SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 49 * Raw log
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• Previous call tries 1 • 25.90 of 350.00 AH used of 24V (92.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.6 deg, depth 1.05 m • Intended pitch -14.9 deg, speed -7.857 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 39 s
• GPS2 time: 17 s • Transponder ping count: 14
• 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
27 - - - 104 VBD -0.66 - - 198 - - - 2300 - -146.0 -74.43 - 2521 - - - - - - - - 14.74 - 14.76
108 2.3 -2.3 5 142 roll -0.66 8.75 0.426 1981 203.8 2.62 2.113 872 -545.0 -146.0 -17.67 - 3338 -46.2 - - - - - - - 14.41 13.83 14.63
369 77.5 -19.6 56 375 done -0.47 0.30 0.297 2044 210.0 2.45 0.066 2287 577.6 -146.0 - - 3339 - - - - - - - - 14.54 14.66 14.70
691 110.0 -8.2 75 697 roll -0.39 - - 2033 - 2.40 0.080 3693 585.8 -146.0 - - 3340 - - - - - - - - 14.91 14.73 14.93
841 124.6 -9.1 104 849 done -0.34 0.17 0.230 2083 294.1 2.33 0.041 2264 -613.3 -146.0 - - 3340 - - - - - - - - 14.67 14.78 14.80
1144 145.1 -6.7 115 1151 roll -0.34 - - 2084 - 2.28 0.053 896 -600.0 -146.0 - - 3341 - - - - - - - - 14.95 14.79 14.97
1217 150.0 -6.6 129 1224 done -0.34 - - 2081 - 2.42 0.067 2303 581.4 -146.0 - - 3341 - - - - - - - - 14.85 14.78 14.87
1541 170.9 -6.7 143 1547 roll -0.34 - - 2081 - 2.40 0.088 3696 580.4 -146.0 - - 3340 - - - - - - - - 14.97 14.79 15.00
1594 174.7 -7.1 153 1601 done -0.41 - - 2081 - 2.28 0.047 2303 -611.0 -146.0 - - 3339 - - - - - - - - 14.87 14.83 14.88
1908 195.0 -6.2 165 1915 roll -0.41 - - 2082 - 2.38 0.058 892 -592.9 -146.0 - - 3335 - - - - - - - - 14.99 14.82 15.01
1957 198.2 -6.6 174 1963 done -0.45 - - 2081 - 2.42 0.067 2299 581.4 -146.0 - - 3337 - - - - - - - - 14.88 14.81 14.90
2276 218.0 -6.3 187 2282 roll -0.45 - - 2081 - 2.40 0.054 879 -591.7 -146.0 - - 3335 - - - - - - - - 15.00 14.83 15.02
2313 220.6 -7.0 194 2320 done -0.50 0.15 0.122 2017 -426.7 2.45 0.066 2304 581.6 -146.0 - - 3334 - - - - - - - - 14.85 14.82 14.90
2643 252.4 -10.0 209 2657 done -0.50 - - 2017 - - - 2307 - -146.0 - - 3331 - - - - - - - - 15.00 15.02 15.02
2942 281.2 -9.3 219 2955 roll -0.50 - - 2018 - 2.40 0.058 889 -590.8 -146.0 - - 3329 - - - - - - - - 15.02 14.85 15.04
2982 285.1 -9.7 225 2996 done -0.50 - - 2012 - 2.42 0.066 2293 580.2 -146.0 - - 3328 - - - - - - - - 14.92 14.84 14.93
3323 316.7 -9.3 241 3336 roll -0.50 - - 2008 - 2.42 0.090 3701 581.8 -146.0 - - 3326 - - - - - - - - 15.03 14.85 15.05
3387 323.0 -9.8 252 3401 done -0.50 - - 2008 - 2.33 0.046 2286 -607.3 -146.0 - - 3325 - - - - - - - - 14.93 14.88 14.95
