SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 533 * Raw log
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• Previous call tries 1 • 209.25 of 350.00 AH used of 24V (40.22% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.8 deg, depth 0.81 m • Intended pitch -15.8 deg, speed -7.333 cm/s
• VBD pumped to 500.66 (SM_CC=500)
• GPS1 time: 40 s
• GPS2 time: 17 s • Transponder ping count: 8
• 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
21 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 111 VBD -0.68 - - 195 - - - 2301 - -116.8 -84.15 - 2779 - - - - - - - - 14.65 - 14.67
115 3.3 -4.3 3 139 roll -0.68 9.18 0.405 1961 192.4 2.72 2.047 3693 511.8 -116.8 -8.52 - 3218 -51.5 - - - - - - - 13.79 13.18 14.27
202 29.2 -23.5 16 207 done -0.50 0.28 0.259 2031 250.0 2.42 0.044 2259 -592.6 -116.8 - - 3219 - - - - - - - - 13.99 14.39 14.29
531 72.4 -7.7 30 536 roll -0.50 - - 2022 - 2.55 0.073 3695 563.1 -116.8 - - 3220 - - - - - - - - 14.78 14.26 14.80
561 74.5 -7.8 34 565 done -0.50 - - 2022 - 2.40 0.038 2259 -598.3 -116.8 - - 3220 - - - - - - - - 14.50 14.43 14.52
895 102.5 -8.5 49 901 roll -0.50 - - 2022 - 2.38 0.050 889 -575.6 -116.8 - - 3221 - - - - - - - - 14.84 14.35 14.86
929 105.9 -10.0 54 935 done -0.50 - - 2015 - 2.50 0.054 2280 556.4 -116.8 - - 3221 - - - - - - - - 14.35 14.27 14.38
1288 139.1 -9.2 63 1293 roll -0.50 - - 2011 - 2.47 0.075 3691 571.3 -116.8 - - 3221 - - - - - - - - 14.86 14.24 14.88
1440 152.3 -8.5 85 1447 done -0.50 - - 2012 - 2.40 0.040 2278 -588.8 -116.8 - - 3221 - - - - - - - - 14.41 14.38 14.44
1791 181.0 -8.0 93 1797 roll -0.50 0.10 0.262 2035 230.0 2.42 0.049 892 -572.7 -116.8 - - 3219 - - - - - - - - 14.27 14.32 14.38
1905 189.6 -7.6 109 1910 done -0.50 - - 2029 - 2.45 0.053 2275 564.5 -116.8 - - 3219 - - - - - - - - 14.43 14.33 14.47
2239 218.2 -8.8 122 2244 roll -0.50 - - 2024 - 2.53 0.078 3697 562.1 -116.8 - - 3217 - - - - - - - - 14.85 14.23 14.86
2295 223.2 -8.8 130 2300 done -0.50 - - 2024 - 2.42 0.041 2260 -593.8 -116.8 - - 3217 - - - - - - - - 14.49 14.43 14.51
2633 252.6 -8.7 143 2637 roll -0.50 - - 2024 - 2.42 0.052 886 -567.8 -116.8 - - 3215 - - - - - - - - 14.84 14.34 14.85
2728 260.6 -8.0 157 2735 done -0.50 - - 2024 - 2.47 0.057 2265 558.3 -116.8 - - 3217 - - - - - - - - 14.38 14.26 14.42
3081 288.1 -7.9 165 3086 roll -0.50 - - 2016 - 2.55 0.080 3692 559.6 -116.8 - - 3212 - - - - - - - - 14.83 14.19 14.85
3183 296.8 -8.1 180 3190 done -0.50 - - 2016 - 2.45 0.044 2273 -579.2 -116.8 - - 3211 - - - - - - - - 14.39 14.33 14.39
3528 326.7 -8.8 187 3532 roll -0.50 - - 2016 - 2.45 0.056 890 -564.5 -116.8 - - 3209 - - - - - - - - 14.84 14.18 14.86
3626 335.4 -8.5 201 3631 done -0.50 - - 2016 - 2.47 0.059 2271 559.1 -116.8 - - 3209 - - - - - - - - 14.38 14.26 14.42
3976 364.3 -8.1 209 3981 roll -0.50 - - 2012 - 2.55 0.083 3686 554.9 -116.8 - - 3206 - - - - - - - - 14.84 14.14 14.86
4051 370.2 -7.5 220 4057 done -0.50 - - 2012 - 2.42 0.044 2254 -591.7 -116.8 - - 3206 - - - - - - - - 14.44 14.36 14.47
4369 394.0 -7.5 230 4373 roll -0.50 - - 2011 - 2.42 0.055 890 -563.6 -116.8 - - 3206 - - - - - - - - 14.83 14.23 14.85
4465 401.5 -7.3 244 4470 done -0.50 - - 2011 - 2.47 0.057 2263 555.9 -116.8 - - 3203 - - - - - - - - 14.35 14.22 14.39
4815 428.8 -8.0 252 4820 roll -0.50 - - 2012 - 2.60 0.085 3700 552.7 -116.8 - - 3205 - - - - - - - - 14.84 14.12 14.85
4886 434.6 -8.0 262 4892 done -0.50 - - 2012 - 2.42 0.043 2269 -591.3 -116.8 - - 3201 - - - - - - - - 14.34 14.30 14.37
