SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 436 * Raw log
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• Previous call tries 1 • 172.08 of 350.00 AH used of 24V (50.83% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.8 deg, depth 0.85 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 15 s • Transponder ping count: 6
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
19 - - - 104 VBD -0.68 - - 190 - - - 2303 - -116.8 -84.12 - 2737 - - - - - - - - 14.67 - 14.69
108 2.9 -3.5 3 132 roll -0.68 9.18 0.408 1963 193.1 2.80 2.043 3691 495.7 -116.8 -9.80 - 3216 -48.9 - - - - - - - 13.87 12.95 14.31
174 22.6 -26.1 13 181 done -0.46 0.32 0.268 2043 250.0 2.40 0.043 2264 -594.6 -116.8 - - 3219 - - - - - - - - 14.02 14.42 14.33
497 59.6 -7.6 26 501 roll -0.46 - - 2042 - 2.38 0.050 871 -585.3 -116.8 - - 3221 - - - - - - - - 14.77 14.40 14.78
644 71.3 -7.2 47 648 done -0.46 - - 2042 - 2.45 0.054 2280 575.1 -116.8 - - 3220 - - - - - - - - 14.51 14.40 14.54
973 95.1 -7.6 61 978 roll -0.46 - - 2037 - 2.45 0.076 3692 576.3 -116.8 - - 3221 - - - - - - - - 14.84 14.31 14.85
1091 103.6 -6.8 78 1096 done -0.46 - - 2037 - 2.35 0.041 2271 -604.7 -116.8 - - 3221 - - - - - - - - 14.59 14.51 14.59
1422 126.7 -7.4 90 1426 roll -0.46 - - 2034 - 2.38 0.053 888 -581.1 -116.8 - - 3221 - - - - - - - - 14.88 14.44 14.90
1504 133.4 -7.7 102 1509 done -0.46 - - 2033 - 2.45 0.055 2285 570.2 -116.8 - - 3221 - - - - - - - - 14.52 14.40 14.56
1869 163.5 -8.5 112 1874 roll -0.46 - - 2037 - 2.45 0.078 3691 573.9 -116.8 - - 3221 - - - - - - - - 14.87 14.38 14.89
1931 168.8 -8.4 121 1937 done -0.51 - - 2037 - 2.33 0.041 2276 -607.3 -116.8 - - 3220 - - - - - - - - 14.59 14.52 14.62
2261 195.5 -8.2 133 2266 roll -0.51 - - 2036 - 2.38 0.053 892 -581.5 -116.8 - - 3219 - - - - - - - - 14.88 14.42 14.90
2310 199.4 -7.6 140 2316 done -0.51 - - 2037 - 2.45 0.054 2282 567.3 -116.8 - - 3218 - - - - - - - - 14.53 14.42 14.55
2653 223.1 -6.9 147 2657 roll -0.51 - - 2036 - 2.47 0.079 3694 571.7 -116.8 - - 3216 - - - - - - - - 14.88 14.28 14.90
2709 227.0 -7.2 155 2714 done -0.56 - - 2036 - 2.38 0.042 2266 -600.0 -116.8 - - 3216 - - - - - - - - 14.59 14.53 14.62
3046 253.5 -8.1 168 3050 roll -0.56 - - 2036 - 2.35 0.053 898 -582.1 -116.8 - - 3213 - - - - - - - - 14.89 14.41 14.91
3093 257.6 -8.5 175 3100 done -0.56 - - 2036 - 2.47 0.057 2273 556.7 -116.8 - - 3213 - - - - - - - - 14.40 14.33 14.44
3437 284.8 -7.8 182 3441 roll -0.56 - - 2029 - 2.50 0.081 3693 568.0 -116.8 - - 3212 - - - - - - - - 14.88 14.33 14.90
