SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 473 * Raw log
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• Previous call tries 3 • 186.45 of 350.00 AH used of 24V (46.73% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.7 deg, depth 0.81 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 40 s
• GPS2 time: 21 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 - - 194 - - - 2319 - -116.8 -84.30 - 2801 - - - - - - - - 14.69 - 14.70
109 3.6 -4.7 3 132 roll -0.68 9.10 0.402 1971 195.3 2.83 2.011 875 -510.2 -116.8 -7.95 - 3219 -52.6 - - - - - - - 13.87 13.15 14.32
233 37.7 -21.1 21 239 done -0.50 0.28 0.253 2029 207.1 2.45 0.054 2276 571.8 -116.8 - - 3220 - - - - - - - - 13.98 14.38 14.27
555 74.1 -8.6 34 560 roll -0.50 - - 2019 - 2.45 0.073 3696 579.6 -116.8 - - 3221 - - - - - - - - 14.80 14.35 14.81
735 89.7 -8.7 60 741 done -0.50 - - 2019 - 2.35 0.038 2259 -611.5 -116.8 - - 3221 - - - - - - - - 14.55 14.49 14.58
1058 115.6 -8.1 70 1063 roll -0.50 - - 2019 - 2.33 0.050 898 -584.1 -116.8 - - 3221 - - - - - - - - 14.85 14.35 14.90
1115 120.3 -8.2 78 1120 done -0.50 - - 2015 - 2.45 0.056 2290 568.2 -116.8 - - 3221 - - - - - - - - 14.52 14.40 14.55
1450 149.3 -8.7 91 1455 roll -0.50 - - 2012 - 2.45 0.080 3700 575.5 -116.8 - - 3221 - - - - - - - - 14.89 14.35 14.92
1506 154.4 -9.2 99 1511 done -0.50 - - 2012 - 2.33 0.039 2281 -609.0 -116.8 - - 3220 - - - - - - - - 14.58 14.52 14.60
1843 186.3 -9.5 112 1848 roll -0.50 - - 2016 - 2.38 0.052 896 -581.9 -116.8 - - 3218 - - - - - - - - 14.89 14.35 14.91
1967 197.8 -8.8 130 1973 done -0.50 - - 2011 - 2.45 0.057 2290 569.0 -116.8 - - 3218 - - - - - - - - 14.50 14.38 14.54
2291 228.0 -9.6 141 2297 roll -0.50 - - 2010 - 2.47 0.082 3695 568.8 -116.8 - - 3216 - - - - - - - - 14.86 14.34 14.89
2346 233.7 -10.1 149 2352 done -0.50 - - 2010 - 2.35 0.042 2279 -602.6 -116.8 - - 3216 - - - - - - - - 14.59 14.53 14.61
2682 267.1 -9.8 162 2687 roll -0.50 - - 2010 - 2.40 0.054 898 -575.4 -116.8 - - 3214 - - - - - - - - 14.88 14.39 14.90
2787 276.4 -8.5 177 2794 done -0.50 - - 2010 - 2.47 0.059 2279 559.1 -116.8 - - 3210 - - - - - - - - 14.49 14.37 14.52
3130 304.3 -8.0 184 3135 roll -0.50 - - 2000 - 2.50 0.080 3701 568.8 -116.8 - - 3210 - - - - - - - - 14.90 14.31 14.92
3164 307.1 -8.1 189 3171 done -0.50 0.08 0.194 2033 412.5 2.42 0.042 2275 -589.3 -116.8 - - 3210 - - - - - - - - 14.12 14.44 14.35
3523 331.5 -6.8 198 3528 roll -0.50 - - 2032 - 2.40 0.055 894 -575.4 -116.8 - - 3208 - - - - - - - - 14.87 14.37 14.88
