SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 429 * Raw log
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• Previous call tries 1 • 169.41 of 350.00 AH used of 24V (51.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.9 deg, depth 0.84 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 25 s
• GPS2 time: 12 s • Transponder ping count: 5
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 109 VBD -0.68 - - 209 - - - 2319 - -116.8 -84.82 - 2791 - - - - - - - - 14.68 - 14.69
113 3.2 -3.8 3 137 roll -0.68 9.02 0.406 1959 194.0 2.67 2.040 3669 505.6 -116.8 -8.57 - 3216 -49.6 - - - - - - - 13.90 13.15 14.33
245 39.0 -22.3 22 251 done -0.57 0.20 0.254 2009 250.0 2.35 0.043 2273 -594.0 -116.8 - - 3220 - - - - - - - - 14.07 14.45 14.34
558 74.3 -7.3 34 563 roll -0.50 - - 2009 - 2.40 0.054 883 -579.2 -116.8 - - 3221 - - - - - - - - 14.81 14.42 14.83
634 80.6 -8.6 45 642 done -0.44 0.20 0.227 2054 225.0 2.42 0.055 2264 570.7 -116.8 - - 3221 - - - - - - - - 14.13 14.42 14.38
977 106.8 -6.3 56 982 roll -0.44 - - 2043 - 2.47 0.075 3700 581.4 -116.8 - - 3222 - - - - - - - - 14.86 14.40 14.88
1019 108.7 -5.0 62 1024 done -0.44 - - 2042 - 2.35 0.039 2272 -607.7 -116.8 - - 3224 - - - - - - - - 14.55 14.53 14.56
1371 131.2 -7.1 70 1376 roll -0.44 - - 2042 - 2.38 0.053 885 -582.8 -116.8 - - 3222 - - - - - - - - 14.85 14.47 14.88
1473 139.8 -8.3 85 1481 done -0.44 - - 2041 - 2.47 0.056 2281 565.2 -116.8 - - 3222 - - - - - - - - 14.42 14.39 14.58
1818 163.4 -6.7 92 1823 roll -0.44 - - 2037 - 2.45 0.079 3685 573.1 -116.8 - - 3223 - - - - - - - - 14.88 14.34 14.90
1879 168.7 -8.7 101 1886 done -0.49 - - 2037 - 2.35 0.042 2269 -602.6 -116.8 - - 3220 - - - - - - - - 14.59 14.52 14.62
2209 198.4 -9.1 113 2215 roll -0.49 - - 2037 - 2.35 0.052 894 -585.1 -116.8 - - 3219 - - - - - - - - 14.91 14.43 14.92
2272 204.1 -8.7 122 2277 done -0.49 - - 2037 - 2.45 0.055 2287 568.6 -116.8 - - 3217 - - - - - - - - 14.55 14.45 14.58
2601 229.8 -7.7 134 2606 roll -0.49 - - 2037 - 2.45 0.080 3689 572.2 -116.8 - - 3216 - - - - - - - - 14.92 14.39 14.93
2650 233.3 -7.1 141 2657 done -0.55 - - 2037 - 2.38 0.042 2264 -598.7 -116.8 - - 3216 - - - - - - - - 14.60 14.52 14.62
2995 258.5 -7.6 148 2999 roll -0.55 - - 2037 - 2.35 0.054 903 -579.1 -116.8 - - 3213 - - - - - - - - 14.90 14.43 14.92
3076 265.2 -7.7 160 3082 done -0.55 - - 2042 - 2.47 0.057 2282 558.3 -116.8 - - 3216 - - - - - - - - 14.54 14.36 14.58
3442 292.2 -7.4 170 3446 roll -0.55 - - 2037 - 2.50 0.081 3703 568.4 -116.8 - - 3210 - - - - - - - - 14.89 14.35 14.90