3478 287.9 -7.5 188 3483 done -0.56 - - 2029 - 2.40 0.044 2284 -587.1 -116.8 - - 3212 - - - - - - - - 14.48 14.44 14.50
3830 310.7 -6.3 196 3835 roll -0.56 - - 2029 - 2.40 0.054 895 -578.8 -116.8 - - 3212 - - - - - - - - 14.87 14.40 14.89
3885 314.5 -6.8 204 3889 done -0.56 - - 2029 - 2.47 0.057 2286 563.2 -116.8 - - 3208 - - - - - - - - 14.50 14.38 14.54
4222 339.5 -7.7 217 4227 roll -0.56 - - 2027 - 2.47 0.081 3691 568.8 -116.8 - - 3207 - - - - - - - - 14.90 14.33 14.91
4276 344.0 -8.2 225 4282 done -0.56 - - 2024 - 2.38 0.044 2276 -594.5 -116.8 - - 3207 - - - - - - - - 14.57 14.50 14.59
4613 371.1 -8.0 238 4617 roll -0.56 - - 2025 - 2.40 0.055 894 -575.8 -116.8 - - 3204 - - - - - - - - 14.90 14.38 14.92
4697 377.8 -7.8 250 4701 done -0.56 - - 2025 - 2.45 0.057 2277 564.5 -116.8 - - 3204 - - - - - - - - 14.49 14.37 14.55
5061 404.5 -7.3 260 5066 roll -0.56 - - 2025 - 2.53 0.085 3693 559.7 -116.8 - - 3203 - - - - - - - - 14.87 14.29 14.89
5123 409.1 -7.2 269 5129 done -0.62 - - 2025 - 2.40 0.046 2264 -595.4 -116.8 - - 3202 - - - - - - - - 14.47 14.40 14.50
5454 435.1 -8.1 281 5459 roll -0.62 - - 2024 - 2.40 0.057 895 -570.4 -116.8 - - 3201 - - - - - - - - 14.89 14.37 14.90
5529 441.8 -8.5 292 5534 done -0.62 - - 2025 - 2.50 0.060 2295 560.0 -116.8 - - 3200 - - - - - - - - 14.45 14.31 14.50
5845 467.8 -8.3 302 5846 done -0.62 - - 2024 - - - 2295 - -116.8 - - 3200 - - - - - - - - 14.87 14.89 14.89
6181 494.1 -7.8 308 6186 roll -0.62 - - 2018 - 2.50 0.086 3693 559.2 -116.8 - - 3198 - - - - - - - - 14.86 14.26 14.88
6229 498.0 -8.1 315 6236 done -0.62 - - 2018 - 2.42 0.047 2279 -584.3 -116.8 - - 3197 - - - - - - - - 14.42 14.38 14.45
6573 525.1 -7.8 322 6578 roll -0.62 - - 2018 - 2.42 0.056 897 -571.1 -116.8 - - 3196 - - - - - - - - 14.87 14.26 14.88
6671 532.6 -7.3 336 6676 done -0.62 - - 2015 - 2.47 0.060 2280 559.9 -116.8 - - 3196 - - - - - - - - 14.43 14.31 14.48
7021 557.3 -7.1 344 7025 roll -0.62 - - 2013 - 2.53 0.086 3686 555.7 -116.8 - - 3195 - - - - - - - - 14.87 14.25 14.88
7069 560.7 -7.1 351 7075 done -0.62 - - 2013 - 2.45 0.047 2268 -578.8 -116.8 - - 3194 - - - - - - - - 14.48 14.35 14.51
7413 585.3 -7.2 358 7418 roll -0.62 - - 2013 - 2.45 0.060 891 -562.0 -116.8 - - 3192 - - - - - - - - 14.86 14.21 14.88
7454 588.5 -7.7 364 7459 done -0.62 - - 2013 - 2.47 0.060 2269 557.9 -116.8 - - 3192 - - - - - - - - 14.40 14.26 14.44
7805 613.6 -7.2 372 7809 roll -0.62 - - 2011 - 2.60 0.090 3700 550.4 -116.8 - - 3191 - - - - - - - - 14.85 14.19 14.87
7840 616.1 -6.9 377 7846 done -0.62 - - 2012 - 2.42 0.047 2275 -588.8 -116.8 - - 3193 - - - - - - - - 14.50 14.44 14.54