3693 352.2 -9.3 263 3707 roll -0.46 0.12 0.270 2045 308.3 2.35 0.056 887 -595.3 -146.0 - - 3323 - - - - - - - - 14.77 14.86 14.87
3813 361.6 -7.6 285 3826 done -0.46 - - 2042 - 2.42 0.069 2291 580.2 -146.0 - - 3322 - - - - - - - - 14.92 14.85 14.95
4133 385.1 -7.5 297 4146 roll -0.46 - - 2042 - 2.40 0.056 878 -588.8 -146.0 - - 3318 - - - - - - - - 15.04 14.87 15.06
4182 389.2 -8.0 305 4196 done -0.46 - - 2043 - 2.42 0.069 2280 579.3 -146.0 - - 3319 - - - - - - - - 14.93 14.85 14.95
4513 414.8 -7.8 319 4526 roll -0.46 - - 2035 - 2.45 0.091 3695 577.6 -146.0 - - 3318 - - - - - - - - 15.04 14.85 15.06
4587 421.1 -8.3 332 4600 done -0.46 - - 2035 - 2.33 0.050 2280 -607.3 -146.0 - - 3317 - - - - - - - - 14.94 14.89 14.95
4923 447.4 -7.7 347 4936 roll -0.46 - - 2035 - 2.38 0.063 877 -589.5 -146.0 - - 3316 - - - - - - - - 15.04 14.86 15.06
5013 454.6 -7.8 363 5026 done -0.46 - - 2029 - 2.45 0.070 2292 577.6 -146.0 - - 3315 - - - - - - - - 14.93 14.85 14.95
5333 478.5 -7.4 375 5346 roll -0.46 - - 2020 - 2.45 0.092 3694 572.2 -146.0 - - 3313 - - - - - - - - 15.04 14.85 15.05
5363 480.7 -7.3 379 5376 done -0.46 0.12 0.245 2054 283.3 2.35 0.050 2271 -605.5 -146.0 - - 3312 - - - - - - - - 14.78 14.88 14.92
5683 500.9 -6.2 391 5697 roll -0.46 - - 2051 - 2.35 0.063 885 -589.8 -146.0 - - 3311 - - - - - - - - 15.04 14.86 15.06
5733 504.1 -6.7 399 5746 done -0.46 - - 2044 - 2.42 0.071 2277 575.2 -146.0 - - 3311 - - - - - - - - 14.93 14.85 14.95
6064 526.8 -7.0 413 6076 done -0.46 - - 2044 - - - 2277 - -146.0 - - 3309 - - - - - - - - 15.04 15.06 15.06
6364 548.0 -7.1 423 6377 roll -0.46 - - 2044 - 2.38 0.059 881 -586.6 -146.0 - - 3308 - - - - - - - - 15.04 14.87 15.06
6404 551.1 -7.8 429 6418 done -0.46 - - 2042 - 2.45 0.073 2284 572.7 -146.0 - - 3308 - - - - - - - - 14.93 14.85 14.95
6745 574.5 -6.6 445 6758 roll -0.46 - - 2043 - 2.40 0.061 888 -581.7 -146.0 - - 3305 - - - - - - - - 15.07 14.86 15.06
6789 577.6 -6.8 452 6802 done -0.46 - - 2042 - 2.42 0.072 2276 573.6 -146.0 - - 3306 - - - - - - - - 14.92 14.85 14.95
7125 597.2 -5.7 467 7138 roll -0.46 - - 2039 - 2.47 0.098 3689 572.1 -146.0 - - 3305 - - - - - - - - 15.03 14.84 15.05
7209 602.2 -5.9 482 7223 done -0.46 - - 2039 - 2.35 0.052 2277 -600.9 -146.0 - - 3305 - - - - - - - - 14.94 14.88 14.97
7535 621.3 -6.0 495 7548 roll -0.46 - - 2039 - 2.38 0.065 884 -585.3 -146.0 - - 3304 - - - - - - - - 15.03 14.85 15.06
7595 625.2 -6.6 505 7608 done -0.46 - - 2039 - 2.42 0.073 2274 574.4 -146.0 - - 3303 - - - - - - - - 14.92 14.83 14.94
7915 646.2 -6.6 517 7928 roll -0.46 - - 2039 - 2.38 0.060 884 -584.0 -146.0 - - 3302 - - - - - - - - 15.02 14.85 15.04