3605 337.4 -6.7 210 3611 done -0.54 - - 2029 - 2.45 0.057 2276 564.1 -116.8 - - 3208 - - - - - - - - 14.50 14.38 14.53
3970 362.6 -7.0 220 3975 roll -0.54 - - 2025 - 2.50 0.083 3685 563.6 -116.8 - - 3206 - - - - - - - - 14.88 14.28 14.89
4005 365.1 -7.2 225 4011 done -0.54 - - 2023 - 2.40 0.044 2260 -593.8 -116.8 - - 3205 - - - - - - - - 14.57 14.50 14.59
4362 393.3 -8.2 234 4367 roll -0.54 - - 2025 - 2.40 0.054 888 -571.7 -116.8 - - 3206 - - - - - - - - 14.90 14.35 14.91
4431 399.5 -8.7 244 4437 done -0.54 - - 2025 - 2.47 0.058 2269 559.1 -116.8 - - 3203 - - - - - - - - 14.42 14.28 14.47
4755 428.1 -9.0 255 4760 roll -0.54 - - 2024 - 2.55 0.089 3689 556.9 -116.8 - - 3204 - - - - - - - - 14.85 14.23 14.88
4816 433.8 -8.9 264 4822 done -0.60 - - 2024 - 2.40 0.045 2268 -592.1 -116.8 - - 3200 - - - - - - - - 14.53 14.47 14.55
5147 462.4 -8.6 276 5152 roll -0.60 - - 2024 - 2.42 0.056 887 -570.7 -116.8 - - 3200 - - - - - - - - 14.85 14.34 14.87
5187 466.1 -9.0 282 5193 done -0.60 - - 2024 - 2.47 0.060 2269 559.5 -116.8 - - 3200 - - - - - - - - 14.43 14.28 14.47
5538 494.8 -8.1 290 5543 roll -0.60 - - 2021 - 2.58 0.088 3701 555.0 -116.8 - - 3197 - - - - - - - - 14.89 14.24 14.90
5615 500.9 -7.7 301 5621 done -0.66 0.12 0.138 1968 -441.7 2.42 0.044 2266 -593.0 -116.8 - - 3197 - - - - - - - - 14.33 14.44 14.44
5930 535.0 -11.2 311 5935 roll -0.61 0.12 0.256 2003 291.7 2.42 0.054 886 -570.2 -116.8 - - 3196 - - - - - - - - 14.09 14.29 14.19
5999 541.7 -9.1 321 6005 done -0.61 - - 1999 - 2.50 0.060 2278 556.8 -116.8 - - 3195 - - - - - - - - 14.40 14.26 14.45
6323 569.7 -8.6 332 6328 roll -0.61 - - 1999 - 2.55 0.088 3690 553.7 -116.8 - - 3194 - - - - - - - - 14.85 14.20 14.86
6378 574.4 -8.3 340 6383 done -0.61 - - 1999 - 2.42 0.047 2276 -584.3 -116.8 - - 3193 - - - - - - - - 14.48 14.41 14.51
6714 602.0 -8.2 353 6720 roll -0.61 - - 1999 - 2.45 0.060 885 -567.8 -116.8 - - 3193 - - - - - - - - 14.85 14.26 14.85
6755 605.6 -8.6 359 6761 done -0.61 - - 1999 - 2.55 0.063 2267 542.0 -116.8 - - 3193 - - - - - - - - 14.26 14.19 14.31
7106 636.0 -8.9 367 7111 roll -0.61 - - 1998 - 2.60 0.092 3699 550.8 -116.8 - - 3192 - - - - - - - - 14.88 14.14 14.89
7147 639.8 -8.9 373 7154 done -0.61 - - 1998 - 2.47 0.047 2247 -587.9 -116.8 - - 3191 - - - - - - - - 14.42 14.33 14.47
7499 671.3 -9.0 381 7505 roll -0.61 - - 1999 - 2.40 0.057 895 -563.3 -116.8 - - 3189 - - - - - - - - 14.83 14.24 14.85
7581 678.9 -8.8 393 7587 done -0.61 - - 1998 - 2.50 0.060 2276 552.4 -116.8 - - 3189 - - - - - - - - 14.35 14.19 14.39
7946 709.8 -8.5 403 7951 roll -0.61 - - 1995 - 2.58 0.090 3691 548.4 -116.8 - - 3188 - - - - - - - - 14.84 14.10 14.85
