SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 489 * Raw log
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• Previous call tries 2 • 192.54 of 350.00 AH used of 24V (44.99% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.9 deg, depth 0.79 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 15 s • Transponder ping count: 9
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
21 - - - 107 VBD -0.68 - - 198 - - - 2222 - -116.8 -84.15 - 2771 - - - - - - - - 14.67 - 14.69
111 3.1 -4.0 3 134 roll -0.68 8.90 0.392 1979 200.1 2.62 2.008 872 -515.3 -116.8 -9.07 - 3218 -49.3 - - - - - - - 13.85 13.16 14.30
236 34.6 -21.2 21 242 done -0.49 0.25 0.262 2031 208.0 2.50 0.055 2282 564.0 -116.8 - - 3218 - - - - - - - - 14.00 14.35 14.30
557 79.0 -10.5 34 562 roll -0.44 - - 2020 - 2.45 0.071 3701 579.2 -116.8 - - 3219 - - - - - - - - 14.80 14.33 14.82
689 91.0 -9.0 53 697 done -0.44 0.10 0.199 2051 310.0 2.40 0.036 2258 -601.2 -116.8 - - 3220 - - - - - - - - 14.07 14.40 14.19
1006 113.8 -7.1 62 1011 roll -0.44 - - 2052 - 2.35 0.050 906 -575.3 -116.8 - - 3220 - - - - - - - - 14.86 14.40 14.88
1067 118.6 -7.8 71 1072 done -0.44 - - 2051 - 2.45 0.055 2298 568.2 -116.8 - - 3221 - - - - - - - - 14.49 14.37 14.52
1398 143.3 -7.6 83 1403 roll -0.44 - - 2043 - 2.45 0.076 3697 571.0 -116.8 - - 3221 - - - - - - - - 14.83 14.33 14.85
1453 147.2 -7.0 91 1458 done -0.49 - - 2043 - 2.35 0.040 2286 -600.4 -116.8 - - 3221 - - - - - - - - 14.50 14.44 14.52
1789 170.7 -7.0 104 1794 roll -0.49 - - 2039 - 2.42 0.053 889 -577.3 -116.8 - - 3219 - - - - - - - - 14.87 14.40 14.89
1866 176.6 -7.7 115 1871 done -0.49 - - 2043 - 2.47 0.055 2292 568.0 -116.8 - - 3219 - - - - - - - - 14.51 14.40 14.55
2181 202.1 -8.2 125 2187 roll -0.49 - - 2039 - 2.47 0.081 3691 566.4 -116.8 - - 3217 - - - - - - - - 14.85 14.31 14.89
2243 207.3 -8.1 134 2248 done -0.55 - - 2041 - 2.35 0.042 2285 -598.3 -116.8 - - 3217 - - - - - - - - 14.48 14.41 14.50
2574 232.8 -7.6 146 2579 roll -0.55 - - 2041 - 2.42 0.052 893 -575.2 -116.8 - - 3212 - - - - - - - - 14.89 14.38 14.90
2635 237.5 -7.4 155 2640 done -0.55 - - 2041 - 2.47 0.054 2285 563.6 -116.8 - - 3214 - - - - - - - - 14.45 14.33 14.50
2966 260.4 -7.0 167 2971 roll -0.55 - - 2039 - 2.50 0.080 3699 565.6 -116.8 - - 3212 - - - - - - - - 14.85 14.28 14.88
3035 265.5 -7.3 177 3041 done -0.61 0.12 0.132 1982 -475.0 2.38 0.042 2279 -596.6 -116.8 - - 3211 - - - - - - - - 14.40 14.48 14.52
3357 297.9 -10.3 188 3362 roll -0.56 0.12 0.256 2021 325.0 2.42 0.050 893 -572.7 -116.8 - - 3209 - - - - - - - - 14.13 14.34 14.24