7956 649.0 -7.4 523 7969 done -0.46 - - 2038 - 2.45 0.073 2282 570.6 -146.0 - - 3302 - - - - - - - - 14.92 14.83 14.94
8297 672.6 -7.0 539 8310 roll -0.46 - - 2034 - 2.47 0.099 3692 570.9 -146.0 - - 3301 - - - - - - - - 15.02 14.85 15.04
8346 676.3 -7.3 547 8359 done -0.46 - - 2033 - 2.35 0.055 2276 -602.6 -146.0 - - 3300 - - - - - - - - 14.92 14.87 14.94
8677 701.1 -7.7 561 8690 roll -0.46 - - 2034 - 2.38 0.067 883 -585.3 -146.0 - - 3299 - - - - - - - - 15.02 14.84 15.04
8736 706.1 -8.3 571 8749 done -0.46 - - 2028 - 2.42 0.075 2269 572.7 -146.0 - - 3299 - - - - - - - - 14.92 14.84 14.93
9056 732.1 -8.1 583 9069 done -0.46 - - 2029 - - - 2269 - -146.0 - - 3298 - - - - - - - - 15.02 15.04 15.04
9356 756.5 -8.0 593 9370 roll -0.46 - - 2029 - 2.38 0.061 881 -583.2 -146.0 - - 3296 - - - - - - - - 15.02 14.85 15.07
9436 763.0 -7.9 607 9449 done -0.46 - - 2026 - 2.45 0.075 2272 567.8 -146.0 - - 3296 - - - - - - - - 14.91 14.82 14.92
9767 787.1 -7.2 621 9780 roll -0.46 - - 2020 - 2.50 0.101 3692 568.0 -146.0 - - 3295 - - - - - - - - 15.02 14.81 15.02
9801 789.6 -7.7 626 9815 done -0.46 0.12 0.240 2051 258.3 2.40 0.056 2260 -596.7 -146.0 - - 3295 - - - - - - - - 14.76 14.86 14.89
10107 807.0 -5.3 637 10120 roll -0.46 - - 2051 - 2.35 0.065 878 -588.1 -146.0 - - 3294 - - - - - - - - 15.01 14.83 15.03
10167 810.2 -5.4 647 10180 done -0.50 - - 2046 - 2.45 0.079 2267 566.9 -146.0 - - 3294 - - - - - - - - 14.90 14.81 14.92
10488 826.5 -5.0 659 10500 done -0.50 - - 2047 - - - 2267 - -146.0 - - 3294 - - - - - - - - 15.00 15.03 15.03
10788 842.4 -5.4 669 10801 done -0.50 - - 2046 - - - 2267 - -146.0 - - 3292 - - - - - - - - 15.01 15.03 15.02
11088 859.2 -5.7 679 11100 done -0.50 - - 2047 - - - 2267 - -146.0 - - 3290 - - - - - - - - 15.02 15.03 15.06
11388 877.2 -6.1 689 11401 done -0.50 - - 2047 - - - 2267 - -146.0 - - 3291 - - - - - - - - 15.01 15.03 15.03
11688 896.0 -6.3 699 11701 done -0.50 - - 2047 - - - 2267 - -146.0 - - 3291 - - - - - - - - 15.01 15.03 15.03
11988 914.6 -6.2 709 12001 done -0.50 - - 2046 - - - 2268 - -146.0 - - 3290 - - - - - - - - 14.99 15.03 15.02
12288 932.6 -5.9 719 12301 done -0.50 - - 2047 - - - 2267 - -146.0 - - 3290 - - - - - - - - 15.01 15.03 15.03
12588 950.1 -5.8 729 12601 roll -0.50 - - 2046 - 2.38 0.063 884 -581.1 -146.0 - - 3289 - - - - - - - - 15.01 14.83 15.02
12628 952.4 -8.2 735 12641 done -0.50 - - 2043 - 2.45 0.080 2263 562.9 -146.0 - - 3289 - - - - - - - - 14.90 14.81 14.91
12968 971.9 -5.7 751 12982 roll -0.50 - - 2038 - 2.55 0.108 3697 562.4 -146.0 - - 3289 - - - - - - - - 15.00 14.79 15.02