8197 642.6 -7.5 386 8201 roll -0.62 - - 2012 - 2.45 0.060 891 -564.9 -116.8 - - 3189 - - - - - - - - 14.88 14.26 14.90
8253 647.0 -7.8 394 8257 done -0.62 - - 2012 - 2.53 0.062 2282 549.8 -116.8 - - 3190 - - - - - - - - 14.31 14.19 14.35
8590 671.8 -7.4 407 8594 roll -0.62 - - 2012 - 2.58 0.087 3702 550.4 -116.8 - - 3189 - - - - - - - - 14.84 14.16 14.86
8651 676.5 -7.5 416 8656 done -0.66 - - 2011 - 2.45 0.047 2264 -586.9 -116.8 - - 3188 - - - - - - - - 14.47 14.40 14.50
8981 700.3 -7.3 428 8986 roll -0.66 - - 2012 - 2.42 0.055 891 -567.4 -116.8 - - 3188 - - - - - - - - 14.84 14.27 14.85
9065 706.7 -7.4 440 9069 done -0.66 - - 2012 - 2.50 0.061 2268 550.8 -116.8 - - 3187 - - - - - - - - 14.36 14.23 14.40
9429 733.2 -7.3 450 9434 roll -0.66 - - 2011 - 2.60 0.091 3693 548.1 -116.8 - - 3187 - - - - - - - - 14.87 14.14 14.89
9491 737.8 -7.4 459 9497 done -0.72 0.15 0.123 1955 -373.3 2.45 0.048 2275 -578.8 -116.8 - - 3186 - - - - - - - - 14.27 14.35 14.38
9822 770.8 -10.3 471 9827 roll -0.66 0.12 0.272 1990 291.7 2.50 0.060 880 -558.0 -116.8 - - 3186 - - - - - - - - 14.00 14.21 14.12
9877 775.9 -8.4 479 9881 done -0.66 - - 1986 - 2.55 0.064 2276 547.5 -116.8 - - 3185 - - - - - - - - 14.33 14.19 14.38
10214 803.3 -8.2 492 10218 roll -0.66 - - 1988 - 2.60 0.093 3691 544.2 -116.8 - - 3184 - - - - - - - - 14.85 14.08 14.87
10268 807.6 -8.1 500 10273 done -0.66 - - 1984 - 2.47 0.050 2269 -575.7 -116.8 - - 3184 - - - - - - - - 14.40 14.32 14.42
10605 835.2 -8.3 513 10610 roll -0.66 - - 1984 - 2.47 0.061 880 -562.3 -116.8 - - 3183 - - - - - - - - 14.85 14.19 14.88
10662 840.1 -8.5 521 10667 done -0.66 - - 1984 - 2.55 0.066 2264 542.7 -116.8 - - 3182 - - - - - - - - 14.29 14.15 14.33
10997 867.5 -8.0 534 11002 roll -0.66 - - 1974 - 2.62 0.090 3701 548.5 -116.8 - - 3182 - - - - - - - - 14.83 14.08 14.83
11053 872.1 -8.3 542 11058 done -0.66 - - 1975 - 2.50 0.049 2260 -576.4 -116.8 - - 3182 - - - - - - - - 14.39 14.31 14.42
11390 899.8 -8.2 555 11395 roll -0.66 - - 1975 - 2.47 0.059 879 -559.1 -116.8 - - 3181 - - - - - - - - 14.81 14.16 14.83
11458 905.6 -8.3 565 11464 done -0.66 - - 1973 - 2.60 0.065 2270 535.0 -116.8 - - 3181 - - - - - - - - 14.14 14.06 14.19
11781 932.1 -8.1 576 11785 roll -0.66 - - 1972 - 2.65 0.094 3700 539.6 -116.8 - - 3181 - - - - - - - - 14.81 14.04 14.83
11823 935.7 -6.6 582 11828 done -0.66 - - 1969 - 2.50 0.050 2262 -575.2 -116.8 - - 3181 - - - - - - - - 14.33 14.21 14.35
12173 967.6 -9.3 590 12178 roll -0.66 - - 1972 - 2.45 0.058 886 -561.6 -116.8 - - 3180 - - - - - - - - 14.81 14.14 14.83
12221 972.5 -10.0 597 12229 done -0.66 - - 1972 - 2.58 0.065 2262 533.3 -116.8 - - 3180 - - - - - - - - 14.10 14.03 14.16