3490 295.8 -7.2 177 3498 done -0.60 - - 2037 - 2.40 0.043 2276 -594.6 -116.8 - - 3210 - - - - - - - - 14.50 14.47 14.54
3833 321.6 -7.6 184 3838 roll -0.60 0.10 0.159 1995 -420.0 2.38 0.050 904 -576.5 -116.8 - - 3208 - - - - - - - - 14.57 14.42 14.59
3895 327.1 -8.8 193 3902 done -0.60 - - 1989 - 2.47 0.057 2276 555.5 -116.8 - - 3207 - - - - - - - - 14.40 14.33 14.54
4227 356.9 -9.2 205 4232 roll -0.60 - - 1984 - 2.53 0.085 3701 563.2 -116.8 - - 3206 - - - - - - - - 14.88 14.32 14.90
4259 360.3 -10.1 210 4265 done -0.60 - - 1984 - 2.42 0.044 2287 -584.3 -116.8 - - 3205 - - - - - - - - 14.47 14.43 14.50
4617 394.2 -9.3 219 4622 roll -0.60 - - 1985 - 2.42 0.052 882 -580.6 -116.8 - - 3204 - - - - - - - - 14.89 14.40 14.90
4694 401.6 -9.6 230 4699 done -0.60 - - 1984 - 2.47 0.060 2274 563.6 -116.8 - - 3204 - - - - - - - - 14.50 14.38 14.54
5010 432.4 -9.9 240 5014 roll -0.60 - - 1975 - 2.53 0.084 3694 561.3 -116.8 - - 3202 - - - - - - - - 14.90 14.31 14.92
5092 441.1 -10.5 252 5098 done -0.60 - - 1974 - 2.45 0.047 2280 -577.1 -116.8 - - 3200 - - - - - - - - 14.45 14.39 14.47
5459 481.5 -11.2 262 5465 roll -0.56 0.12 0.261 2008 283.3 2.42 0.057 886 -576.0 -116.8 - - 3198 - - - - - - - - 14.13 14.23 14.26
5534 489.1 -8.8 273 5541 done -0.56 - - 2005 - 2.50 0.061 2282 558.4 -116.8 - - 3200 - - - - - - - - 14.47 14.34 14.52
5850 515.8 -8.4 283 5851 done -0.56 - - 2008 - - - 2282 - -116.8 - - 3198 - - - - - - - - 14.87 14.89 14.89
6187 543.7 -8.4 289 6193 roll -0.56 - - 1999 - 2.50 0.083 3687 562.0 -116.8 - - 3196 - - - - - - - - 14.86 14.28 14.89
6220 546.7 -8.9 294 6226 done -0.56 - - 1999 - 2.42 0.047 2261 -589.3 -116.8 - - 3196 - - - - - - - - 14.51 14.42 14.54
6578 577.1 -8.4 303 6583 roll -0.56 - - 1999 - 2.40 0.055 883 -574.2 -116.8 - - 3197 - - - - - - - - 14.87 14.33 14.88
6669 584.7 -8.3 316 6674 done -0.56 - - 1999 - 2.50 0.060 2275 556.8 -116.8 - - 3194 - - - - - - - - 14.42 14.28 14.47
7026 614.0 -8.3 325 7032 roll -0.56 - - 1998 - 2.55 0.090 3690 554.9 -116.8 - - 3193 - - - - - - - - 14.86 14.23 14.88
7074 618.2 -8.4 332 7081 done -0.56 - - 1999 - 2.47 0.047 2262 -578.1 -116.8 - - 3193 - - - - - - - - 14.40 14.36 14.43
7419 647.3 -8.5 339 7424 roll -0.56 - - 1999 - 2.42 0.058 893 -565.7 -116.8 - - 3192 - - - - - - - - 14.85 14.29 14.87
7459 651.0 -8.7 345 7466 done -0.56 - - 1999 - 2.47 0.060 2273 558.7 -116.8 - - 3191 - - - - - - - - 14.42 14.27 14.46
7810 680.8 -8.6 353 7816 roll -0.56 - - 1998 - 2.60 0.090 3694 546.5 -116.8 - - 3190 - - - - - - - - 14.86 14.19 14.88
7859 685.0 -8.5 360 7865 done -0.56 - - 1998 - 2.47 0.049 2266 -578.1 -116.8 - - 3189 - - - - - - - - 14.49 14.42 14.52
