SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 510 * Raw log
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• Previous call tries 1 • 200.43 of 350.00 AH used of 24V (42.73% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.0 deg, depth 0.84 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 27 s
• GPS2 time: 17 s • Transponder ping count: 11
• 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
27 - - - 115 VBD -0.68 - - 198 - - - 2319 - -116.8 -86.00 - 2819 - - - - - - - - 14.66 - 14.68
119 3.0 -3.6 3 142 roll -0.68 9.07 0.402 1962 194.5 2.67 2.042 3668 505.2 -116.8 -7.78 - 3219 -51.4 - - - - - - - 13.78 13.16 14.07
230 34.7 -25.6 19 235 done -0.50 0.28 0.252 2031 246.4 2.38 0.041 2263 -590.3 -116.8 - - 3220 - - - - - - - - 13.98 14.40 14.28
565 80.3 -9.1 34 570 roll -0.50 - - 2031 - 2.40 0.050 882 -575.4 -116.8 - - 3220 - - - - - - - - 14.79 14.35 14.81
586 82.1 -7.8 37 592 done -0.50 - - 2025 - 2.45 0.054 2262 563.3 -116.8 - - 3221 - - - - - - - - 14.45 14.35 14.49
929 109.7 -7.7 48 929 done -0.50 - - 2025 - - - 2262 - -116.8 - - 3222 - - - - - - - - 14.86 14.88 14.88
1264 135.1 -7.7 54 1265 done -0.50 - - 2025 - - - 2262 - -116.8 - - 3222 - - - - - - - - 14.85 14.88 14.86
1601 162.9 -8.7 60 1605 roll -0.50 - - 2018 - 2.55 0.076 3695 562.0 -116.8 - - 3221 - - - - - - - - 14.86 14.29 14.88
1643 166.9 -9.5 66 1648 done -0.50 - - 2017 - 2.38 0.038 2268 -599.6 -116.8 - - 3221 - - - - - - - - 14.53 14.50 14.54
1993 198.4 -8.9 74 1998 roll -0.50 - - 2017 - 2.40 0.051 896 -571.7 -116.8 - - 3219 - - - - - - - - 14.86 14.28 14.88
2111 209.3 -9.3 91 2116 done -0.50 - - 2015 - 2.47 0.055 2289 564.0 -116.8 - - 3219 - - - - - - - - 14.44 14.32 14.47
2442 240.4 -9.6 103 2446 roll -0.50 - - 2011 - 2.53 0.080 3689 553.4 -116.8 - - 3217 - - - - - - - - 14.85 14.25 14.87
2538 249.6 -9.4 117 2543 done -0.50 - - 2011 - 2.40 0.041 2262 -594.6 -116.8 - - 3216 - - - - - - - - 14.50 14.41 14.53
2890 281.0 -8.8 125 2894 roll -0.50 - - 2011 - 2.40 0.053 900 -567.5 -116.8 - - 3214 - - - - - - - - 14.88 14.34 14.90
3000 290.6 -8.4 141 3005 done -0.50 - - 2011 - 2.47 0.057 2280 558.7 -116.8 - - 3213 - - - - - - - - 14.42 14.31 14.46
3337 318.1 -8.2 154 3342 roll -0.50 - - 2011 - 2.55 0.081 3701 557.3 -116.8 - - 3211 - - - - - - - - 14.89 14.22 14.90
3414 324.1 -7.6 165 3418 done -0.50 - - 2011 - 2.40 0.040 2280 -592.1 -116.8 - - 3210 - - - - - - - - 14.50 14.43 14.52
3730 348.4 -7.8 175 3735 roll -0.50 - - 2010 - 2.45 0.053 887 -568.6 -116.8 - - 3208 - - - - - - - - 14.88 14.32 14.89