12449 end dive: TARGET_DEPTH_EXCEEDED
12449 begin apogee
12459 994.9 -9.7 602 12651 roll -0.19 0.60 0.223 2128 260.0 - - 2184 - - 190.18 1.640 2741 -2.3 0.268 - - - - - - 13.68 13.92 13.07
12653 end apogee: CONTROL_FINISHED_OK
12653 begin climb
12657 1002.4 - 605 12817 roll 0.68 0.93 0.143 2410 303.2 2.58 0.060 809 -532.9 116.8 149.38 1.896 2263 -3.2 0.324 - - - - - - 13.89 13.96 12.84
12974 986.8 6.9 655 12984 done 0.68 - - 2410 - 2.55 0.063 2211 549.8 127.3 2.85 0.890 2220 -15.1 3.201 - - - - - - 14.35 14.25 12.82
13294 961.3 8.1 666 13299 roll 0.68 - - 2420 - 2.53 0.070 820 -549.8 127.3 - - 2223 - - - - - - - - 14.72 14.32 14.73
13446 948.6 8.0 688 13453 done 0.68 - - 2425 - 2.50 0.061 2208 555.2 127.3 - - 2221 - - - - - - - - 14.47 14.34 14.50
13799 917.3 9.1 696 13804 roll 0.64 - - 2420 - 2.55 0.090 3618 552.9 127.3 - - 2223 - - - - - - - - 14.78 14.29 14.81
13867 910.2 10.3 706 13873 done 0.56 0.12 0.253 2384 -300.0 2.47 0.059 2235 -559.9 127.3 - - 2222 - - - - - - - - 14.01 14.35 14.31
14190 886.0 7.4 717 14194 roll 0.56 - - 2394 - 2.60 0.073 791 -555.4 127.3 - - 2223 - - - - - - - - 14.83 14.21 14.85
14303 877.4 7.3 733 14308 done 0.56 - - 2394 - 2.55 0.062 2199 552.2 127.6 - - 2223 - - - - - - - - 14.47 14.35 14.50
14638 850.7 8.1 746 14642 roll 0.56 - - 2394 - 2.58 0.090 3617 549.6 127.6 - - 2222 - - - - - - - - 14.82 14.24 14.83
14693 845.7 9.1 754 14698 done 0.56 - - 2404 - 2.50 0.058 2193 -569.6 127.6 - - 2222 - - - - - - - - 14.47 14.37 14.50
15031 817.3 8.4 767 15035 roll 0.56 - - 2415 - 2.53 0.072 798 -551.4 127.6 - - 2222 - - - - - - - - 14.81 14.25 14.83
15106 810.7 8.3 778 15111 done 0.56 0.12 0.255 2388 -225.0 2.55 0.060 2209 553.3 127.6 - - 2222 - - - - - - - - 14.01 14.28 14.27
15423 786.6 7.6 788 15428 roll 0.56 - - 2387 - 2.55 0.088 3610 549.4 127.6 - - 2222 - - - - - - - - 14.81 14.21 14.83
15484 781.2 8.6 797 15490 done 0.56 - - 2397 - 2.47 0.055 2193 -573.7 127.6 - - 2221 - - - - - - - - 14.44 14.33 14.47
15814 755.7 7.8 809 15818 roll 0.56 - - 2407 - 2.53 0.071 803 -549.4 127.6 - - 2221 - - - - - - - - 14.81 14.21 14.83
15905 749.0 7.3 822 15909 done 0.56 - - 2407 - 2.53 0.059 2197 551.0 127.9 - - 2221 - - - - - - - - 14.38 14.26 14.42
16262 722.0 7.5 831 16266 roll 0.56 - - 2407 - 2.58 0.087 3610 547.7 127.9 - - 2221 - - - - - - - - 14.81 14.15 14.83
16352 714.5 8.1 844 16358 done 0.51 0.20 0.256 2371 -180.0 2.47 0.054 2190 -574.9 127.9 - - 2221 - - - - - - - - 13.87 14.32 14.16
16711 694.8 5.4 853 16785 roll 0.54 - - 2381 - 2.53 0.069 803 -548.2 174.2 68.25 1.622 2022 -2.9 0.239 - - - - - - 14.83 14.07 13.28
