SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 488 * Raw log
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• Previous call tries 1 • 192.15 of 350.00 AH used of 24V (45.10% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.5 deg, depth 0.83 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 16 s • Transponder ping count: 10
• 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
18 - - - 103 VBD -0.68 - - 193 - - - 2311 - -116.8 -84.10 - 2782 - - - - - - - - 14.66 - 14.69
107 3.3 -3.9 3 131 roll -0.68 9.00 0.398 1972 197.7 2.85 2.022 870 -505.6 -116.8 -8.65 - 3218 -50.4 - - - - - - - 13.84 13.15 14.30
194 28.2 -23.8 16 199 done -0.49 0.32 0.272 2040 212.5 2.42 0.055 2240 566.1 -116.8 - - 3218 - - - - - - - - 13.96 14.37 14.29
523 69.8 -8.2 30 528 roll -0.49 - - 2029 - 2.55 0.075 3700 572.5 -116.8 - - 3221 - - - - - - - - 14.79 14.30 14.81
664 81.8 -7.7 50 669 done -0.49 - - 2029 - 2.40 0.037 2252 -603.3 -116.8 - - 3220 - - - - - - - - 14.54 14.47 14.55
1027 110.8 -8.0 64 1032 roll -0.49 - - 2029 - 2.35 0.050 890 -579.6 -116.8 - - 3221 - - - - - - - - 14.88 14.39 14.89
1068 113.9 -7.4 70 1074 done -0.49 - - 2029 - 2.50 0.054 2283 557.2 -116.8 - - 3220 - - - - - - - - 14.35 14.28 14.41
1420 142.5 -8.7 78 1421 done -0.49 - - 2029 - - - 2283 - -116.8 - - 3220 - - - - - - - - 14.85 14.88 14.88
1755 171.4 -8.2 84 1756 done -0.49 - - 2034 - - - 2283 - -116.8 - - 3219 - - - - - - - - 14.88 14.89 14.89
2092 195.7 -7.3 90 2093 done -0.49 - - 2029 - - - 2283 - -116.8 - - 3217 - - - - - - - - 14.90 14.92 14.92
2428 223.1 -8.2 96 2433 roll -0.49 - - 2029 - 2.45 0.050 891 -568.2 -116.8 - - 3216 - - - - - - - - 14.87 14.33 14.88
2468 226.5 -8.0 102 2474 done -0.49 - - 2029 - 2.53 0.055 2286 551.4 -116.8 - - 3215 - - - - - - - - 14.38 14.31 14.44
2819 251.2 -6.8 110 2824 roll -0.49 - - 2025 - 2.50 0.080 3690 561.6 -116.8 - - 3214 - - - - - - - - 14.90 14.28 14.92
2853 253.5 -6.8 115 2859 done -0.49 - - 2025 - 2.38 0.041 2279 -592.9 -116.8 - - 3213 - - - - - - - - 14.53 14.45 14.55
3212 279.5 -7.6 124 3217 roll -0.49 - - 2025 - 2.42 0.050 890 -574.0 -116.8 - - 3210 - - - - - - - - 14.89 14.35 14.90
3267 284.1 -8.1 132 3272 done -0.49 - - 2025 - 2.50 0.055 2289 559.6 -116.8 - - 3210 - - - - - - - - 14.45 14.35 14.50
3603 311.4 -8.2 145 3609 roll -0.49 - - 2020 - 2.50 0.083 3691 560.8 -116.8 - - 3209 - - - - - - - - 14.90 14.28 14.92
3646 314.8 -8.1 151 3650 done -0.49 - - 2017 - 2.38 0.043 2280 -592.9 -116.8 - - 3208 - - - - - - - - 14.55 14.49 14.58
3995 343.4 -8.2 159 4000 roll -0.49 - - 2020 - 2.42 0.050 891 -574.0 -116.8 - - 3207 - - - - - - - - 14.88 14.34 14.90