13033 975.9 -3.1 762 13047 done -0.57 - - 2038 - 2.42 0.059 2256 -595.5 -146.0 - - 3288 - - - - - - - - 14.90 14.83 14.91
13215 end dive: HALF_MISSION_TIME_EXCEEDED
13215 begin apogee
13223 986.7 -5.8 769 13410 roll -0.19 0.32 0.213 2131 290.6 - - 2256 - - 171.48 2.642 2741 -3.2 0.226 - - - - 1 - 14.73 13.83 12.93
13411 end apogee: CONTROL_FINISHED_OK
13411 begin climb
13415 991.9 - 775 13621 roll 0.66 0.95 0.175 2403 286.3 2.67 0.108 3633 515.7 146.0 187.88 1.978 2138 -3.2 0.305 - - - - - - 13.89 13.93 13.18
13676 969.2 11.5 825 13689 done 0.60 - - 2413 - 2.55 0.073 2241 -545.9 146.0 - - 2118 - - - - - - - - 14.14 14.07 14.17
14007 930.7 11.6 839 14020 roll 0.53 0.12 0.301 2382 -258.3 2.60 0.109 3634 535.8 146.0 - - 2110 - - - - - - - - 14.34 14.43 14.46
14110 919.9 11.3 857 14123 done 0.53 - - 2391 - 2.53 0.073 2217 -560.1 146.0 - - 2111 - - - - - - - - 14.57 14.50 14.59
14451 886.0 10.2 873 14464 roll 0.53 - - 2399 - 2.55 0.090 803 -554.5 146.0 - - 2109 - - - - - - - - 14.78 14.60 14.81
14525 877.7 10.6 886 14538 done 0.53 - - 2401 - 2.53 0.080 2212 556.9 146.0 - - 2108 - - - - - - - - 14.70 14.62 14.72
14864 842.5 10.7 901 14877 roll 0.48 0.15 0.291 2361 -266.7 2.58 0.111 3631 550.0 146.0 - - 2107 - - - - - - - - 14.59 14.66 14.69
14928 835.5 9.2 912 14943 done 0.48 - - 2371 - 2.50 0.073 2207 -569.6 146.0 - - 2105 - - - - - - - - 14.76 14.69 14.78
15234 808.9 8.6 923 15248 roll 0.48 - - 2381 - 2.50 0.093 811 -558.4 146.0 - - 2107 - - - - - - - - 14.90 14.70 14.92
15309 802.5 8.4 936 15322 done 0.48 - - 2381 - 2.50 0.082 2216 562.0 146.0 - - 2106 - - - - - - - - 14.78 14.70 14.82
15644 772.4 9.2 951 15658 roll 0.48 - - 2381 - 2.58 0.112 3637 550.8 146.0 - - 2106 - - - - - - - - 14.92 14.71 14.94
15739 762.9 10.1 968 15754 done 0.48 0.15 0.271 2364 -113.3 2.47 0.073 2224 -572.1 146.0 - - 2106 - - - - - - - - 14.66 14.74 14.81
16045 737.8 8.2 979 16058 roll 0.48 - - 2367 - 2.47 0.091 803 -575.3 146.0 - - 2105 - - - - - - - - 14.93 14.73 14.95
16109 732.4 8.2 990 16123 done 0.48 - - 2367 - 2.55 0.083 2226 558.0 146.0 - - 2105 - - - - - - - - 14.83 14.73 14.85
16415 705.3 8.9 1001 16428 roll 0.48 - - 2367 - 2.55 0.111 3634 552.2 146.0 - - 2105 - - - - - - - - 14.95 14.73 14.99
16470 700.0 9.6 1010 16483 done 0.48 - - 2377 - 2.45 0.073 2222 -576.3 146.0 - - 2105 - - - - - - - - 14.83 14.76 14.88
16795 670.9 8.9 1023 16808 roll 0.48 - - 2386 - 2.53 0.091 810 -558.1 146.0 - - 2103 - - - - - - - - 14.95 14.75 14.97
16824 668.4 8.6 1027 16837 done 0.48 - - 2386 - 2.53 0.081 2227 560.1 146.0 - - 2105 - - - - - - - - 14.83 14.75 14.86
