32 14.82
15219 831.2 7.7 771 15224 done 0.49 - - 2374 - 2.45 0.066 2120 542.9 116.8 - - 2227 - - - - - - - - 14.40 14.34 14.46
15543 804.0 8.4 782 15548 roll 0.49 - - 2383 - 2.47 0.075 780 -542.5 116.8 - - 2226 - - - - - - - - 14.83 14.33 14.84
15674 793.1 8.2 801 15680 done 0.49 - - 2383 - 2.47 0.065 2119 542.1 116.8 - - 2225 - - - - - - - - 14.37 14.30 14.40
15990 765.5 8.8 811 15994 roll 0.49 - - 2383 - 2.75 0.092 3615 544.0 116.8 - - 2225 - - - - - - - - 14.81 14.28 14.83
16059 759.0 9.9 821 16065 done 0.49 0.15 0.273 2361 -146.7 2.65 0.061 2115 -566.0 116.8 - - 2225 - - - - - - - - 14.06 14.38 14.38
16382 732.9 8.1 832 16386 roll 0.49 - - 2369 - 2.45 0.076 778 -545.7 116.8 - - 2225 - - - - - - - - 14.81 14.29 14.83
16521 721.7 8.0 852 16527 done 0.49 - - 2371 - 2.42 0.064 2112 551.2 116.8 - - 2225 - - - - - - - - 14.47 14.35 14.53
16886 692.4 8.0 862 16890 roll 0.49 - - 2371 - 2.78 0.093 3615 540.6 116.8 - - 2225 - - - - - - - - 14.82 14.26 14.84
16948 687.1 8.4 871 16953 done 0.49 - - 2381 - 2.67 0.062 2100 -567.4 116.8 - - 2224 - - - - - - - - 14.48 14.37 14.54
17278 661.6 7.6 883 17283 roll 0.49 - - 2391 - 2.42 0.077 783 -544.2 116.8 - - 2225 - - - - - - - - 14.81 14.28 14.83
17424 651.3 6.9 904 17429 done 0.50 0.12 0.256 2364 -225.0 2.40 0.063 2103 550.0 128.0 - - 2227 - - - - - - - - 14.05 14.33 14.31
17782 629.6 6.0 913 17837 roll 0.52 - - 2364 - 2.78 0.091 3613 543.2 158.7 47.95 1.593 2084 -3.0 0.224 - - - - - - 14.83 14.20 13.62
17962 616.8 7.4 939 17968 done 0.52 - - 2374 - 2.72 0.059 2095 -558.1 158.7 - - 2072 - - - - - - - - 14.32 14.21 14.35
18287 594.4 7.0 950 18291 roll 0.52 - - 2382 - 2.42 0.076 780 -543.4 165.8 - - 2070 - - - - - - - - 14.71 14.24 14.76
18418 585.1 6.9 969 18443 done 0.53 - - 2382 - 2.40 0.062 2101 550.4 175.7 18.30 1.597 2017 -2.9 0.201 - - - - - - 14.41 14.28 13.72
18790 555.4 8.2 980 18795 roll 0.53 - - 2382 - 2.80 0.091 3612 539.6 175.7 - - 2004 - - - - - - - - 14.73 14.26 14.74
18880 546.9 9.3 993 18886 done 0.53 - - 2388 - 2.70 0.060 2088 -564.4 175.7 - - 2002 - - - - - - - - 14.45 14.35 14.50
19238 514.8 9.0 1002 19242 roll 0.53 - - 2401 - 2.40 0.076 781 -544.6 175.7 - - 2003 - - - - - - - - 14.76 14.28 14.78
19370 503.4 8.4 1021 19377 done 0.53 0.12 0.243 2374 -225.0 2.38 0.063 2082 546.6 175.7 - - 2000 - - - - - - - - 14.05 14.27 14.35
19686 480.7 7.1 1031 19690 roll 0.53 - - 2374 - 2.83 0.092 3615 541.7 182.0 - - 2001 - - - - - - - - 14.78 14.25 14.79
19825 469.9 7.5 1051 19830 done 0.53 - - 2384 - 2.70 0.060 2092 -564.1 182.0 - - 2000 - - - - - - - - 14.47 14.36 14.50
20190 443.3 7.5 1061 20195 roll 0.53 - - 2392 - 2.40 0.074 779 -547.1 182.0 - - 2000 - - - - - - - - 14.80 14.28 14.81
20308 434.3 7.4 1078 20313 done 0.53 - - 2392 - 2.40 0.062 2108 553.8 182.0 - - 2000 - - - - - - - - 14.43 14.29 14.47
20638 406.6 8.5 1090 20643 roll 0.53 - - 2392 - 2.75 0.091 3612 546.9 182.0 - - 2000 - - - - - - - - 14.82 14.25 14.84
20672 403.3 9.7 1095 20678 done 0.53 0.12 0.254 2375 -141.7 2.72 0.058 2066 -568.4 182.0 - - 2000 - - - - - - - - 14.12 14.38 14.35
21030 375.9 7.7 1104 21034 roll 0.53 - - 2383 - 2.33 0.074 790 -547.6 182.0 - - 2000 - - - - - - - - 14.83 14.27 14.85