4029 346.4 -8.9 164 4035 done -0.49 - - 2015 - 2.50 0.055 2290 559.6 -116.8 - - 3206 - - - - - - - - 14.42 14.31 14.47
4389 377.2 -8.7 173 4389 done -0.49 - - 2016 - - - 2290 - -116.8 - - 3204 - - - - - - - - 14.85 14.88 14.88
4723 405.7 -8.4 179 4728 roll -0.49 - - 2012 - 2.53 0.085 3693 554.5 -116.8 - - 3202 - - - - - - - - 14.87 14.19 14.88
4764 409.1 -8.2 185 4771 done -0.49 0.12 0.220 2042 250.0 2.42 0.044 2261 -591.7 -116.8 - - 3202 - - - - - - - - 14.11 14.40 14.32
5117 431.1 -6.1 193 5123 roll -0.53 - - 2042 - 2.42 0.054 889 -566.9 -116.8 - - 3201 - - - - - - - - 14.88 14.29 14.90
5199 436.3 -6.1 205 5206 done -0.59 - - 2042 - 2.53 0.057 2292 554.5 -116.8 - - 3200 - - - - - - - - 14.38 14.26 14.43
5564 457.3 -5.8 215 5569 roll -0.64 0.12 0.141 1984 -483.3 2.55 0.083 3699 551.8 -116.8 - - 3198 - - - - - - - - 14.43 14.16 14.45
5599 460.0 -8.0 220 5604 done -0.64 - - 1984 - 2.42 0.044 2279 -586.8 -116.8 - - 3198 - - - - - - - - 14.48 14.41 14.50
5956 491.2 -8.9 229 5962 roll -0.64 - - 1984 - 2.45 0.054 888 -567.8 -116.8 - - 3196 - - - - - - - - 14.88 14.28 14.90
6018 496.8 -8.8 238 6024 done -0.64 - - 1985 - 2.55 0.060 2289 549.4 -116.8 - - 3196 - - - - - - - - 14.35 14.22 14.40
6349 525.3 -8.7 250 6354 roll -0.64 - - 1975 - 2.55 0.085 3701 553.7 -116.8 - - 3194 - - - - - - - - 14.88 14.18 14.88
6382 528.4 -8.8 255 6387 done -0.64 - - 1975 - 2.47 0.045 2276 -576.9 -116.8 - - 3195 - - - - - - - - 14.45 14.31 14.48
6740 560.7 -9.1 264 6746 roll -0.64 - - 1975 - 2.47 0.057 882 -564.4 -116.8 - - 3193 - - - - - - - - 14.85 14.14 14.87
6810 567.4 -9.5 274 6815 done -0.64 - - 1972 - 2.55 0.061 2284 549.8 -116.8 - - 3193 - - - - - - - - 14.35 14.21 14.39
7132 597.6 -9.3 285 7137 roll -0.64 - - 1967 - 2.58 0.086 3702 549.6 -116.8 - - 3191 - - - - - - - - 14.88 14.14 14.89
7173 601.6 -9.7 291 7178 done -0.64 - - 1972 - 2.45 0.044 2271 -584.1 -116.8 - - 3191 - - - - - - - - 14.43 14.36 14.46
7525 635.5 -9.7 299 7530 roll -0.64 - - 1967 - 2.47 0.058 886 -560.7 -116.8 - - 3190 - - - - - - - - 14.83 14.20 14.85
7593 642.3 -9.5 309 7600 done -0.64 0.12 0.276 1985 150.0 2.55 0.060 2287 549.4 -116.8 - - 3190 - - - - - - - - 13.85 14.17 14.11
7916 669.6 -8.5 320 7921 roll -0.64 - - 1980 - 2.58 0.086 3702 548.4 -116.8 - - 3191 - - - - - - - - 14.84 14.11 14.85
7973 674.4 -8.8 328 7978 done -0.64 - - 1979 - 2.45 0.044 2274 -582.9 -116.8 - - 3188 - - - - - - - - 14.43 14.36 14.46
8308 705.1 -9.2 341 8314 roll -0.64 - - 1980 - 2.45 0.058 896 -562.4 -116.8 - - 3188 - - - - - - - - 14.83 14.17 14.84