3841 357.8 -8.0 191 3845 done -0.50 - - 2011 - 2.50 0.057 2277 556.0 -116.8 - - 3208 - - - - - - - - 14.40 14.28 14.44
4178 387.1 -8.9 204 4182 roll -0.50 - - 2005 - 2.55 0.080 3699 557.6 -116.8 - - 3206 - - - - - - - - 14.85 14.20 14.86
4218 391.0 -9.4 210 4224 done -0.50 0.12 0.223 2039 283.3 2.47 0.042 2268 -579.4 -116.8 - - 3205 - - - - - - - - 14.04 14.33 14.27
4569 418.1 -7.6 218 4574 roll -0.50 - - 2034 - 2.47 0.056 883 -560.7 -116.8 - - 3203 - - - - - - - - 14.85 14.26 14.87
4653 424.3 -7.3 230 4659 done -0.55 - - 2029 - 2.50 0.057 2269 554.4 -116.8 - - 3203 - - - - - - - - 14.29 14.18 14.33
5016 451.4 -7.6 240 5021 roll -0.55 - - 2025 - 2.60 0.085 3702 551.2 -116.8 - - 3201 - - - - - - - - 14.85 14.14 14.86
5080 456.3 -7.7 249 5085 done -0.61 - - 2025 - 2.45 0.043 2258 -589.4 -116.8 - - 3201 - - - - - - - - 14.48 14.41 14.50
5409 482.8 -8.1 261 5414 roll -0.61 - - 2025 - 2.42 0.054 886 -566.9 -116.8 - - 3200 - - - - - - - - 14.84 14.26 14.86
5443 485.6 -8.2 266 5449 done -0.61 - - 2025 - 2.50 0.057 2272 554.4 -116.8 - - 3199 - - - - - - - - 14.33 14.18 14.38
5802 512.9 -7.6 275 5806 roll -0.61 - - 2021 - 2.58 0.086 3691 550.0 -116.8 - - 3200 - - - - - - - - 14.82 14.14 14.85
5877 518.5 -7.4 286 5883 done -0.66 0.12 0.135 1967 -450.0 2.42 0.046 2274 -585.5 -116.8 - - 3196 - - - - - - - - 14.27 14.36 14.38
6193 550.2 -10.3 296 6198 roll -0.62 0.12 0.259 2002 291.7 2.47 0.056 893 -559.1 -116.8 - - 3196 - - - - - - - - 14.02 14.20 14.11
6250 555.1 -8.3 304 6255 done -0.62 - - 1998 - 2.55 0.059 2280 543.9 -116.8 - - 3195 - - - - - - - - 14.34 14.21 14.39
6585 582.2 -8.1 317 6589 roll -0.62 - - 1997 - 2.58 0.086 3699 550.0 -116.8 - - 3194 - - - - - - - - 14.83 14.10 14.85
6633 586.2 -8.0 324 6639 done -0.62 - - 1997 - 2.47 0.044 2276 -576.1 -116.8 - - 3193 - - - - - - - - 14.30 14.26 14.33
6978 613.1 -7.9 331 6983 roll -0.62 - - 1997 - 2.47 0.057 894 -559.5 -116.8 - - 3194 - - - - - - - - 14.83 14.20 14.84
7033 617.5 -7.8 339 7037 done -0.62 - - 1989 - 2.53 0.058 2282 548.6 -116.8 - - 3192 - - - - - - - - 14.31 14.19 14.35
7369 644.1 -8.0 352 7373 roll -0.62 - - 1983 - 2.60 0.086 3702 546.2 -116.8 - - 3191 - - - - - - - - 14.83 13.98 14.85
7404 647.1 -8.7 357 7408 done -0.62 - - 1983 - 2.45 0.044 2269 -584.9 -116.8 - - 3190 - - - - - - - - 14.42 14.35 14.45
7761 677.6 -8.6 366 7766 roll -0.62 - - 1983 - 2.45 0.057 894 -561.2 -116.8 - - 3189 - - - - - - - - 14.86 14.16 14.88
7802 681.4 -8.9 372 7807 done -0.62 - - 1974 - 2.53 0.058 2278 547.0 -116.8 - - 3188 - - - - - - - - 14.27 14.14 14.32
8154 713.3 -9.2 380 8159 roll -0.62 - - 1970 - 2.60 0.086 3697 545.8 -116.8 - - 3188 - - - - - - - - 14.81 14.04 14.83