3441 304.7 -7.3 200 3446 done -0.56 - - 2015 - 2.47 0.055 2288 564.8 -116.8 - - 3209 - - - - - - - - 14.48 14.37 14.52
3805 331.2 -7.3 210 3806 done -0.56 - - 2015 - - - 2288 - -116.8 - - 3207 - - - - - - - - 14.88 14.90 14.89
4141 358.1 -8.2 216 4146 roll -0.56 - - 2011 - 2.50 0.083 3690 560.8 -116.8 - - 3205 - - - - - - - - 14.87 14.24 14.89
4198 363.0 -8.7 224 4203 done -0.56 - - 2011 - 2.38 0.044 2289 -588.7 -116.8 - - 3204 - - - - - - - - 14.53 14.45 14.54
4533 392.9 -8.9 237 4538 roll -0.56 - - 2011 - 2.45 0.055 893 -569.8 -116.8 - - 3202 - - - - - - - - 14.88 14.24 14.91
4602 398.9 -8.3 247 4607 done -0.56 - - 2011 - 2.53 0.058 2298 555.3 -116.8 - - 3205 - - - - - - - - 14.40 14.26 14.45
4926 425.5 -8.3 258 4931 roll -0.56 - - 2011 - 2.50 0.086 3686 555.2 -116.8 - - 3200 - - - - - - - - 14.85 14.21 14.86
4973 429.4 -8.0 265 4981 done -0.56 - - 2011 - 2.42 0.044 2285 -578.9 -116.8 - - 3200 - - - - - - - - 14.31 14.28 14.33
5317 455.9 -7.6 272 5322 roll -0.56 - - 2011 - 2.45 0.054 886 -571.0 -116.8 - - 3199 - - - - - - - - 14.86 14.29 14.88
5380 460.7 -7.5 281 5386 done -0.56 - - 2011 - 2.50 0.058 2282 558.4 -116.8 - - 3198 - - - - - - - - 14.40 14.28 14.45
5709 484.0 -7.1 293 5715 roll -0.56 - - 2010 - 2.55 0.084 3701 556.5 -116.8 - - 3196 - - - - - - - - 14.88 14.20 14.90
5765 488.0 -7.0 301 5771 done -0.56 - - 2010 - 2.42 0.044 2279 -587.6 -116.8 - - 3196 - - - - - - - - 14.48 14.41 14.51
6102 512.3 -7.4 314 6107 roll -0.56 - - 2006 - 2.45 0.054 893 -565.7 -116.8 - - 3194 - - - - - - - - 14.84 14.28 14.86
6163 517.0 -7.4 323 6168 done -0.56 - - 2007 - 2.50 0.057 2282 555.6 -116.8 - - 3194 - - - - - - - - 14.38 14.26 14.42
6494 541.1 -7.4 335 6499 roll -0.56 - - 2003 - 2.55 0.083 3701 556.5 -116.8 - - 3193 - - - - - - - - 14.84 14.19 14.85
6549 545.5 -8.1 343 6554 done -0.56 - - 2003 - 2.42 0.044 2281 -586.8 -116.8 - - 3193 - - - - - - - - 14.47 14.39 14.49
6885 573.2 -8.4 356 6890 roll -0.56 - - 2002 - 2.45 0.054 895 -565.7 -116.8 - - 3192 - - - - - - - - 14.85 14.25 14.86
6933 577.6 -8.9 363 6940 done -0.56 - - 1999 - 2.55 0.058 2276 541.6 -116.8 - - 3192 - - - - - - - - 14.22 14.14 14.28
7277 609.2 -9.4 370 7282 roll -0.56 - - 1997 - 2.58 0.086 3695 550.0 -116.8 - - 3190 - - - - - - - - 14.88 14.16 14.90
7325 613.7 -9.3 377 7333 done -0.56 - - 1997 - 2.47 0.047 2276 -574.5 -116.8 - - 3190 - - - - - - - - 14.31 14.27 14.35
7669 644.8 -9.0 384 7674 roll -0.56 - - 1997 - 2.45 0.055 897 -562.9 -116.8 - - 3189 - - - - - - - - 14.88 14.24 14.89
7726 649.8 -8.6 392 7731 done -0.56 - - 1997 - 2.53 0.060 2283 547.8 -116.8 - - 3188 - - - - - - - - 14.33 14.21 14.38