8364 710.6 -10.0 349 8370 done -0.64 - - 1973 - 2.55 0.060 2284 544.3 -116.8 - - 3187 - - - - - - - - 14.28 14.14 14.33
8701 743.9 -10.1 362 8706 roll -0.64 - - 1972 - 2.58 0.089 3692 545.7 -116.8 - - 3187 - - - - - - - - 14.81 14.07 14.83
8748 748.9 -10.0 369 8756 done -0.64 - - 1972 - 2.47 0.046 2272 -574.9 -116.8 - - 3186 - - - - - - - - 14.17 14.15 14.22
9092 782.1 -9.5 376 9097 roll -0.64 - - 1972 - 2.47 0.056 896 -557.1 -116.8 - - 3185 - - - - - - - - 14.82 14.17 14.83
9169 789.2 -9.3 387 9174 done -0.64 - - 1971 - 2.55 0.061 2280 542.7 -116.8 - - 3184 - - - - - - - - 14.24 14.12 14.30
9484 817.5 -9.0 397 9489 roll -0.64 - - 1971 - 2.60 0.089 3700 546.2 -116.8 - - 3184 - - - - - - - - 14.82 14.02 14.83
9546 823.0 -8.7 406 9551 done -0.64 - - 1972 - 2.45 0.045 2284 -578.0 -116.8 - - 3184 - - - - - - - - 14.33 14.26 14.37
9877 851.4 -8.6 418 9882 roll -0.64 - - 1972 - 2.50 0.056 881 -561.2 -116.8 - - 3183 - - - - - - - - 14.84 14.12 14.85
9932 856.2 -7.7 426 9937 done -0.64 - - 1971 - 2.58 0.062 2280 542.2 -116.8 - - 3181 - - - - - - - - 14.23 14.10 14.28
10268 885.0 -8.7 439 10273 roll -0.64 - - 1972 - 2.60 0.089 3691 542.7 -116.8 - - 3181 - - - - - - - - 14.81 13.99 14.83
10310 888.7 -6.7 445 10318 done -0.64 - - 1972 - 2.47 0.047 2266 -576.9 -116.8 - - 3182 - - - - - - - - 14.30 14.26 14.33
10661 918.5 -8.5 453 10666 roll -0.64 - - 1971 - 2.50 0.060 890 -550.4 -116.8 - - 3180 - - - - - - - - 14.81 14.07 14.81
10730 924.5 -8.5 463 10735 done -0.64 - - 1972 - 2.58 0.063 2279 538.4 -116.8 - - 3180 - - - - - - - - 14.19 14.06 14.25
11054 950.4 -8.0 474 11059 roll -0.64 - - 1971 - 2.60 0.090 3692 543.5 -116.8 - - 3180 - - - - - - - - 14.83 13.95 14.84
11115 955.6 -8.1 483 11120 done -0.64 - - 1972 - 2.45 0.048 2285 -574.3 -116.8 - - 3179 - - - - - - - - 14.28 14.19 14.31
11446 982.4 -8.2 495 11451 roll -0.64 - - 1972 - 2.53 0.057 883 -554.2 -116.8 - - 3179 - - - - - - - - 14.78 14.08 14.80
11501 987.2 -8.4 503 11506 done -0.64 - - 1971 - 2.62 0.063 2288 536.3 -116.8 - - 3175 - - - - - - - - 14.18 14.04 14.23
11538 end dive: TARGET_DEPTH_EXCEEDED
11538 begin apogee
11547 990.5 -4.6 509 11743 roll -0.19 0.60 0.215 2129 263.3 - - 2184 - - 194.30 1.620 2739 -2.2 0.260 - - - - - - 13.64 13.95 13.05
11745 end apogee: CONTROL_FINISHED_OK
11745 begin climb
11750 996.0 - 512 11910 roll 0.68 0.93 0.146 2410 302.2 2.55 0.060 803 -541.6 116.8 150.20 1.854 2264 -3.2 0.322 - - - - - - 13.93 14.02 12.93
12048 980.4 7.3 559 12053 done 0.68 - - 2410 - 2.55 0.059 2209 551.4 117.7 - - 2236 - - - - - - - - 14.37 14.26 14.40