8201 717.8 -9.3 387 8208 done -0.62 0.08 0.218 1992 275.0 2.50 0.045 2278 -567.6 -116.8 - - 3188 - - - - - - - - 13.81 14.20 13.93
8545 744.7 -7.7 394 8550 roll -0.62 - - 1991 - 2.50 0.055 881 -558.8 -116.8 - - 3187 - - - - - - - - 14.82 14.14 14.83
8602 749.1 -7.9 402 8607 done -0.62 - - 1987 - 2.55 0.060 2272 545.5 -116.8 - - 3186 - - - - - - - - 14.27 14.14 14.32
8937 776.4 -8.4 415 8941 roll -0.62 - - 1981 - 2.62 0.089 3697 543.9 -116.8 - - 3185 - - - - - - - - 14.81 14.01 14.83
9027 783.9 -8.7 428 9032 done -0.62 - - 1982 - 2.50 0.047 2266 -572.4 -116.8 - - 3185 - - - - - - - - 14.29 14.21 14.33
9386 816.0 -9.0 437 9390 roll -0.62 - - 1981 - 2.50 0.059 881 -554.0 -116.8 - - 3182 - - - - - - - - 14.80 14.07 14.81
9461 823.0 -9.0 448 9466 done -0.62 - - 1973 - 2.58 0.062 2276 540.7 -116.8 - - 3183 - - - - - - - - 14.20 14.06 14.25
9777 851.9 -9.0 458 9783 roll -0.62 - - 1972 - 2.62 0.090 3690 539.7 -116.8 - - 3183 - - - - - - - - 14.77 13.95 14.79
9840 857.5 -8.8 467 9845 done -0.62 - - 1971 - 2.47 0.047 2273 -573.7 -116.8 - - 3182 - - - - - - - - 14.33 14.26 14.36
10169 885.8 -8.6 479 10173 roll -0.62 - - 1972 - 2.53 0.060 879 -551.0 -116.8 - - 3181 - - - - - - - - 14.80 14.04 14.82
10203 888.4 -7.2 484 10208 done -0.62 - - 1972 - 2.60 0.063 2281 539.2 -116.8 - - 3181 - - - - - - - - 14.17 14.03 14.21
10562 916.1 -7.6 493 10567 roll -0.62 - - 1969 - 2.62 0.090 3693 538.9 -116.8 - - 3180 - - - - - - - - 14.78 13.93 14.81
10630 921.6 -7.9 503 10636 done -0.62 0.12 0.244 1995 216.7 2.50 0.047 2261 -572.8 -116.8 - - 3181 - - - - - - - - 13.78 14.20 14.02
10953 943.1 -6.6 514 10959 roll -0.62 - - 1995 - 2.47 0.057 890 -555.1 -116.8 - - 3179 - - - - - - - - 14.78 14.04 14.80
10988 945.4 -6.5 519 10993 done -0.62 - - 1995 - 2.55 0.061 2275 543.1 -116.8 - - 3179 - - - - - - - - 14.20 14.06 14.25
11345 970.6 -7.2 528 11350 roll -0.62 - - 1991 - 2.65 0.090 3703 538.9 -116.8 - - 3179 - - - - - - - - 14.81 13.90 14.83
11380 973.2 -5.2 533 11384 done -0.62 - - 1992 - 2.50 0.047 2271 -572.8 -116.8 - - 3178 - - - - - - - - 14.28 14.21 14.31
11621 end dive: TARGET_DEPTH_EXCEEDED
11621 begin apogee
11631 992.4 -7.5 540 11823 roll -0.19 0.52 0.205 2132 269.2 - - 2197 - - 190.48 1.612 2743 -2.3 0.267 - - - - - - 13.63 13.94 13.03
11825 end apogee: CONTROL_FINISHED_OK
11825 begin climb
11829 999.1 - 543 11991 done 0.68 0.88 0.126 2412 318.2 - - 2196 - 116.8 149.50 1.859 2253 -3.3 0.334 - - - - - - 13.96 14.27 12.93
12299 970.1 7.9 580 12304 roll 0.68 - - 2412 - 2.60 0.086 3614 545.4 116.8 - - 2234 - - - - - - - - 14.71 14.26 14.73