7988 713.3 -8.3 409 7994 done -0.61 - - 1999 - 2.42 0.048 2275 -585.1 -116.8 - - 3188 - - - - - - - - 14.47 14.39 14.49
8338 742.2 -8.2 417 8344 roll -0.61 - - 1998 - 2.47 0.061 888 -561.5 -116.8 - - 3187 - - - - - - - - 14.87 14.20 14.88
8379 745.8 -9.3 423 8385 done -0.61 - - 1998 - 2.53 0.063 2273 547.4 -116.8 - - 3187 - - - - - - - - 14.30 14.15 14.35
8731 773.2 -7.8 431 8736 roll -0.61 - - 1998 - 2.60 0.092 3692 545.8 -116.8 - - 3186 - - - - - - - - 14.82 14.07 14.84
8799 778.3 -7.2 441 8806 done -0.61 - - 2003 - 2.45 0.050 2275 -578.4 -116.8 - - 3185 - - - - - - - - 14.40 14.30 14.43
9122 803.0 -7.7 452 9127 roll -0.61 - - 1998 - 2.50 0.062 882 -557.2 -116.8 - - 3184 - - - - - - - - 14.83 14.14 14.85
9192 808.6 -7.9 462 9197 done -0.61 - - 1998 - 2.55 0.064 2277 547.1 -116.8 - - 3184 - - - - - - - - 14.30 14.16 14.35
9514 833.7 -7.9 473 9520 roll -0.61 - - 1998 - 2.60 0.092 3693 544.6 -116.8 - - 3183 - - - - - - - - 14.83 14.04 14.84
9562 837.3 -6.8 480 9569 done -0.61 - - 1998 - 2.53 0.050 2265 -564.4 -116.8 - - 3183 - - - - - - - - 14.23 14.19 14.34
9907 862.8 -7.4 487 9912 roll -0.61 - - 1998 - 2.47 0.060 883 -559.5 -116.8 - - 3183 - - - - - - - - 14.85 14.14 14.86
9954 866.4 -7.3 494 9961 done -0.61 - - 1998 - 2.58 0.064 2272 538.4 -116.8 - - 3182 - - - - - - - - 14.23 14.09 14.29
10298 890.1 -6.9 501 10304 roll -0.61 - - 1998 - 2.62 0.094 3695 543.1 -116.8 - - 3182 - - - - - - - - 14.85 14.03 14.87
10355 893.9 -6.8 509 10361 done -0.61 - - 1998 - 2.50 0.050 2259 -574.4 -116.8 - - 3181 - - - - - - - - 14.38 14.30 14.41
10692 918.1 -7.2 522 10697 roll -0.61 - - 1998 - 2.45 0.058 888 -559.6 -116.8 - - 3180 - - - - - - - - 14.85 14.12 14.87
10733 920.7 -5.8 528 10738 done -0.61 - - 1998 - 2.55 0.062 2279 545.5 -116.8 - - 3180 - - - - - - - - 14.24 14.11 14.29
11085 947.4 -7.7 536 11090 roll -0.61 - - 1998 - 2.62 0.092 3701 542.7 -116.8 - - 3180 - - - - - - - - 14.84 14.01 14.85
11153 952.9 -7.8 546 11158 done -0.66 - - 1997 - 2.47 0.047 2269 -579.8 -116.8 - - 3179 - - - - - - - - 14.37 14.30 14.40
11476 978.2 -7.8 557 11481 roll -0.66 - - 1998 - 2.47 0.061 893 -557.1 -116.8 - - 3177 - - - - - - - - 14.81 14.09 14.83
11525 982.1 -5.7 564 11531 done -0.66 - - 1998 - 2.55 0.063 2273 541.2 -116.8 - - 3178 - - - - - - - - 14.21 14.07 14.26
11640 end dive: TARGET_DEPTH_EXCEEDED
11640 begin apogee
11648 991.0 -7.5 567 11850 roll -0.19 0.50 0.203 2132 268.0 - - 2185 - - 199.82 1.610 2741 -2.2 0.256 - - - - - - 13.71 13.94 13.03
11852 end apogee: CONTROL_FINISHED_OK
11852 begin climb