17145 639.6 9.0 1039 17158 roll 0.48 - - 2382 - 2.53 0.109 3636 556.9 146.0 - - 2105 - - - - - - - - 14.96 14.74 14.97
17239 630.1 10.0 1056 17254 done 0.48 0.15 0.262 2361 -140.0 2.45 0.073 2227 -575.1 146.0 - - 2105 - - - - - - - - 14.69 14.77 14.83
17546 606.1 7.8 1067 17559 roll 0.48 - - 2372 - 2.55 0.092 800 -559.6 146.5 - - 2105 - - - - - - - - 14.95 14.75 14.97
17600 601.7 7.8 1076 17613 done 0.49 - - 2371 - 2.55 0.080 2240 564.7 149.4 - - 2105 - - - - - - - - 14.84 14.75 14.87
17926 574.0 8.7 1089 17939 roll 0.49 - - 2372 - 2.50 0.110 3630 556.0 149.4 - - 2104 - - - - - - - - 14.95 14.73 14.97
18005 566.1 9.7 1103 18018 done 0.49 - - 2381 - 2.42 0.073 2228 -579.3 149.4 - - 2105 - - - - - - - - 14.85 14.77 14.86
18336 536.8 8.7 1117 18349 roll 0.49 - - 2390 - 2.50 0.090 813 -566.0 149.4 - - 2105 - - - - - - - - 14.96 14.76 14.97
18410 530.5 7.9 1130 18424 done 0.49 0.12 0.273 2362 -233.3 2.53 0.080 2239 563.6 149.4 - - 2104 - - - - - - - - 14.68 14.76 14.83
18749 506.6 7.1 1145 18789 roll 0.50 - - 2361 - 2.55 0.111 3633 546.7 169.4 26.77 1.502 2045 -2.2 0.141 - - - - - - 14.95 14.55 14.06
18853 498.3 8.1 1164 18867 done 0.50 - - 2372 - 2.45 0.070 2230 -572.7 169.4 - - 2037 - - - - - - - - 14.66 14.59 14.69
19189 471.5 8.2 1179 19202 roll 0.50 - - 2380 - 2.53 0.090 817 -558.5 169.4 - - 2031 - - - - - - - - 14.85 14.65 14.87
19224 468.6 7.6 1184 19239 done 0.50 - - 2380 - 2.55 0.080 2241 558.4 175.8 2.42 0.570 2020 -4.5 0.709 - - - - - - 14.74 14.66 13.88
19530 442.7 8.4 1195 19543 roll 0.50 - - 2380 - 2.50 0.109 3631 556.0 175.8 - - 2026 - - - - - - - - 14.88 14.67 14.90
19594 436.6 9.3 1206 19608 done 0.50 - - 2395 - 2.42 0.071 2243 -573.6 175.8 - - 2026 - - - - - - - - 14.78 14.71 14.80
19900 410.0 8.6 1217 19913 roll 0.50 - - 2399 - 2.53 0.086 812 -565.6 175.8 - - 2029 - - - - - - - - 14.90 14.71 14.93
19949 405.7 8.5 1225 19963 done 0.50 0.15 0.249 2363 -240.0 2.55 0.079 2249 563.5 175.8 - - 2027 - - - - - - - - 14.64 14.71 14.78
20283 382.3 7.0 1239 20338 roll 0.52 - - 2362 - 2.60 0.109 3634 532.7 199.4 39.47 1.413 1922 -2.7 0.137 - - - - - - 14.92 14.43 13.97
20399 373.3 7.9 1261 20412 done 0.52 - - 2371 - 2.42 0.068 2253 -570.7 199.4 - - 1911 - - - - - - - - 14.58 14.51 14.60
20719 348.0 8.0 1273 20733 roll 0.52 - - 2380 - 2.58 0.088 813 -558.1 199.4 - - 1908 - - - - - - - - 14.81 14.59 14.83
20809 340.8 8.0 1289 20822 done 0.57 - - 2380 - 2.58 0.078 2255 558.9 199.4 - - 1907 - - - - - - - - 14.71 14.63 14.73
21130 313.5 8.6 1301 21143 roll 0.57 - - 2380 - 2.50 0.108 3636 552.4 199.4 - - 1907 - - - - - - - - 14.88 14.66 14.89