8202 713.4 -8.3 367 8207 roll -0.56 - - 1999 - 2.45 0.059 880 -565.7 -116.8 - - 3188 - - - - - - - - 14.88 14.28 14.88
8243 716.9 -8.4 373 8250 done -0.56 - - 1998 - 2.53 0.063 2273 550.6 -116.8 - - 3188 - - - - - - - - 14.38 14.24 14.42
8594 743.4 -7.6 381 8600 roll -0.56 - - 1998 - 2.58 0.092 3692 550.0 -116.8 - - 3187 - - - - - - - - 14.87 14.19 14.89
8651 747.5 -7.3 389 8657 done -0.56 - - 1999 - 2.45 0.050 2281 -575.9 -116.8 - - 3187 - - - - - - - - 14.47 14.39 14.49
8987 771.8 -7.3 402 8991 roll -0.56 - - 1998 - 2.50 0.062 870 -564.4 -116.8 - - 3186 - - - - - - - - 14.87 14.25 14.88
9035 775.6 -7.8 409 9043 done -0.56 - - 1998 - 2.55 0.063 2269 548.6 -116.8 - - 3186 - - - - - - - - 14.35 14.22 14.41
9378 801.4 -7.6 416 9383 roll -0.56 - - 1998 - 2.60 0.093 3691 546.9 -116.8 - - 3185 - - - - - - - - 14.84 14.12 14.85
9434 805.8 -7.9 424 9439 done -0.56 - - 1998 - 2.47 0.050 2262 -578.5 -116.8 - - 3184 - - - - - - - - 14.42 14.35 14.45
9772 832.7 -8.0 437 9777 roll -0.56 - - 1998 - 2.45 0.059 882 -563.3 -116.8 - - 3183 - - - - - - - - 14.81 14.23 14.83
9846 839.0 -8.2 448 9852 done -0.56 - - 1999 - 2.55 0.064 2280 548.2 -116.8 - - 3183 - - - - - - - - 14.32 14.19 14.38
10163 863.8 -7.8 458 10167 roll -0.56 - - 1998 - 2.58 0.090 3690 546.5 -116.8 - - 3182 - - - - - - - - 14.82 14.11 14.84
10220 868.2 -7.8 466 10224 done -0.56 - - 1998 - 2.47 0.050 2264 -577.3 -116.8 - - 3182 - - - - - - - - 14.43 14.34 14.46
10554 894.5 -7.9 479 10559 roll -0.56 - - 1998 - 2.45 0.058 887 -562.0 -116.8 - - 3181 - - - - - - - - 14.85 14.20 14.87
10610 899.2 -8.4 487 10615 done -0.56 - - 1998 - 2.53 0.063 2270 546.6 -116.8 - - 3181 - - - - - - - - 14.31 14.18 14.36
10947 927.0 -8.3 500 10952 roll -0.56 - - 1998 - 2.62 0.093 3694 543.5 -116.8 - - 3181 - - - - - - - - 14.84 14.08 14.86
10981 929.8 -7.7 505 10987 done -0.56 - - 1997 - 2.47 0.051 2268 -577.3 -116.8 - - 3180 - - - - - - - - 14.39 14.31 14.42
11338 959.0 -8.2 514 11343 roll -0.56 - - 1998 - 2.50 0.063 885 -553.2 -116.8 - - 3179 - - - - - - - - 14.81 14.15 14.83
11387 963.3 -8.6 521 11394 done -0.56 - - 1997 - 2.58 0.065 2280 540.7 -116.8 - - 3179 - - - - - - - - 14.29 14.16 14.34
11727 end dive: TARGET_DEPTH_EXCEEDED
11727 begin apogee
11735 990.2 -7.9 528 11928 roll -0.19 0.50 0.208 2132 270.0 - - 2195 - - 190.65 1.633 2740 -2.3 0.267 - - - - - - 13.78 13.93 13.10
11930 end apogee: CONTROL_FINISHED_OK
11930 begin climb
11934 996.3 - 531 12097 roll 0.68 0.93 0.139 2414 303.2 2.55 0.065 803 -545.9 116.8 148.60 1.900 2255 -3.3 0.327 - - - - - - 13.90 13.99 12.83