21121 369.1 7.3 1117 21126 done 0.58 - - 2383 - 2.33 0.062 2079 553.2 182.7 - - 2000 - - - - - - - - 14.45 14.34 14.50
21478 342.5 7.4 1126 21482 roll 0.58 - - 2390 - 2.35 0.068 790 -548.5 182.7 - - 2000 - - - - - - - - 14.81 14.28 14.83
21604 333.7 6.8 1144 21629 done 0.59 - - 2390 - 2.35 0.061 2098 556.6 194.5 20.15 1.314 1944 -2.8 0.134 - - - - - - 14.46 14.33 13.89
21982 304.9 7.7 1156 21986 roll 0.59 - - 2391 - 2.78 0.088 3621 547.8 194.5 - - 1930 - - - - - - - - 14.78 14.26 14.79
22038 300.0 9.0 1164 22042 done 0.59 - - 2399 - 2.70 0.058 2085 -568.9 194.5 - - 1929 - - - - - - - - 14.46 14.35 14.50
22375 270.6 8.9 1177 22380 roll 0.59 - - 2406 - 2.38 0.074 791 -543.7 194.5 - - 1929 - - - - - - - - 14.78 14.27 14.79
22464 262.4 8.9 1190 22469 done 0.59 - - 2406 - 2.38 0.061 2089 545.4 194.5 - - 1928 - - - - - - - - 14.35 14.28 14.40
22823 229.0 9.4 1199 22828 roll 0.59 - - 2406 - 2.78 0.089 3613 548.2 194.5 - - 1928 - - - - - - - - 14.81 14.26 14.83
22912 219.7 10.0 1212 22917 done 0.59 - - 2418 - 2.72 0.057 2071 -566.9 194.5 - - 1928 - - - - - - - - 14.48 14.38 14.52
23270 187.5 8.8 1221 23275 roll 0.59 - - 2426 - 2.35 0.073 784 -547.7 194.5 - - 1928 - - - - - - - - 14.83 14.23 14.85
23360 180.0 8.0 1234 23366 done 0.59 0.15 0.231 2389 -246.7 2.35 0.061 2091 556.2 194.5 - - 1929 - - - - - - - - 14.09 14.30 14.37
23718 154.4 7.2 1243 23722 roll 0.59 - - 2389 - 2.78 0.088 3612 547.1 197.2 - - 1928 - - - - - - - - 14.81 14.27 14.83
23843 144.1 8.2 1261 23849 done 0.59 - - 2397 - 2.72 0.057 2073 -565.8 197.2 - - 1928 - - - - - - - - 14.48 14.37 14.52
24166 120.3 7.4 1272 24170 roll 0.59 - - 2405 - 2.35 0.072 789 -546.4 197.2 - - 1928 - - - - - - - - 14.84 14.28 14.85
24242 115.1 6.6 1283 24262 done 0.66 - - 2404 - 2.33 0.059 2083 555.4 215.5 11.43 0.415 1867 -5.3 0.281 - - - - - - 14.47 14.34 14.12
24586 90.4 7.3 1295 24597 roll 0.66 - - 2405 - 2.83 0.086 3612 540.3 216.6 3.15 0.187 1863 -1.3 0.117 - - - - - - 14.80 14.38 14.08
24648 85.6 7.6 1304 24654 done 0.66 - - 2412 - 2.70 0.054 2067 -572.2 216.6 2.70 0.186 1856 -2.6 0.227 - - - - - - 14.51 14.41 14.19
24975 70.3 3.9 1317 25038 roll 0.80 0.12 0.129 2475 525.0 2.38 0.069 779 -541.2 297.5 55.65 0.350 1531 -5.8 0.223 - - - - - - 14.44 14.50 14.23
25078 64.8 5.6 1332 25116 done 0.95 - - 2475 - 2.30 0.057 2077 564.3 338.4 29.00 0.330 1361 -5.9 0.219 - - - - - - 14.50 14.39 14.17
25451 47.6 4.3 1352 25509 roll 1.16 0.30 0.086 2598 410.0 2.80 0.080 3613 548.6 410.5 49.25 0.276 1064 -6.0 0.197 - - - - - - 14.42 14.40 14.11
25551 39.8 9.9 1364 25558 done 1.16 0.15 0.261 2575 -153.3 2.70 0.054 2085 -565.9 410.5 - - 1068 - - - - - - - - 14.12 14.37 14.38
25867 13.5 8.3 1376 25872 roll 1.16 - - 2583 - 2.35 0.070 780 -555.3 410.5 - - 1069 - - - - - - - - 14.76 14.35 14.78
25957 6.3 7.9 1389 25963 done 1.22 - - 2583 - 2.38 0.055 2127 566.0 410.5 - - 1069 - - - - - - - - 14.49 14.37 14.52
26003 end climb: SURFACE_DEPTH_REACHED
26003 begin surface coast
26031 end surface coast: CONTROL_FINISHED_OK
26031 begin surface
SM 0.85 - - - - -6.13 6.80 0.066 216 31.8 0.30 0.102 2301 3810.0 500.17 56.30 0.134 699 12.4 -0.008 - - - - - -