8061 676.0 -7.7 405 8066 roll -0.56 - - 1988 - 2.55 0.084 3691 552.2 -116.8 - - 3187 - - - - - - - - 14.84 14.11 14.85
8137 682.0 -7.8 416 8143 done -0.56 0.12 0.227 2016 233.3 2.42 0.047 2283 -581.8 -116.8 - - 3187 - - - - - - - - 13.96 14.30 14.18
8455 701.8 -6.2 426 8459 roll -0.56 - - 2016 - 2.50 0.056 880 -561.2 -116.8 - - 3185 - - - - - - - - 14.82 14.19 14.84
8509 705.4 -6.5 434 8514 done -0.56 - - 2015 - 2.60 0.060 2295 544.2 -116.8 - - 3186 - - - - - - - - 14.32 14.19 14.36
8846 726.1 -6.2 447 8851 roll -0.56 - - 2011 - 2.58 0.090 3701 545.0 -116.8 - - 3185 - - - - - - - - 14.82 14.07 14.83
8879 728.3 -6.4 452 8884 done -0.56 - - 2011 - 2.45 0.046 2272 -583.3 -116.8 - - 3185 - - - - - - - - 14.41 14.33 14.44
9237 751.3 -6.4 461 9243 roll -0.56 - - 2012 - 2.47 0.060 891 -559.1 -116.8 - - 3183 - - - - - - - - 14.85 14.15 14.87
9301 755.7 -6.7 470 9305 done -0.56 - - 2011 - 2.55 0.060 2288 547.8 -116.8 - - 3181 - - - - - - - - 14.28 14.14 14.32
9629 776.9 -6.5 482 9634 roll -0.56 - - 2011 - 2.58 0.090 3692 544.2 -116.8 - - 3182 - - - - - - - - 14.84 14.02 14.84
9685 780.6 -6.0 490 9690 done -0.61 - - 2012 - 2.45 0.047 2280 -576.3 -116.8 - - 3181 - - - - - - - - 14.35 14.27 14.38
10022 804.2 -7.1 503 10027 roll -0.61 - - 2012 - 2.50 0.057 883 -558.8 -116.8 - - 3181 - - - - - - - - 14.84 14.14 14.86
10069 808.0 -7.7 510 10076 done -0.61 - - 2011 - 2.60 0.060 2292 541.9 -116.8 - - 3181 - - - - - - - - 14.23 14.09 14.28
10413 833.7 -7.6 517 10419 roll -0.61 - - 2011 - 2.60 0.091 3699 541.2 -116.8 - - 3182 - - - - - - - - 14.85 13.98 14.87
10462 837.2 -6.6 524 10469 done -0.67 - - 2011 - 2.47 0.048 2274 -576.9 -116.8 - - 3180 - - - - - - - - 14.32 14.25 14.35
10805 863.7 -7.9 531 10810 roll -0.67 - - 2011 - 2.47 0.057 903 -555.1 -116.8 - - 3179 - - - - - - - - 14.81 14.09 14.82
10867 868.9 -8.1 540 10873 done -0.67 - - 2011 - 2.55 0.060 2289 543.5 -116.8 - - 3179 - - - - - - - - 14.24 14.09 14.29
11198 895.2 -8.1 552 11203 roll -0.67 - - 2011 - 2.60 0.091 3692 539.6 -116.8 - - 3178 - - - - - - - - 14.79 13.97 14.81
11253 899.4 -7.1 560 11258 done -0.73 0.15 0.124 1956 -366.7 2.45 0.048 2286 -573.9 -116.8 - - 3178 - - - - - - - - 14.14 14.24 14.25
11590 933.2 -10.3 573 11595 roll -0.73 - - 1961 - 2.53 0.058 886 -553.4 -116.8 - - 3177 - - - - - - - - 14.79 14.08 14.81
11645 939.0 -10.2 581 11651 done -0.73 - - 1953 - 2.60 0.063 2290 540.0 -116.8 - - 3177 - - - - - - - - 14.19 14.05 14.23
11981 972.5 -9.9 594 11986 roll -0.73 - - 1945 - 2.60 0.090 3693 539.6 -116.8 - - 3176 - - - - - - - - 14.79 13.95 14.81