12222 979.6 7.8 577 12228 done 0.68 - - 2414 - 2.55 0.061 2205 549.8 116.8 - - 2238 - - - - - - - - 14.31 14.21 14.34
12574 949.0 8.9 585 12579 roll 0.68 - - 2424 - 2.55 0.071 811 -546.7 116.8 - - 2236 - - - - - - - - 14.74 14.34 14.76
12712 936.6 8.7 605 12718 done 0.68 - - 2424 - 2.53 0.063 2210 553.0 116.8 - - 2233 - - - - - - - - 14.49 14.36 14.54
13078 901.9 9.6 615 13084 roll 0.63 - - 2424 - 2.53 0.090 3608 552.6 116.8 - - 2231 - - - - - - - - 14.80 14.26 14.83
13134 895.8 11.1 623 13139 done 0.55 0.22 0.267 2381 -195.5 2.45 0.058 2213 -569.4 116.8 - - 2230 - - - - - - - - 14.04 14.41 14.37
13470 869.0 7.8 636 13474 roll 0.55 - - 2391 - 2.58 0.070 788 -552.3 116.8 - - 2230 - - - - - - - - 14.82 14.31 14.83
13546 862.8 7.8 647 13551 done 0.55 - - 2391 - 2.55 0.061 2200 553.7 116.8 - - 2232 - - - - - - - - 14.49 14.36 14.54
13861 837.6 7.9 657 13867 roll 0.55 - - 2391 - 2.55 0.089 3610 552.9 116.8 - - 2228 - - - - - - - - 14.83 14.26 14.85
13917 832.6 9.1 665 13923 done 0.55 - - 2401 - 2.47 0.056 2194 -573.3 116.8 - - 2228 - - - - - - - - 14.41 14.31 14.45
14254 806.2 7.7 678 14259 roll 0.55 - - 2411 - 2.53 0.072 798 -551.8 116.8 - - 2228 - - - - - - - - 14.82 14.28 14.83
14337 799.5 7.6 690 14342 done 0.55 0.15 0.251 2378 -220.0 2.53 0.060 2200 554.2 116.8 - - 2228 - - - - - - - - 13.95 14.31 14.22
14702 777.0 6.0 700 14748 roll 0.57 - - 2378 - 2.62 0.090 3615 540.1 149.7 37.45 1.750 2120 -2.9 0.245 - - - - - - 14.82 14.33 13.36
14785 771.3 7.6 712 14790 done 0.57 - - 2387 - 2.50 0.056 2192 -569.2 149.7 - - 2113 - - - - - - - - 14.42 14.34 14.45
15150 745.3 7.2 722 15155 roll 0.57 - - 2397 - 2.53 0.070 786 -555.7 152.8 - - 2108 - - - - - - - - 14.76 14.28 14.78
15248 738.5 7.0 736 15261 done 0.57 - - 2397 - 2.53 0.060 2195 556.9 160.7 3.78 1.235 2085 -6.1 0.696 - - - - - - 14.44 14.34 13.07
15598 710.9 8.0 744 15603 roll 0.57 - - 2397 - 2.62 0.086 3609 539.7 160.7 1.48 0.199 2082 -2.0 1.384 - - - - - - 14.78 14.27 14.02
15668 704.7 9.0 754 15672 done 0.57 - - 2406 - 2.47 0.054 2190 -574.5 160.7 - - 2090 - - - - - - - - 14.50 14.39 14.52
15990 677.2 8.6 765 15995 roll 0.57 - - 2417 - 2.50 0.069 794 -558.4 160.7 - - 2090 - - - - - - - - 14.81 14.28 14.82
16052 672.0 8.2 774 16057 done 0.57 0.12 0.252 2390 -225.0 2.53 0.058 2203 556.9 160.7 - - 2090 - - - - - - - - 14.04 14.33 14.29
16382 647.2 7.5 786 16387 roll 0.57 - - 2390 - 2.55 0.087 3609 551.4 160.7 - - 2090 - - - - - - - - 14.83 14.21 14.85
16443 641.8 8.6 795 16449 done 0.57 - - 2398 - 2.53 0.054 2169 -569.2 160.7 - - 2090 - - - - - - - - 14.43 14.31 14.47