16867 685.8 6.3 875 16904 done 0.61 - - 2381 - 2.55 0.059 2203 549.0 197.9 28.60 1.635 1924 -3.4 0.275 - - - - - - 14.34 14.23 13.26
17214 661.5 7.0 890 17218 roll 0.61 - - 2381 - 2.55 0.086 3611 552.2 205.3 - - 1909 - - - - - - - - 14.69 14.26 14.71
17262 657.4 8.6 897 17268 done 0.61 - - 2391 - 2.53 0.054 2195 -559.7 205.3 - - 1908 - - - - - - - - 14.33 14.28 14.37
17607 628.1 8.7 904 17612 roll 0.61 - - 2393 - 2.53 0.073 796 -553.0 205.3 - - 1908 - - - - - - - - 14.78 14.28 14.80
17682 621.5 8.6 915 17687 done 0.66 - - 2392 - 2.53 0.057 2199 554.5 205.3 - - 1906 - - - - - - - - 14.44 14.32 14.47
17998 593.0 9.1 925 18002 roll 0.66 - - 2392 - 2.55 0.086 3608 552.5 205.3 - - 1907 - - - - - - - - 14.79 14.22 14.81
18047 588.2 9.9 932 18053 done 0.66 - - 2402 - 2.47 0.054 2192 -573.3 205.3 - - 1905 - - - - - - - - 14.45 14.35 14.48
18390 556.4 9.2 939 18394 roll 0.66 - - 2409 - 2.53 0.070 791 -553.8 205.3 - - 1905 - - - - - - - - 14.80 14.17 14.82
18466 549.6 8.5 950 18471 done 0.66 - - 2409 - 2.53 0.058 2199 556.5 205.3 - - 1906 - - - - - - - - 14.40 14.28 14.44
18783 522.3 8.6 960 18788 roll 0.66 - - 2409 - 2.55 0.085 3607 552.2 205.3 - - 1905 - - - - - - - - 14.83 14.21 14.84
18830 517.9 9.1 967 18837 done 0.66 - - 2419 - 2.53 0.053 2189 -560.5 205.3 - - 1904 - - - - - - - - 14.31 14.26 14.35
19174 489.0 8.3 974 19178 roll 0.66 - - 2427 - 2.53 0.068 782 -556.1 205.3 - - 1904 - - - - - - - - 14.81 14.23 14.83
19258 482.3 7.7 986 19262 done 0.66 - - 2428 - 2.53 0.057 2185 554.5 205.3 - - 1904 - - - - - - - - 14.41 14.28 14.45
19622 451.0 8.8 996 19627 roll 0.66 - - 2428 - 2.60 0.085 3614 549.6 205.3 - - 1904 - - - - - - - - 14.81 14.16 14.83
19691 443.8 10.0 1006 19696 done 0.66 - - 2438 - 2.50 0.052 2187 -570.8 205.3 - - 1904 - - - - - - - - 14.39 14.27 14.43
20015 411.8 10.1 1017 20020 roll 0.66 - - 2449 - 2.53 0.067 785 -554.2 205.3 - - 1904 - - - - - - - - 14.79 14.17 14.81
20090 403.9 10.2 1028 20096 done 0.66 0.15 0.248 2414 -233.3 2.53 0.058 2185 553.4 205.3 - - 1904 - - - - - - - - 13.90 14.23 14.19
20407 374.5 9.4 1038 20412 roll 0.66 - - 2415 - 2.62 0.085 3622 548.5 205.3 - - 1904 - - - - - - - - 14.80 14.14 14.81
20482 366.3 10.7 1049 20487 done 0.66 - - 2424 - 2.55 0.054 2177 -566.7 205.3 - - 1904 - - - - - - - - 14.40 14.28 14.43
20798 333.0 10.7 1059 20802 roll 0.66 - - 2433 - 2.50 0.069 789 -555.2 205.3 - - 1904 - - - - - - - - 14.83 14.17 14.85
20868 325.6 10.5 1069 20872 done 0.66 - - 2433 - 2.55 0.058 2194 551.0 205.3 - - 1904 - - - - - - - - 14.35 14.22 14.42