12362 964.5 9.1 589 12367 done 0.61 - - 2422 - 2.47 0.056 2208 -569.2 116.8 - - 2232 - - - - - - - - 14.46 14.37 14.48
12693 936.1 8.8 601 12698 roll 0.55 0.15 0.281 2394 -186.7 2.58 0.068 788 -550.4 116.8 - - 2231 - - - - - - - - 13.95 14.23 14.12
12796 928.3 7.1 616 12802 done 0.55 - - 2394 - 2.60 0.059 2208 546.2 121.8 - - 2229 - - - - - - - - 14.38 14.26 14.44
13141 902.0 7.8 623 13146 roll 0.55 - - 2394 - 2.58 0.087 3609 543.0 121.8 - - 2229 - - - - - - - - 14.78 14.19 14.81
13173 899.0 9.9 628 13179 done 0.55 - - 2404 - 2.55 0.054 2188 -557.3 121.8 - - 2228 - - - - - - - - 14.31 14.25 14.35
13532 869.4 8.4 637 13536 roll 0.55 - - 2414 - 2.55 0.070 797 -545.5 121.8 - - 2228 - - - - - - - - 14.80 14.20 14.82
13630 861.5 8.0 651 13635 done 0.55 0.15 0.255 2378 -240.0 2.53 0.057 2193 551.8 121.8 - - 2229 - - - - - - - - 13.89 14.26 14.21
13980 836.7 7.0 659 13991 roll 0.56 - - 2381 - 2.62 0.087 3610 540.8 130.2 3.60 1.216 2207 -6.1 0.798 - - - - - - 14.83 14.38 13.21
14056 830.8 7.8 670 14062 done 0.56 - - 2391 - 2.47 0.052 2187 -576.1 130.2 - - 2212 - - - - - - - - 14.50 14.40 14.52
14373 808.9 7.0 680 14397 roll 0.56 - - 2401 - 2.55 0.069 797 -545.1 138.3 17.88 1.811 2168 -2.5 0.209 - - - - - - 14.81 14.39 13.33
14490 800.7 6.9 697 14503 done 0.57 - - 2401 - 2.55 0.056 2188 545.5 149.6 5.05 1.536 2131 -7.3 0.725 - - - - - - 14.35 14.30 13.15
14821 777.3 7.1 709 14845 roll 0.57 - - 2401 - 2.60 0.086 3609 546.5 155.5 17.35 1.803 2099 -1.8 0.151 - - - - - - 14.77 14.36 13.33
14875 772.8 8.1 717 14880 done 0.57 - - 2410 - 2.47 0.053 2192 -573.7 155.5 - - 2093 - - - - - - - - 14.46 14.37 14.50
15213 744.8 8.4 730 15219 roll 0.57 - - 2420 - 2.55 0.070 795 -547.8 155.5 - - 2089 - - - - - - - - 14.76 14.22 14.78
15309 736.2 8.5 744 15315 done 0.57 0.15 0.249 2386 -226.7 2.53 0.056 2192 552.2 155.5 - - 2088 - - - - - - - - 13.94 14.26 14.26
15660 710.0 7.4 752 15665 roll 0.57 - - 2386 - 2.60 0.086 3609 545.0 155.5 - - 2089 - - - - - - - - 14.78 14.16 14.79
15723 704.6 8.5 761 15728 done 0.57 - - 2395 - 2.50 0.052 2181 -571.2 155.5 - - 2088 - - - - - - - - 14.42 14.33 14.46
16052 677.5 8.4 773 16057 roll 0.57 - - 2406 - 2.55 0.070 792 -544.7 155.5 - - 2087 - - - - - - - - 14.78 14.16 14.81
16149 669.4 8.1 787 16155 done 0.57 - - 2406 - 2.58 0.057 2189 541.5 155.5 - - 2086 - - - - - - - - 14.23 14.17 14.28
16501 639.5 8.6 795 16506 roll 0.57 - - 2406 - 2.60 0.083 3614 548.1 155.5 - - 2086 - - - - - - - - 14.78 14.11 14.79
16556 634.1 9.8 803 16561 done 0.57 0.12 0.256 2388 -150.0 2.55 0.054 2174 -564.7 155.5 - - 2086 - - - - - - - - 13.93 14.25 14.22