16774 614.8 8.3 807 16778 roll 0.57 - - 2408 - 2.47 0.070 797 -555.5 160.7 - - 2090 - - - - - - - - 14.82 14.27 14.83
16837 609.5 8.4 816 16841 done 0.57 - - 2408 - 2.53 0.058 2202 555.3 160.7 - - 2088 - - - - - - - - 14.43 14.30 14.47
17166 581.0 8.7 828 17170 roll 0.57 - - 2408 - 2.55 0.086 3608 551.4 160.7 - - 2090 - - - - - - - - 14.84 14.21 14.86
17235 574.2 9.6 838 17240 done 0.57 0.12 0.257 2389 -158.3 2.47 0.054 2193 -572.9 160.7 - - 2090 - - - - - - - - 14.00 14.31 14.25
17559 549.6 7.6 849 17564 roll 0.57 - - 2398 - 2.53 0.070 791 -554.2 160.7 - - 2090 - - - - - - - - 14.83 14.22 14.88
17634 543.7 7.6 860 17639 done 0.57 - - 2398 - 2.53 0.059 2191 553.4 160.7 - - 2090 - - - - - - - - 14.38 14.26 14.41
17951 519.1 7.8 870 17955 roll 0.57 - - 2398 - 2.58 0.085 3614 551.6 160.7 - - 2090 - - - - - - - - 14.79 14.17 14.81
18005 514.3 8.6 878 18010 done 0.57 - - 2408 - 2.50 0.054 2191 -569.2 160.7 - - 2090 - - - - - - - - 14.41 14.31 14.45
18342 488.8 7.4 891 18347 roll 0.57 - - 2418 - 2.53 0.067 785 -555.7 160.7 - - 2090 - - - - - - - - 14.81 14.21 14.83
18405 484.2 7.3 900 18410 done 0.57 0.12 0.250 2389 -241.7 2.53 0.058 2192 556.1 160.9 - - 2090 - - - - - - - - 13.97 14.28 14.22
18734 463.7 6.2 912 18781 roll 0.59 - - 2390 - 2.62 0.084 3614 542.7 188.1 43.08 1.424 1967 -2.9 0.178 - - - - - - 14.81 14.31 13.48
18824 457.3 7.8 925 18830 done 0.59 - - 2398 - 2.50 0.054 2189 -570.0 188.1 - - 1954 - - - - - - - - 14.41 14.33 14.44
19183 430.4 7.7 934 19188 roll 0.59 - - 2407 - 2.53 0.067 790 -553.0 188.1 - - 1951 - - - - - - - - 14.72 14.24 14.74
19250 424.6 8.3 944 19256 done 0.59 - - 2407 - 2.53 0.057 2194 554.9 188.1 - - 1951 - - - - - - - - 14.40 14.28 14.45
19574 396.3 8.8 955 19579 roll 0.59 - - 2407 - 2.55 0.083 3612 556.1 188.1 - - 1949 - - - - - - - - 14.78 14.19 14.81
19656 388.3 9.3 967 19662 done 0.59 - - 2416 - 2.50 0.051 2180 -572.8 188.1 - - 1949 - - - - - - - - 14.35 14.30 14.38
20021 358.7 7.9 977 20027 roll 0.59 - - 2423 - 2.50 0.070 796 -553.6 188.1 - - 1950 - - - - - - - - 14.80 14.21 14.82
20071 354.8 8.0 984 20077 done 0.59 0.12 0.237 2394 -241.7 2.53 0.057 2197 553.8 188.1 - - 1949 - - - - - - - - 14.03 14.29 14.30
20414 328.8 7.8 991 20418 roll 0.59 - - 2395 - 2.58 0.083 3617 550.4 188.1 - - 1949 - - - - - - - - 14.83 14.19 14.85
20483 322.5 9.0 1001 20489 done 0.59 - - 2403 - 2.50 0.053 2191 -570.4 188.1 - - 1949 - - - - - - - - 14.42 14.31 14.46
20806 296.2 8.1 1012 20811 roll 0.59 - - 2410 - 2.53 0.067 786 -555.3 188.1 - - 1949 - - - - - - - - 14.80 14.23 14.85