21190 292.0 10.2 1080 21195 roll 0.66 - - 2433 - 2.58 0.084 3613 550.0 205.3 - - 1904 - - - - - - - - 14.80 14.13 14.82
21273 283.3 10.1 1092 21279 done 0.66 - - 2444 - 2.50 0.051 2183 -572.0 205.3 - - 1904 - - - - - - - - 14.39 14.29 14.42
21639 248.1 9.7 1102 21643 roll 0.66 - - 2453 - 2.50 0.067 794 -555.6 205.3 - - 1904 - - - - - - - - 14.78 14.16 14.81
21707 241.5 9.3 1112 21713 done 0.66 0.15 0.242 2419 -226.7 2.53 0.058 2191 552.2 205.3 - - 1904 - - - - - - - - 13.89 14.22 14.16
22030 216.6 7.6 1123 22035 roll 0.66 - - 2418 - 2.58 0.083 3611 550.4 205.3 - - 1902 - - - - - - - - 14.79 14.11 14.81
22121 209.0 8.2 1136 22126 done 0.66 - - 2429 - 2.50 0.050 2183 -571.2 205.3 - - 1904 - - - - - - - - 14.38 14.28 14.41
22478 182.1 7.5 1145 22482 roll 0.66 - - 2437 - 2.50 0.067 796 -554.8 205.3 - - 1904 - - - - - - - - 14.83 14.15 14.85
22541 177.4 7.4 1154 22545 done 0.66 - - 2437 - 2.55 0.057 2204 552.2 205.3 - - 1904 - - - - - - - - 14.33 14.21 14.38
22870 148.9 9.0 1166 22875 roll 0.66 - - 2437 - 2.55 0.083 3611 551.8 205.3 - - 1904 - - - - - - - - 14.83 14.06 14.84
22946 140.0 11.8 1177 22952 done 0.66 0.12 0.259 2420 -141.7 2.47 0.049 2190 -575.3 205.3 - - 1904 - - - - - - - - 13.90 14.26 14.16
23263 109.5 9.6 1187 23267 roll 0.66 - - 2424 - 2.50 0.065 796 -557.6 205.3 - - 1903 - - - - - - - - 14.82 14.18 14.83
23310 105.4 8.5 1194 23316 done 0.71 - - 2424 - 2.53 0.054 2201 555.3 205.3 - - 1904 - - - - - - - - 14.23 14.09 14.28
23626 80.5 7.6 1205 23631 roll 0.71 - - 2424 - 2.55 0.082 3608 551.8 205.3 - - 1904 - - - - - - - - 14.77 14.10 14.79
23696 74.6 8.4 1215 23700 done 0.71 - - 2433 - 2.45 0.048 2200 -574.7 205.3 - - 1903 - - - - - - - - 14.37 14.28 14.40
24018 50.9 7.2 1228 24024 roll 0.72 - - 2437 - 2.60 0.067 800 -538.5 208.9 2.55 0.168 1885 -7.1 0.409 - - - - - - 14.78 14.17 13.89
24067 47.6 7.1 1235 24079 done 0.77 - - 2438 - 2.55 0.054 2212 553.7 214.8 5.12 0.249 1864 -4.1 0.150 - - - - - - 14.35 14.23 13.77
24413 30.0 3.2 1251 24478 done 0.92 0.17 0.106 2507 405.9 - - 2212 - 312.5 62.78 0.221 1465 -6.4 0.165 - - - - - - 14.38 14.38 14.10
24778 13.3 4.7 1264 24823 roll 1.06 0.10 0.151 2558 510.0 2.60 0.059 788 -547.7 376.4 40.12 0.167 1202 -6.6 0.100 - - - - - - 14.42 14.26 14.12
24902 3.1 8.1 1282 24909 done 1.12 - - 2558 - 2.55 0.052 2213 558.8 376.4 - - 1204 - - - - - - - - 14.38 14.28 14.42
24931 end climb: SURFACE_DEPTH_REACHED
24931 begin surface coast
24960 end surface coast: CONTROL_FINISHED_OK
24960 begin surface
SM 0.63 - - - - -6.12 6.88 0.073 224 32.6 0.12 0.126 2298 9500.0 500.17 74.72 0.138 698 9.3 -0.004 - - - - - -