12051 979.5 -10.1 604 12056 done -0.73 - - 1945 - 2.45 0.048 2294 -571.0 -116.8 - - 3176 - - - - - - - - 14.30 14.22 14.33
12201 end dive: TARGET_DEPTH_EXCEEDED
12201 begin apogee
12210 995.1 -10.1 612 12366 roll -0.19 0.73 0.229 2132 256.2 - - 2181 - - 148.85 2.518 2744 -2.9 0.228 - - - - 1 - 13.59 13.69 12.35
12367 end apogee: CONTROL_FINISHED_OK
12368 begin climb
12372 999.7 - 614 12542 roll 0.68 0.95 0.142 2410 292.6 2.75 0.087 3613 520.7 116.8 159.55 1.873 2256 -3.1 0.324 - - - - - - 13.74 13.79 12.85
12665 982.1 9.3 663 12669 done 0.61 - - 2420 - 2.47 0.058 2220 -564.0 116.8 - - 2238 - - - - - - - - 14.35 14.27 14.39
12992 953.2 8.8 675 12997 roll 0.56 0.12 0.273 2384 -300.0 2.55 0.083 3614 546.7 116.8 - - 2235 - - - - - - - - 14.07 14.29 14.21
13096 944.8 7.7 690 13103 done 0.56 - - 2394 - 2.55 0.056 2190 -558.4 116.8 - - 2234 - - - - - - - - 14.37 14.31 14.40
13441 919.7 7.4 697 13447 roll 0.56 - - 2404 - 2.55 0.071 786 -550.6 116.8 - - 2232 - - - - - - - - 14.78 14.30 14.81
13544 912.0 7.2 712 13551 done 0.56 - - 2405 - 2.58 0.058 2195 546.1 120.1 - - 2231 - - - - - - - - 14.37 14.28 14.43
13889 885.8 7.7 719 13894 roll 0.56 - - 2404 - 2.60 0.087 3616 546.5 120.1 - - 2230 - - - - - - - - 14.79 14.22 14.81
13957 879.8 8.5 729 13964 done 0.50 0.20 0.262 2369 -175.0 2.50 0.055 2189 -570.8 120.1 - - 2230 - - - - - - - - 13.92 14.35 14.26
14280 860.8 5.7 740 14335 roll 0.53 - - 2379 - 2.53 0.070 799 -549.4 158.1 49.50 1.786 2086 -2.9 0.278 - - - - - - 14.81 13.99 13.26
14396 854.1 6.3 756 14433 done 0.59 - - 2379 - 2.55 0.058 2200 549.4 183.0 30.25 1.812 1989 -3.2 0.300 - - - - - - 14.36 14.26 13.19
14784 827.9 6.9 770 14795 roll 0.60 - - 2379 - 2.62 0.089 3619 541.6 194.5 3.88 1.284 1942 -12.1 1.551 - - - - - - 14.73 14.32 13.09
14826 824.7 10.0 776 14831 done 0.60 - - 2389 - 2.50 0.057 2188 -572.4 194.5 - - 1948 - - - - - - - - 14.49 14.40 14.52
15176 796.9 8.1 784 15181 roll 0.60 - - 2399 - 2.53 0.072 793 -551.4 194.5 - - 1951 - - - - - - - - 14.79 14.26 14.81
15288 787.7 8.3 800 15294 done 0.60 - - 2399 - 2.53 0.059 2193 553.4 194.5 - - 1951 - - - - - - - - 14.31 14.25 14.36
15625 758.3 8.9 813 15631 roll 0.60 - - 2398 - 2.58 0.086 3616 551.6 194.5 - - 1951 - - - - - - - - 14.81 14.22 14.82
15672 753.4 10.1 820 15679 done 0.60 - - 2412 - 2.55 0.056 2188 -560.0 194.5 - - 1952 - - - - - - - - 14.33 14.28 14.38
16016 721.6 9.2 827 16021 roll 0.60 - - 2421 - 2.53 0.071 797 -549.8 194.5 - - 1952 - - - - - - - - 14.81 14.21 14.81
16114 713.1 8.5 841 16120 done 0.60 - - 2419 - 2.53 0.057 2192 551.4 194.5 - - 1951 - - - - - - - - 14.39 14.27 14.42