12382 954.0 7.8 572 12387 roll 0.68 - - 2420 - 2.55 0.067 819 -545.1 117.7 - - 2232 - - - - - - - - 14.76 14.29 14.76
12536 942.2 7.4 594 12541 done 0.68 - - 2420 - 2.50 0.060 2201 552.8 117.7 - - 2230 - - - - - - - - 14.45 14.34 14.50
12886 913.4 8.6 602 12891 roll 0.63 - - 2419 - 2.58 0.089 3614 547.7 117.7 - - 2229 - - - - - - - - 14.82 14.24 14.83
12955 906.7 9.7 612 12961 done 0.55 0.20 0.275 2384 -175.0 2.45 0.055 2218 -569.8 117.7 - - 2228 - - - - - - - - 13.91 14.35 14.26
13279 884.3 6.8 623 13290 roll 0.56 - - 2393 - 2.60 0.072 803 -544.2 130.4 4.30 1.411 2206 -5.1 0.608 - - - - - - 14.82 14.40 13.20
13375 877.2 6.9 637 13402 done 0.56 - - 2394 - 2.53 0.058 2200 552.2 140.1 20.23 1.853 2165 -2.0 0.182 - - - - - - 14.50 14.38 13.39
13727 850.3 8.0 652 13732 roll 0.56 - - 2394 - 2.58 0.089 3609 546.1 140.1 - - 2154 - - - - - - - - 14.74 14.24 14.74
13795 844.2 8.7 662 13800 done 0.56 - - 2404 - 2.47 0.053 2204 -568.8 140.1 - - 2147 - - - - - - - - 14.43 14.33 14.47
14118 818.1 8.1 673 14124 roll 0.56 - - 2414 - 2.58 0.072 798 -545.0 140.1 - - 2149 - - - - - - - - 14.81 14.25 14.83
14209 810.7 7.9 686 14214 done 0.56 0.12 0.258 2387 -225.0 2.55 0.058 2207 552.5 140.1 - - 2148 - - - - - - - - 13.99 14.28 14.28
14566 784.8 7.3 695 14571 roll 0.56 - - 2387 - 2.58 0.088 3613 545.0 140.4 - - 2148 - - - - - - - - 14.80 14.17 14.82
14623 780.3 8.2 703 14628 done 0.56 - - 2397 - 2.50 0.055 2188 -570.0 140.4 - - 2148 - - - - - - - - 14.43 14.33 14.47
14958 755.6 7.4 716 14963 roll 0.56 - - 2407 - 2.55 0.070 791 -547.8 140.4 - - 2150 - - - - - - - - 14.80 14.18 14.82
15048 749.3 6.9 729 15056 done 0.57 - - 2407 - 2.55 0.058 2193 549.8 150.9 3.90 1.270 2124 -6.7 0.746 - - - - - - 14.36 14.24 13.21
15401 723.8 7.3 737 15411 roll 0.57 - - 2407 - 2.62 0.087 3617 543.5 152.3 2.70 0.789 2117 -2.6 0.451 - - - - - - 14.81 14.38 13.12
15468 718.0 8.3 747 15474 done 0.57 0.12 0.275 2390 -141.7 2.50 0.056 2189 -571.2 152.3 - - 2121 - - - - - - - - 14.07 14.38 14.33
15793 696.0 6.8 758 15826 roll 0.58 - - 2400 - 2.58 0.070 797 -539.5 164.1 29.35 1.564 2066 -1.9 0.158 - - - - - - 14.78 14.38 13.47
15897 688.3 7.4 773 15902 done 0.58 - - 2400 - 2.55 0.057 2207 552.9 164.1 - - 2056 - - - - - - - - 14.42 14.31 14.46
16233 661.8 7.9 786 16237 roll 0.58 - - 2400 - 2.55 0.086 3611 550.6 164.1 - - 2054 - - - - - - - - 14.74 14.19 14.76
16295 656.3 8.9 795 16300 done 0.58 - - 2410 - 2.50 0.053 2187 -569.6 164.1 - - 2053 - - - - - - - - 14.40 14.31 14.45
16625 628.8 8.3 807 16629 roll 0.58 - - 2421 - 2.55 0.068 786 -549.4 164.1 - - 2053 - - - - - - - - 14.76 14.19 14.79