21189 307.9 9.4 1311 21202 done 0.57 - - 2390 - 2.40 0.067 2242 -580.8 199.4 - - 1907 - - - - - - - - 14.77 14.70 14.79
21509 278.2 9.5 1323 21523 roll 0.57 - - 2399 - 2.53 0.086 819 -562.5 199.4 - - 1907 - - - - - - - - 14.90 14.70 14.92
21550 274.4 9.4 1329 21563 done 0.57 - - 2399 - 2.55 0.076 2254 562.7 199.4 - - 1907 - - - - - - - - 14.79 14.71 14.81
21894 241.0 9.8 1345 21900 roll 0.57 - - 2399 - 2.50 0.106 3634 552.0 199.4 - - 1906 - - - - - - - - 14.90 14.69 14.92
21958 234.1 10.1 1357 21964 done 0.57 - - 2408 - 2.40 0.067 2250 -576.7 199.4 - - 1907 - - - - - - - - 14.79 14.72 14.81
22291 202.5 9.4 1373 22297 roll 0.57 - - 2418 - 2.55 0.086 815 -562.7 199.4 - - 1907 - - - - - - - - 14.89 14.68 14.90
22344 197.4 9.3 1383 22350 done 0.57 0.12 0.259 2388 -250.0 2.55 0.076 2254 564.3 199.4 - - 1908 - - - - - - - - 14.63 14.69 14.77
22658 170.5 8.8 1395 22668 roll 0.57 - - 2388 - 2.45 0.104 3634 563.3 199.4 - - 1907 - - - - - - - - 14.88 14.68 14.90
22720 164.6 9.7 1406 22727 done 0.57 - - 2396 - 2.40 0.065 2248 -577.5 199.4 - - 1907 - - - - - - - - 14.78 14.71 14.78
23025 137.1 8.8 1417 23032 roll 0.57 - - 2406 - 2.53 0.084 818 -565.2 199.4 - - 1907 - - - - - - - - 14.88 14.67 14.90
23068 133.5 8.2 1425 23074 done 0.57 - - 2406 - 2.55 0.075 2261 565.9 199.4 - - 1907 - - - - - - - - 14.77 14.69 14.79
23392 107.1 8.0 1439 23398 roll 0.57 - - 2406 - 2.45 0.103 3635 560.8 199.4 - - 1907 - - - - - - - - 14.87 14.67 14.90
23414 105.4 7.3 1443 23440 done 0.58 - - 2415 - 2.35 0.063 2259 -585.5 216.2 18.42 1.149 1854 -2.9 0.050 - - - - - - 14.77 14.71 14.13
23742 84.1 6.1 1468 23775 roll 0.66 - - 2415 - 2.58 0.101 3632 532.2 265.2 26.85 0.376 1658 -7.3 0.310 - - - - - - 14.81 14.56 14.40
23882 75.1 6.0 1495 23923 done 0.76 - - 2422 - 2.35 0.061 2273 -578.3 316.9 34.08 0.360 1446 -6.2 0.246 - - - - - - 14.68 14.61 14.37
24231 59.1 5.4 1524 24282 roll 1.04 0.30 0.112 2532 366.7 2.58 0.074 816 -564.7 386.0 44.53 0.311 1164 -6.3 0.228 - - - - - - 14.60 14.54 14.41
24370 50.6 6.1 1551 24411 done 1.15 0.12 0.129 2587 458.3 2.55 0.070 2265 568.2 436.2 33.45 0.282 961 -6.1 0.207 - - - - - - 14.60 14.57 14.41
24719 17.6 10.2 1580 24725 roll 1.15 - - 2597 - 2.58 0.080 816 -561.6 436.2 - - 966 - - - - - - - - 14.79 14.61 14.82
24747 14.6 9.5 1585 24755 done 1.15 - - 2597 - 2.55 0.073 2260 566.3 436.2 - - 968 - - - - - - - - 14.69 14.61 14.71
24869 end climb: SURFACE_DEPTH_REACHED
24869 begin surface coast
24884 end surface coast: CONTROL_FINISHED_OK
24884 begin surface
SM 1.01 - - - - -6.14 6.68 0.062 213 31.9 - - 2261 - 500.17 40.90 0.139 701 17.1 -0.013 - - - - - -