11856 997.5 - 570 12024 roll 0.68 0.90 0.140 2410 308.9 2.55 0.063 803 -542.0 116.8 156.65 1.828 2259 -3.1 0.319 - - - - - - 13.92 14.02 12.90
12079 988.1 7.7 608 12085 done 0.68 - - 2410 - 2.58 0.060 2207 544.2 116.8 - - 2233 - - - - - - - - 14.22 14.12 14.26
12431 958.5 8.5 616 12436 roll 0.68 - - 2410 - 2.55 0.090 3616 552.5 116.8 - - 2225 - - - - - - - - 14.73 14.29 14.76
12507 951.0 9.5 627 12512 done 0.61 - - 2420 - 2.45 0.057 2209 -574.3 116.8 - - 2223 - - - - - - - - 14.49 14.40 14.52
12823 923.6 8.7 637 12829 roll 0.55 0.15 0.280 2392 -186.7 2.55 0.067 790 -556.5 116.8 - - 2222 - - - - - - - - 14.02 14.30 14.18
12872 920.1 6.8 644 12878 done 0.56 - - 2392 - 2.55 0.060 2209 556.5 128.3 - - 2222 - - - - - - - - 14.45 14.34 14.49
13215 896.6 6.8 651 13247 roll 0.56 - - 2392 - 2.53 0.090 3617 556.5 140.2 26.48 1.767 2159 -2.4 0.230 - - - - - - 14.83 14.38 13.38
13305 889.6 8.4 664 13310 done 0.56 - - 2402 - 2.47 0.056 2191 -577.3 140.2 - - 2144 - - - - - - - - 14.46 14.38 14.50
13662 861.7 7.9 673 13668 roll 0.56 - - 2412 - 2.53 0.072 796 -551.4 140.2 - - 2141 - - - - - - - - 14.77 14.28 14.79
13725 856.6 8.1 682 13730 done 0.56 0.12 0.255 2386 -216.7 2.53 0.058 2201 555.3 140.2 - - 2140 - - - - - - - - 14.08 14.34 14.35
14056 832.9 7.2 694 14061 roll 0.57 - - 2387 - 2.55 0.090 3608 551.8 143.3 - - 2141 - - - - - - - - 14.79 14.23 14.81
14130 826.3 8.3 705 14137 done 0.57 - - 2395 - 2.47 0.055 2186 -575.7 143.3 - - 2138 - - - - - - - - 14.43 14.32 14.47
14447 802.1 7.8 715 14451 roll 0.57 - - 2406 - 2.53 0.070 795 -549.8 143.3 - - 2138 - - - - - - - - 14.83 14.24 14.85
14517 796.7 7.6 725 14522 done 0.57 - - 2406 - 2.55 0.058 2211 555.3 143.3 - - 2137 - - - - - - - - 14.41 14.29 14.46
14838 770.6 8.1 736 14843 roll 0.57 - - 2409 - 2.55 0.088 3616 551.0 143.3 - - 2138 - - - - - - - - 14.84 14.19 14.86
14887 766.0 9.8 743 14894 done 0.52 0.20 0.254 2370 -195.0 2.53 0.056 2187 -564.8 143.3 - - 2138 - - - - - - - - 13.90 14.28 14.23
15232 742.0 6.9 750 15242 roll 0.52 - - 2380 - 2.50 0.070 792 -558.0 154.2 4.88 1.457 2109 -5.9 0.575 - - - - - - 14.82 14.40 13.23
15300 737.0 7.1 760 15313 done 0.53 - - 2380 - 2.53 0.058 2205 558.5 159.5 4.80 1.459 2087 -4.6 0.440 - - - - - - 14.54 14.42 13.13
15624 713.8 7.3 771 15634 roll 0.53 - - 2380 - 2.55 0.089 3607 549.8 161.2 4.30 1.333 2080 -1.6 0.166 - - - - - - 14.75 14.39 13.16
15685 708.8 8.2 780 15690 done 0.53 - - 2390 - 2.45 0.054 2190 -578.4 161.2 - - 2085 - - - - - - - - 14.51 14.41 14.54
16015 684.5 7.3 792 16021 roll 0.53 - - 2400 - 2.58 0.070 790 -542.6 161.6 2.17 0.394 2080 -2.3 0.761 - - - - - - 14.79 14.35 13.00