16893 608.7 7.4 816 16898 roll 0.57 - - 2397 - 2.55 0.072 790 -542.7 155.5 - - 2085 - - - - - - - - 14.76 14.10 14.79
17010 600.3 7.0 833 17017 done 0.58 - - 2397 - 2.53 0.057 2180 549.4 164.5 2.83 0.827 2066 -6.7 0.925 - - - - - - 14.30 14.17 13.22
17333 576.7 7.4 844 17338 roll 0.58 - - 2397 - 2.62 0.084 3616 548.1 164.5 - - 2074 - - - - - - - - 14.81 14.12 14.83
17417 569.8 8.1 856 17422 done 0.58 - - 2407 - 2.55 0.054 2169 -567.5 164.5 - - 2075 - - - - - - - - 14.36 14.26 14.40
17781 542.0 7.6 866 17786 roll 0.58 - - 2416 - 2.53 0.069 785 -547.0 164.5 - - 2079 - - - - - - - - 14.78 14.09 14.80
17871 534.9 7.7 879 17876 done 0.58 - - 2417 - 2.55 0.057 2188 550.2 164.5 - - 2076 - - - - - - - - 14.31 14.18 14.35
18230 506.1 8.1 888 18235 roll 0.58 - - 2416 - 2.60 0.083 3608 546.2 164.5 - - 2075 - - - - - - - - 14.81 14.03 14.83
18298 499.8 9.0 898 18305 done 0.58 0.15 0.246 2391 -166.7 2.55 0.051 2169 -564.3 164.5 - - 2075 - - - - - - - - 13.80 14.12 14.07
18622 478.0 6.8 909 18653 roll 0.59 - - 2400 - 2.50 0.069 794 -550.0 178.4 24.85 1.490 2006 -2.8 0.169 - - - - - - 14.80 14.37 13.41
18711 471.8 6.9 922 18718 done 0.59 - - 2400 - 2.50 0.055 2187 557.2 187.7 3.38 0.950 1975 -9.2 0.864 - - - - - - 14.43 14.33 13.09
19062 446.3 7.3 930 19068 roll 0.59 - - 2400 - 2.62 0.083 3610 543.1 188.7 2.15 0.356 1968 -3.3 0.774 - - - - - - 14.73 14.26 13.03
19132 440.6 8.2 940 19137 done 0.59 - - 2410 - 2.53 0.050 2164 -571.5 188.7 - - 1976 - - - - - - - - 14.41 14.32 14.45
19454 416.4 7.5 951 19458 roll 0.59 - - 2418 - 2.50 0.067 790 -549.6 188.7 - - 1978 - - - - - - - - 14.76 14.14 14.78
19511 412.2 7.5 959 19516 done 0.59 - - 2419 - 2.53 0.055 2182 550.2 188.7 - - 1978 - - - - - - - - 14.33 14.21 14.37
19846 385.5 8.1 972 19851 roll 0.59 - - 2418 - 2.60 0.082 3607 548.1 188.7 - - 1978 - - - - - - - - 14.80 14.10 14.82
19915 379.1 9.2 982 19921 done 0.59 0.15 0.241 2392 -173.3 2.53 0.049 2172 -567.2 188.7 - - 1974 - - - - - - - - 13.89 14.24 14.14
20239 356.1 7.1 993 20251 roll 0.60 - - 2402 - 2.50 0.068 784 -555.2 193.7 5.57 1.254 1951 -4.1 0.222 - - - - - - 14.80 14.25 13.38
20314 350.6 7.1 1004 20335 done 0.65 - - 2401 - 2.53 0.056 2187 554.5 198.4 14.85 1.403 1926 -1.7 0.080 - - - - - - 14.47 14.37 13.46
20687 324.2 7.0 1015 20697 roll 0.65 - - 2401 - 2.62 0.080 3609 542.7 206.7 2.83 0.707 1899 -9.5 0.830 - - - - - - 14.73 14.32 13.20
20742 320.0 7.9 1023 20746 done 0.65 - - 2408 - 2.50 0.050 2183 -570.4 206.7 - - 1903 - - - - - - - - 14.44 14.34 14.47