16464 681.5 9.1 849 16469 roll 0.60 - - 2419 - 2.60 0.085 3617 548.1 194.5 - - 1951 - - - - - - - - 14.81 14.16 14.82
16526 675.1 10.1 858 16532 done 0.60 0.15 0.251 2394 -166.7 2.53 0.056 2187 -565.2 194.5 - - 1951 - - - - - - - - 13.95 14.31 14.21
16857 648.2 8.2 870 16862 roll 0.60 - - 2404 - 2.55 0.069 781 -551.4 194.5 - - 1952 - - - - - - - - 14.78 14.21 14.81
16939 641.3 8.3 882 16944 done 0.60 - - 2403 - 2.55 0.057 2186 551.0 194.5 - - 1951 - - - - - - - - 14.35 14.23 14.39
17305 609.1 8.9 892 17310 roll 0.60 - - 2404 - 2.60 0.083 3616 550.0 194.5 - - 1951 - - - - - - - - 14.81 14.12 14.83
17387 600.9 9.6 904 17393 done 0.60 - - 2411 - 2.55 0.055 2170 -567.1 194.5 - - 1951 - - - - - - - - 14.35 14.23 14.39
17752 568.7 8.9 914 17757 roll 0.60 - - 2427 - 2.53 0.070 784 -547.8 194.5 - - 1952 - - - - - - - - 14.79 14.14 14.81
17822 562.6 8.6 924 17827 done 0.60 - - 2422 - 2.55 0.057 2186 549.8 194.5 - - 1951 - - - - - - - - 14.32 14.20 14.36
18144 533.6 9.0 935 18149 roll 0.60 - - 2422 - 2.60 0.083 3614 549.2 194.5 - - 1952 - - - - - - - - 14.82 14.09 14.84
18220 526.0 9.7 946 18226 done 0.60 0.15 0.247 2397 -166.7 2.53 0.054 2186 -564.4 194.5 - - 1951 - - - - - - - - 13.85 14.22 14.12
18537 501.5 7.8 956 18542 roll 0.60 - - 2405 - 2.55 0.067 789 -547.8 194.5 - - 1951 - - - - - - - - 14.81 14.11 14.82
18605 496.0 7.7 966 18610 done 0.60 - - 2405 - 2.55 0.056 2187 548.2 194.5 - - 1951 - - - - - - - - 14.29 14.16 14.33
18929 469.1 8.4 977 18935 roll 0.60 - - 2404 - 2.60 0.081 3616 549.6 194.5 - - 1951 - - - - - - - - 14.77 14.07 14.78
19004 461.8 9.5 988 19010 done 0.60 - - 2415 - 2.55 0.053 2171 -566.7 194.5 - - 1951 - - - - - - - - 14.32 14.21 14.35
19320 433.2 9.1 998 19325 roll 0.60 - - 2424 - 2.53 0.070 788 -546.6 194.5 - - 1951 - - - - - - - - 14.82 14.08 14.83
19404 425.4 9.1 1010 19409 done 0.60 0.12 0.240 2395 -241.7 2.53 0.056 2185 552.2 194.5 - - 1951 - - - - - - - - 13.87 14.16 14.10
19768 395.1 8.3 1020 19773 roll 0.60 - - 2395 - 2.60 0.083 3607 546.9 194.5 - - 1951 - - - - - - - - 14.78 14.04 14.80
19851 387.4 9.2 1032 19857 done 0.60 - - 2405 - 2.53 0.050 2173 -566.8 194.5 - - 1951 - - - - - - - - 14.29 14.19 14.33
20217 356.3 8.5 1042 20222 roll 0.60 - - 2407 - 2.53 0.070 796 -544.3 194.5 - - 1951 - - - - - - - - 14.77 14.05 14.79
20292 350.1 8.1 1053 20299 done 0.65 - - 2407 - 2.53 0.054 2189 550.6 194.5 - - 1951 - - - - - - - - 14.28 14.16 14.33
20609 323.4 8.5 1063 20614 roll 0.65 - - 2407 - 2.58 0.080 3608 550.0 194.5 - - 1952 - - - - - - - - 14.77 14.05 14.78