16688 623.7 8.2 816 16693 done 0.58 0.15 0.249 2387 -226.7 2.55 0.057 2193 551.8 164.1 - - 2053 - - - - - - - - 13.91 14.25 14.23
17017 598.9 7.6 828 17022 roll 0.58 - - 2393 - 2.60 0.086 3617 547.7 164.1 - - 2052 - - - - - - - - 14.81 14.14 14.83
17107 591.1 8.6 841 17113 done 0.58 - - 2396 - 2.50 0.054 2195 -568.8 164.1 - - 2051 - - - - - - - - 14.37 14.27 14.42
17466 562.1 8.2 850 17471 roll 0.58 - - 2406 - 2.58 0.070 792 -543.8 164.1 - - 2051 - - - - - - - - 14.78 14.14 14.79
17555 554.7 8.1 863 17560 done 0.58 - - 2406 - 2.55 0.057 2200 552.2 164.1 - - 2051 - - - - - - - - 14.34 14.21 14.40
17913 525.6 8.1 872 17918 roll 0.58 - - 2405 - 2.60 0.085 3618 545.4 164.1 - - 2051 - - - - - - - - 14.82 14.09 14.83
17976 520.1 8.8 881 17981 done 0.58 - - 2416 - 2.53 0.055 2190 -564.4 164.1 - - 2051 - - - - - - - - 14.35 14.25 14.40
18305 493.3 8.1 893 18310 roll 0.58 - - 2424 - 2.58 0.070 788 -543.4 164.1 - - 2051 - - - - - - - - 14.83 14.11 14.84
18381 487.2 7.8 904 18387 done 0.58 0.15 0.247 2390 -226.7 2.58 0.057 2201 547.7 164.1 - - 2051 - - - - - - - - 13.82 14.17 14.14
18698 465.2 7.0 914 18703 roll 0.58 - - 2390 - 2.58 0.083 3607 545.0 171.2 1.30 0.199 2041 -7.7 3.411 - - - - - - 14.81 13.99 13.85
18780 458.4 8.1 926 18785 done 0.58 - - 2399 - 2.50 0.051 2188 -567.6 171.2 - - 2045 - - - - - - - - 14.33 14.23 14.39
19146 431.8 7.3 936 19152 roll 0.58 - - 2406 - 2.62 0.067 792 -532.8 172.8 1.88 0.182 2034 -5.9 2.634 - - - - - - 14.78 14.14 13.91
19221 426.5 6.7 947 19255 done 0.59 - - 2406 - 2.58 0.055 2206 548.1 186.9 28.75 1.340 1978 -1.9 0.118 - - - - - - 14.29 14.16 13.50
19591 400.6 7.1 964 19596 roll 0.59 - - 2406 - 2.62 0.083 3614 537.4 192.3 1.48 0.192 1951 -18.2 7.221 - - - - - - 14.70 14.19 14.00
19651 395.2 8.5 973 19657 done 0.59 - - 2416 - 2.50 0.051 2190 -569.6 192.3 - - 1954 - - - - - - - - 14.37 14.26 14.40
19981 367.3 8.7 985 19987 roll 0.59 - - 2424 - 2.55 0.068 786 -550.6 192.3 - - 1955 - - - - - - - - 14.76 14.16 14.78
20051 361.1 8.7 995 20056 done 0.59 0.15 0.233 2388 -240.0 2.55 0.057 2201 554.9 192.3 - - 1955 - - - - - - - - 13.95 14.24 14.20
20374 337.5 7.1 1006 20385 roll 0.60 - - 2388 - 2.55 0.085 3604 550.2 198.2 4.40 1.083 1930 -5.7 0.336 - - - - - - 14.77 14.37 13.32
20457 331.1 7.8 1018 20462 done 0.60 - - 2397 - 2.42 0.052 2203 -578.9 198.2 - - 1939 - - - - - - - - 14.50 14.41 14.53
20821 304.7 7.3 1028 20827 roll 0.60 - - 2404 - 2.62 0.069 798 -536.3 198.2 1.55 0.187 1932 -4.5 1.396 - - - - - - 14.81 14.17 14.02
20912 297.9 7.6 1041 20918 done 0.65 - - 2404 - 2.53 0.055 2202 554.9 198.2 - - 1938 - - - - - - - - 14.38 14.26 14.41