16091 679.0 6.9 803 16125 done 0.53 - - 2399 - 2.55 0.058 2206 555.3 171.9 25.50 1.473 2037 -1.7 0.148 - - - - 1 - 14.43 14.31 13.54
16452 653.5 7.1 819 16461 roll 0.54 - - 2400 - 2.58 0.088 3608 543.4 176.7 2.47 0.617 2017 -8.1 1.631 - - - - - - 14.72 14.27 13.00
16505 649.0 8.3 827 16510 done 0.54 0.15 0.245 2375 -166.7 2.47 0.054 2192 -573.3 176.7 - - 2021 - - - - - - - - 14.06 14.36 14.31
16841 627.6 6.4 840 16883 roll 0.55 - - 2385 - 2.58 0.070 792 -542.6 198.7 32.53 1.498 1928 -2.9 0.228 - - - - 1 - 14.78 14.33 13.26
16950 620.0 7.5 855 16955 done 0.60 - - 2385 - 2.55 0.057 2202 552.9 198.7 - - 1938 - - - - - - - - 14.40 14.28 14.42
17284 592.4 8.3 868 17289 roll 0.60 - - 2384 - 2.55 0.086 3610 552.2 198.7 - - 1938 - - - - - - - - 14.73 14.19 14.76
17367 584.4 9.6 880 17374 done 0.60 - - 2393 - 2.47 0.053 2195 -572.9 198.7 - - 1939 - - - - - - - - 14.41 14.31 14.45
17733 553.3 8.4 890 17738 roll 0.60 - - 2402 - 2.55 0.070 788 -551.8 198.7 - - 1938 - - - - - - - - 14.80 14.21 14.81
17794 548.3 8.0 899 17800 done 0.60 - - 2402 - 2.55 0.057 2198 552.9 198.7 - - 1938 - - - - - - - - 14.37 14.24 14.41
18125 521.3 8.1 911 18130 roll 0.60 - - 2402 - 2.58 0.086 3615 549.2 198.7 - - 1938 - - - - - - - - 14.78 14.15 14.80
18214 513.3 8.8 924 18220 done 0.60 - - 2413 - 2.47 0.056 2203 -571.7 198.7 - - 1938 - - - - - - - - 14.39 14.27 14.43
18572 484.3 8.1 933 18578 roll 0.60 - - 2422 - 2.58 0.072 786 -549.2 198.7 - - 1938 - - - - - - - - 14.79 14.17 14.81
18614 480.9 8.1 939 18619 done 0.60 - - 2421 - 2.58 0.059 2205 550.0 198.7 - - 1938 - - - - - - - - 14.36 14.24 14.40
18964 450.4 8.8 947 18969 roll 0.60 - - 2421 - 2.55 0.086 3608 550.2 198.7 - - 1938 - - - - - - - - 14.80 14.11 14.82
19054 441.9 9.1 960 19060 done 0.60 0.15 0.249 2395 -173.3 2.47 0.052 2189 -574.5 198.7 1.55 0.188 1928 -6.5 2.884 - - - - - - 13.88 14.23 14.01
19413 417.8 6.6 969 19474 roll 0.62 - - 2404 - 2.58 0.070 791 -541.9 216.0 47.05 1.211 1853 -1.6 0.105 - - - - 1 - 14.81 14.30 13.55
19519 411.1 6.4 984 19579 done 0.68 - - 2404 - 2.60 0.057 2220 549.6 237.3 46.22 1.203 1768 -1.8 0.120 - - - - 1 - 14.38 14.27 13.45
19918 383.4 7.1 999 19927 roll 0.69 - - 2404 - 2.60 0.086 3614 536.2 242.5 1.60 0.182 1748 -12.5 5.007 - - - - - - 14.71 14.19 14.07
19992 377.0 8.5 1010 19998 done 0.69 - - 2412 - 2.47 0.054 2207 -569.6 242.5 - - 1750 - - - - - - - - 14.39 14.29 14.42
20309 352.5 7.8 1020 20314 roll 0.69 - - 2421 - 2.55 0.069 793 -554.5 242.5 - - 1753 - - - - - - - - 14.76 14.21 14.79