20677 316.8 9.4 1073 20683 done 0.65 - - 2418 - 2.50 0.049 2186 -568.8 194.5 - - 1951 - - - - - - - - 14.28 14.17 14.32
21000 287.7 9.1 1084 21005 roll 0.65 - - 2424 - 2.53 0.067 796 -549.4 194.5 - - 1951 - - - - - - - - 14.81 14.06 14.83
21084 280.1 8.9 1096 21089 done 0.65 - - 2424 - 2.50 0.054 2184 555.2 194.5 - - 1951 - - - - - - - - 14.28 14.15 14.31
21448 246.4 9.2 1106 21453 roll 0.65 - - 2423 - 2.60 0.080 3614 550.0 194.5 - - 1951 - - - - - - - - 14.78 14.02 14.79
21538 237.4 9.5 1119 21544 done 0.65 - - 2434 - 2.50 0.050 2186 -571.2 194.5 - - 1952 - - - - - - - - 14.28 14.18 14.32
21897 206.6 8.6 1128 21902 roll 0.65 - - 2443 - 2.55 0.064 787 -548.6 194.5 - - 1951 - - - - - - - - 14.80 14.07 14.81
21965 200.6 8.5 1138 21971 done 0.65 0.15 0.236 2409 -226.7 2.55 0.054 2189 549.8 194.5 - - 1951 - - - - - - - - 13.78 14.12 14.04
22288 176.5 7.5 1149 22294 roll 0.65 - - 2409 - 2.60 0.079 3612 547.3 194.5 - - 1951 - - - - - - - - 14.77 14.03 14.79
22351 171.3 8.4 1158 22356 done 0.65 - - 2418 - 2.50 0.048 2185 -570.8 194.5 - - 1951 - - - - - - - - 14.33 14.23 14.36
22680 144.9 8.2 1170 22685 roll 0.65 - - 2424 - 2.55 0.065 786 -548.6 194.5 - - 1952 - - - - - - - - 14.77 14.07 14.79
22764 137.9 8.2 1182 22769 done 0.65 - - 2424 - 2.53 0.054 2182 551.8 194.5 - - 1952 - - - - - - - - 14.28 14.16 14.32
23128 109.6 7.5 1192 23133 roll 0.65 - - 2424 - 2.60 0.079 3609 548.8 194.5 - - 1951 - - - - - - - - 14.78 14.04 14.79
23211 102.8 7.9 1204 23217 done 0.65 - - 2433 - 2.50 0.047 2183 -570.4 194.5 - - 1951 - - - - - - - - 14.29 14.19 14.33
23549 77.6 6.7 1218 23567 roll 0.65 - - 2434 - 2.53 0.067 794 -549.0 210.4 12.52 0.329 1882 -5.5 0.258 - - - - - - 14.76 14.23 13.74
23624 73.6 5.2 1229 23665 done 0.74 - - 2434 - 2.53 0.053 2193 553.0 261.3 36.40 0.352 1673 -5.7 0.238 - - - - - - 14.34 14.23 13.91
24000 55.6 4.7 1249 24052 roll 0.87 0.12 0.128 2491 475.0 2.58 0.080 3608 548.4 323.2 42.40 0.296 1424 -5.9 0.219 - - - - - - 14.32 14.25 13.99
24058 51.4 7.6 1258 24064 done 0.87 - - 2499 - 2.47 0.047 2178 -578.9 323.2 - - 1428 - - - - - - - - 14.40 14.31 14.43
24390 35.4 4.5 1272 24443 roll 1.01 - - 2500 - 2.58 0.067 795 -536.0 389.5 43.72 0.236 1151 -6.3 0.189 - - - - - - 14.73 14.32 14.04
24545 26.9 5.8 1294 24575 done 1.18 0.25 0.082 2605 420.0 2.47 0.049 2186 563.2 426.4 25.05 0.207 1000 -6.0 0.156 - - - - - - 14.32 14.26 14.04
24776 end climb: SURFACE_DEPTH_REACHED
24776 begin surface coast
24809 end surface coast: CONTROL_FINISHED_OK
24809 begin surface
SM 0.81 - - - - -6.13 6.88 0.056 213 30.9 0.15 0.088 2301 -60860.0 500.17 48.10 0.136 701 14.6 -0.009 - - - - - -