21270 270.5 7.7 1050 21275 roll 0.65 - - 2404 - 2.55 0.083 3607 551.0 198.2 - - 1940 - - - - - - - - 14.78 14.11 14.79
21352 263.3 8.6 1062 21358 done 0.65 - - 2412 - 2.45 0.050 2205 -572.2 198.2 1.90 0.181 1930 -5.3 1.453 - - - - - - 14.38 14.26 14.03
21718 232.7 8.8 1072 21723 roll 0.65 - - 2420 - 2.58 0.067 788 -549.2 198.2 - - 1940 - - - - - - - - 14.81 14.13 14.82
21807 224.1 9.1 1085 21814 done 0.65 - - 2421 - 2.58 0.057 2210 551.2 198.2 - - 1940 - - - - - - - - 14.31 14.19 14.35
22165 192.4 8.6 1094 22171 roll 0.65 - - 2420 - 2.53 0.078 3609 553.0 198.2 1.35 0.188 1933 -5.2 1.007 - - - - - - 14.79 14.02 13.90
22223 187.5 8.8 1102 22227 done 0.65 - - 2429 - 2.47 0.048 2192 -573.7 198.2 - - 1938 - - - - - - - - 14.28 14.19 14.31
22557 161.3 7.6 1115 22562 roll 0.65 - - 2438 - 2.53 0.066 802 -549.4 198.2 - - 1940 - - - - - - - - 14.79 14.11 14.81
22634 154.8 8.6 1126 22639 done 0.65 - - 2438 - 2.55 0.054 2208 551.4 198.2 - - 1940 - - - - - - - - 14.29 14.17 14.34
22951 125.1 9.5 1136 22963 roll 0.65 0.12 0.259 2405 -275.0 2.60 0.080 3607 538.1 198.2 1.80 0.164 1930 -5.6 0.804 - - - - - - 13.95 14.09 13.95
23025 118.8 7.8 1147 23031 done 0.65 - - 2412 - 2.47 0.047 2188 -574.5 198.2 - - 1936 - - - - - - - - 14.31 14.20 14.35
23343 99.6 6.0 1157 23375 roll 0.67 - - 2412 - 2.60 0.076 3611 547.3 230.0 24.23 0.418 1805 -5.4 0.244 - - - - - - 14.80 14.35 13.93
23390 96.5 6.7 1164 23409 done 0.72 - - 2420 - 2.45 0.048 2210 -571.8 245.5 12.90 0.396 1739 -5.1 0.237 - - - - - - 14.50 14.41 13.88
23738 74.3 6.9 1180 23753 roll 0.80 0.12 0.133 2478 483.3 2.53 0.074 3608 552.6 255.2 9.38 0.297 1702 -3.9 0.187 - - - - - - 14.35 14.07 13.81
23824 65.5 10.0 1193 23831 done 0.80 - - 2493 - 2.45 0.047 2197 -575.9 255.2 2.75 0.173 1698 -1.5 0.104 - - - - - - 14.38 14.28 13.99
24158 48.4 3.0 1207 24237 roll 0.91 - - 2488 - 2.60 0.076 3611 543.8 357.4 69.38 0.277 1281 -6.0 0.199 - - - - - - 14.72 14.31 14.04
24322 41.1 5.1 1231 24362 done 1.04 0.15 0.116 2550 413.3 2.45 0.048 2191 -579.6 410.2 36.12 0.250 1066 -6.0 0.186 - - - - - - 14.29 14.32 14.02
24679 11.1 9.3 1249 24684 roll 1.11 - - 2557 - 2.50 0.063 797 -557.6 410.2 - - 1071 - - - - - - - - 14.74 14.19 14.76
24769 4.7 7.6 1262 24774 done 1.19 - - 2557 - 2.55 0.050 2209 553.7 410.2 - - 1071 - - - - - - - - 14.26 14.20 14.31
24815 end climb: SURFACE_DEPTH_REACHED
24815 begin surface coast
24843 end surface coast: CONTROL_FINISHED_OK
24843 begin surface
SM 0.70 - - - - -6.15 6.93 0.076 215 31.0 0.12 0.103 2342 9866.7 500.17 58.03 0.132 700 12.1 -0.007 - - - - - -