20384 346.8 7.3 1031 20389 done 0.69 - - 2421 - 2.58 0.057 2218 552.3 243.6 - - 1753 - - - - - - - - 14.38 14.25 14.42
20700 321.2 8.2 1041 20706 roll 0.69 - - 2421 - 2.53 0.085 3614 551.8 243.6 - - 1753 - - - - - - - - 14.78 14.16 14.78
20770 314.6 9.5 1051 20775 done 0.69 - - 2430 - 2.45 0.053 2207 -574.3 243.6 - - 1753 - - - - - - - - 14.42 14.33 14.46
21092 285.5 9.0 1062 21097 roll 0.69 - - 2439 - 2.58 0.068 783 -551.9 243.6 - - 1753 - - - - - - - - 14.81 14.21 14.83
21161 279.2 8.9 1072 21166 done 0.69 - - 2439 - 2.60 0.057 2220 552.7 243.6 - - 1756 - - - - - - - - 14.35 14.23 14.40
21485 246.5 10.4 1083 21490 roll 0.69 - - 2440 - 2.53 0.085 3612 550.2 243.6 - - 1753 - - - - - - - - 14.82 14.16 14.84
21546 239.2 11.5 1092 21552 done 0.69 - - 2450 - 2.50 0.052 2208 -561.6 243.6 - - 1753 - - - - - - - - 14.29 14.25 14.33
21876 201.7 11.5 1104 21881 roll 0.69 - - 2459 - 2.55 0.066 792 -555.3 243.6 - - 1753 - - - - - - - - 14.80 14.19 14.82
21960 192.5 10.7 1116 21965 done 0.69 0.15 0.236 2424 -233.3 2.58 0.057 2221 553.9 243.6 - - 1753 - - - - - - - - 13.93 14.25 14.18
22324 159.6 8.8 1126 22329 roll 0.69 - - 2424 - 2.53 0.083 3616 551.4 243.6 - - 1753 - - - - - - - - 14.83 14.13 14.84
22380 154.3 9.6 1134 22385 done 0.69 - - 2433 - 2.47 0.053 2209 -569.6 243.6 - - 1753 - - - - - - - - 14.38 14.28 14.41
22717 123.9 9.1 1147 22722 roll 0.69 - - 2442 - 2.55 0.065 790 -556.5 243.6 - - 1753 - - - - - - - - 14.79 14.18 14.81
22772 118.2 10.2 1155 22777 done 0.69 - - 2442 - 2.58 0.056 2214 551.9 243.6 - - 1754 - - - - - - - - 14.34 14.23 14.38
23109 85.5 9.4 1170 23114 roll 0.69 - - 2442 - 2.55 0.081 3617 550.2 243.6 - - 1753 - - - - - - - - 14.78 14.09 14.80
23220 75.1 9.3 1186 23225 done 0.69 - - 2450 - 2.45 0.050 2208 -575.1 243.6 - - 1754 - - - - - - - - 14.37 14.27 14.40
23556 53.1 5.6 1201 23590 roll 0.71 - - 2450 - 2.58 0.065 796 -547.3 285.0 29.60 0.280 1577 -6.0 0.216 - - - - - - 14.78 14.33 13.97
23641 49.0 4.8 1213 23688 done 0.85 - - 2450 - 2.58 0.053 2236 558.1 344.1 42.40 0.282 1336 -5.7 0.188 - - - - - - 14.40 14.30 14.02
24000 29.0 7.2 1231 24010 roll 1.10 0.30 0.101 2560 366.7 2.45 0.076 3609 560.4 346.5 4.40 0.151 1328 -1.8 0.066 - - - - - - 14.21 14.01 13.84
24120 18.3 10.0 1248 24129 done 1.10 - - 2569 - 2.40 0.047 2211 -582.5 346.5 3.15 0.158 1326 - - - - - - - - 14.41 14.31 13.98
24301 end climb: SURFACE_DEPTH_REACHED
24301 begin surface coast
24329 end surface coast: CONTROL_FINISHED_OK
24330 begin surface
SM 0.76 - - - - -6.14 6.85 0.066 217 31.7 0.15 0.113 2287 -46233.3 500.17 98.78 0.136 699 7.1 -0.004 - - - - - -