21078 294.3 7.8 1036 21083 roll 0.65 - - 2410 - 2.55 0.070 790 -546.3 206.7 - - 1904 - - - - - - - - 14.77 14.14 14.78
21155 288.1 8.0 1047 21160 done 0.65 - - 2410 - 2.53 0.055 2188 552.6 206.7 - - 1904 - - - - - - - - 14.35 14.23 14.38
21470 261.1 8.7 1057 21475 roll 0.65 - - 2410 - 2.60 0.080 3617 549.6 206.7 - - 1904 - - - - - - - - 14.80 14.12 14.82
21546 253.7 9.6 1068 21551 done 0.65 - - 2419 - 2.53 0.051 2185 -566.0 206.7 - - 1904 - - - - - - - - 14.35 14.26 14.40
21863 225.1 9.2 1078 21869 roll 0.65 - - 2428 - 2.58 0.066 779 -545.0 206.7 - - 1904 - - - - - - - - 14.76 14.14 14.78
21910 220.6 9.2 1085 21917 done 0.65 - - 2428 - 2.58 0.054 2183 544.2 206.7 - - 1904 - - - - - - - - 14.16 14.12 14.28
22255 189.9 8.7 1092 22260 roll 0.65 - - 2428 - 2.67 0.080 3616 536.7 206.7 1.48 0.184 1894 -6.8 1.323 - - - - - - 14.81 14.12 13.92
22317 184.3 9.0 1101 22322 done 0.65 - - 2437 - 2.53 0.051 2181 -567.2 206.7 - - 1901 - - - - - - - - 14.26 14.15 14.29
22640 156.6 8.8 1112 22644 roll 0.65 - - 2446 - 2.55 0.065 781 -549.0 206.7 - - 1900 - - - - - - - - 14.80 14.10 14.81
22703 151.0 8.9 1121 22708 done 0.65 0.15 0.231 2412 -226.7 2.55 0.055 2190 552.5 206.7 - - 1902 - - - - - - - - 13.85 14.18 14.11
23031 125.3 7.8 1133 23036 roll 0.65 - - 2412 - 2.60 0.080 3616 548.5 206.7 - - 1902 - - - - - - - - 14.77 14.04 14.78
23149 115.4 7.8 1150 23155 done 0.65 - - 2420 - 2.53 0.050 2179 -568.0 206.7 - - 1902 - - - - - - - - 14.29 14.19 14.33
23481 92.3 7.2 1163 23491 roll 0.66 - - 2424 - 2.58 0.067 788 -539.1 210.6 3.78 0.229 1889 -3.4 0.263 - - - - - - 14.74 14.09 13.52
23569 84.6 8.3 1176 23576 done 0.71 - - 2428 - 2.55 0.054 2196 552.2 210.6 2.97 0.184 1881 -2.7 0.235 - - - - - - 14.32 14.20 13.73
23897 64.7 5.4 1189 23938 roll 0.80 - - 2424 - 2.60 0.081 3616 546.2 255.9 33.62 0.321 1697 -5.5 0.209 - - - - - - 14.71 14.38 14.00
23990 59.6 5.7 1203 24023 done 0.90 0.22 0.101 2506 372.7 2.50 0.050 2185 -572.4 294.6 28.12 0.308 1540 -5.6 0.205 - - - - - - 14.29 14.31 14.00
24345 40.8 5.2 1220 24388 roll 0.99 - - 2506 - 2.62 0.075 3606 542.4 345.3 34.80 0.250 1333 -5.9 0.184 - - - - - - 14.69 14.28 14.02
24509 31.0 6.2 1244 24536 done 1.07 0.12 0.133 2556 416.7 2.47 0.048 2186 -574.9 371.9 19.20 0.217 1223 -5.7 0.155 - - - - - - 14.21 14.26 14.01
24847 4.0 8.6 1259 24852 roll 1.07 - - 2565 - 2.50 0.061 788 -559.2 371.9 - - 1227 - - - - - - - - 14.71 14.10 14.73
24854 end climb: SURFACE_DEPTH_REACHED
24855 begin surface coast
24876 end surface coast: CONTROL_FINISHED_OK
24876 begin surface
SM 0.76 - - - - -6.14 6.88 0.068 220 32.0 2.72 0.054 2289 651.8 500.17 79.22 0.134 699 8.8 -0.005 - - - - - -