20875 290.7 7.7 1022 20880 done 0.59 - - 2410 - 2.53 0.056 2195 556.9 188.1 - - 1949 - - - - - - - - 14.40 14.28 14.45
21198 264.6 8.2 1033 21208 roll 0.59 - - 2409 - 2.55 0.081 3616 557.3 188.1 - - 1949 - - - - - - - - 14.81 14.19 14.83
21271 257.9 9.0 1043 21276 done 0.59 - - 2418 - 2.50 0.053 2183 -573.2 188.1 - - 1949 - - - - - - - - 14.42 14.33 14.47
21594 231.0 8.4 1054 21599 roll 0.59 - - 2424 - 2.53 0.068 784 -553.0 188.1 - - 1949 - - - - - - - - 14.81 14.21 14.83
21670 224.9 7.9 1065 21676 done 0.59 0.12 0.236 2394 -250.0 2.53 0.056 2193 556.9 188.1 - - 1949 - - - - - - - - 14.00 14.25 14.24
21987 205.0 6.1 1075 22025 roll 0.61 - - 2395 - 2.58 0.082 3614 550.8 217.6 32.22 1.166 1840 -3.4 0.114 - - - - - - 14.83 14.40 13.60
22083 197.7 8.4 1089 22089 done 0.61 - - 2402 - 2.47 0.049 2186 -578.1 217.6 - - 1829 - - - - - - - - 14.46 14.37 14.50
22434 171.9 7.4 1097 22440 roll 0.61 - - 2406 - 2.50 0.066 796 -556.0 217.6 - - 1826 - - - - - - - - 14.76 14.26 14.77
22510 166.2 7.5 1108 22515 done 0.67 - - 2406 - 2.47 0.054 2191 564.8 217.6 - - 1826 - - - - - - - - 14.43 14.32 14.47
22826 143.8 6.9 1118 22832 roll 0.68 - - 2406 - 2.58 0.080 3607 548.8 227.8 2.25 0.389 1809 -7.6 0.534 - - - - - - 14.81 14.34 13.26
22875 140.0 8.1 1125 22881 done 0.68 - - 2414 - 2.47 0.049 2173 -580.6 227.8 - - 1815 - - - - - - - - 14.48 14.40 14.52
23211 114.0 7.9 1138 23215 roll 0.68 - - 2421 - 2.47 0.065 792 -559.1 227.8 - - 1816 - - - - - - - - 14.83 14.26 14.84
23281 108.1 8.5 1148 23285 done 0.74 - - 2421 - 2.47 0.054 2187 564.8 227.8 - - 1817 - - - - - - - - 14.43 14.32 14.47
23603 81.1 8.2 1163 23607 roll 0.74 - - 2421 - 2.55 0.080 3608 557.3 227.8 - - 1817 - - - - - - - - 14.80 14.22 14.81
23679 74.4 8.5 1174 23685 done 0.74 - - 2429 - 2.50 0.047 2187 -568.4 227.8 - - 1817 - - - - - - - - 14.33 14.28 14.46
23996 51.3 6.8 1186 24013 roll 0.79 - - 2433 - 2.53 0.063 786 -553.8 240.0 9.32 0.253 1764 -5.7 0.220 - - - - - - 14.79 14.37 13.97
24138 43.4 5.6 1206 24175 done 0.92 0.20 0.100 2512 395.0 2.47 0.052 2185 566.4 281.7 29.65 0.257 1590 -5.9 0.189 - - - - - - 14.36 14.34 14.08
24503 26.4 3.4 1225 24567 roll 1.04 - - 2515 - 2.53 0.062 794 -549.8 376.5 59.95 0.207 1205 -6.4 0.157 - - - - - - 14.75 14.39 14.15
24656 18.2 6.2 1247 24679 done 1.17 0.20 0.096 2597 410.0 2.45 0.051 2184 567.3 404.2 18.73 0.181 1091 -6.1 0.117 - - - - - - 14.37 14.33 14.11
24817 end climb: SURFACE_DEPTH_REACHED
24817 begin surface coast
24848 end surface coast: CONTROL_FINISHED_OK
24848 begin surface
SM 0.75 - - - - -6.12 6.93 0.070 222 32.0 0.17 0.116 2293 -53747.1 500.17 59.58 0.134 701 11.8 -0.007 - - - - - -