5207 462.7 -8.9 273 5213 roll -0.50 - - 2013 - 2.45 0.054 878 -567.8 -116.8 - - 3199 - - - - - - - - 14.83 14.21 14.85
5249 466.4 -9.1 279 5254 done -0.50 - - 2011 - 2.53 0.058 2273 551.4 -116.8 - - 3200 - - - - - - - - 14.34 14.21 14.39
5601 497.5 -8.9 287 5605 roll -0.50 0.10 0.270 2024 130.0 2.58 0.082 3695 551.2 -116.8 - - 3198 - - - - - - - - 14.20 14.11 14.31
5662 502.6 -7.8 296 5667 done -0.55 - - 2024 - 2.47 0.045 2256 -582.6 -116.8 - - 3198 - - - - - - - - 14.40 14.33 14.42
5991 528.0 -7.7 308 5996 roll -0.55 - - 2024 - 2.42 0.054 885 -566.5 -116.8 - - 3196 - - - - - - - - 14.86 14.21 14.88
6034 531.4 -8.0 314 6039 done -0.55 - - 2024 - 2.50 0.058 2269 553.6 -116.8 - - 3196 - - - - - - - - 14.33 14.21 14.37
6383 557.7 -7.5 322 6388 roll -0.55 - - 2017 - 2.60 0.086 3699 550.0 -116.8 - - 3194 - - - - - - - - 14.83 14.07 14.85
6440 561.9 -7.4 330 6444 done -0.61 - - 2018 - 2.47 0.044 2256 -584.2 -116.8 - - 3194 - - - - - - - - 14.42 14.35 14.45
6777 586.4 -7.2 343 6777 done -0.61 - - 2017 - - - 2247 - -116.8 - - 3196 - - - - - - - - 14.81 14.83 14.83
7111 609.6 -6.9 349 7117 roll -0.61 - - 2017 - 2.42 0.054 890 -560.7 -116.8 - - 3192 - - - - - - - - 14.83 14.14 14.84
7153 612.6 -7.2 355 7158 done -0.61 - - 2016 - 2.50 0.057 2269 551.6 -116.8 - - 3192 - - - - - - - - 14.28 14.16 14.33
7505 636.5 -6.8 363 7510 roll -0.61 - - 2012 - 2.60 0.087 3688 545.8 -116.8 - - 3190 - - - - - - - - 14.84 14.00 14.85
7594 642.9 -6.8 376 7599 done -0.67 - - 2012 - 2.47 0.047 2260 -578.1 -116.8 - - 3190 - - - - - - - - 14.34 14.27 14.37
7953 668.9 -7.4 385 7958 roll -0.67 - - 2012 - 2.45 0.056 886 -560.8 -116.8 - - 3189 - - - - - - - - 14.80 14.09 14.82
8000 672.9 -7.9 392 8007 done -0.67 - - 2012 - 2.55 0.059 2258 538.0 -116.8 - - 3188 - - - - - - - - 14.07 14.00 14.12
8344 698.3 -7.4 399 8349 roll -0.67 - - 2012 - 2.62 0.087 3689 546.2 -116.8 - - 3187 - - - - - - - - 14.81 13.96 14.82
8421 704.0 -7.0 410 8426 done -0.73 0.15 0.120 1954 -386.7 2.47 0.046 2259 -578.9 -116.8 - - 3187 - - - - - - - - 14.15 14.25 14.26
8736 735.6 -10.2 420 8741 roll -0.68 - - 1954 - 2.45 0.056 888 -559.6 -116.8 - - 3185 - - - - - - - - 14.83 14.09 14.85
8777 740.0 -10.5 426 8783 done -0.63 0.12 0.240 1988 283.3 2.58 0.060 2266 534.1 -116.8 - - 3186 - - - - - - - - 13.61 13.99 13.93
9129 768.7 -8.1 434 9134 roll -0.63 - - 1981 - 2.65 0.090 3701 541.5 -116.8 - - 3185 - - - - - - - - 14.82 13.93 14.84
9169 772.3 -8.2 440 9174 done -0.63 - - 1981 - 2.50 0.047 2256 -578.0 -116.8 - - 3184 - - - - - - - - 14.27 14.17 14.31
9520 801.1 -8.3 448 9525 roll -0.63 - - 1981 - 2.47 0.057 882 -556.3 -116.8 - - 3183 - - - - - - - - 14.79 14.03 14.81
9548 803.6 -8.9 452 9553 done -0.63 - - 1975 - 2.58 0.061 2279 541.5 -116.8 - - 3183 - - - - - - - - 14.10 13.93 14.16
9912 835.4 -8.7 462 9917 roll -0.63 - - 1972 - 2.62 0.088 3689 538.2 -116.8 - - 3182 - - - - - - - - 14.78 13.90 14.81
9968 840.5 -9.0 470 9973 done -0.63 - - 1971 - 2.50 0.047 2264 -570.0 -116.8 - - 3182 - - - - - - - - 14.14 14.05 14.16
10305 871.6 -9.3 483 10310 roll -0.63 - - 1972 - 2.50 0.059 885 -551.6 -116.8 - - 3181 - - - - - - - - 14.81 14.00 14.82
10380 879.0 -9.4 494 10385 done -0.63 - - 1971 - 2.58 0.063 2274 538.4 -116.8 - - 3181 - - - - - - - - 14.12 13.98 14.18
10696 908.7 -9.5 504 10700 roll -0.63 - - 1971 - 2.65 0.092 3688 533.6 -116.8 - - 3181 - - - - - - - - 14.82 13.88 14.83
10753 914.0 -9.5 512 10758 done -0.63 - - 1971 - 2.53 0.049 2258 -565.2 -116.8 - - 3180 - - - - - - - - 14.25 14.16 14.28
11088 946.2 -9.6 525 11093 roll -0.63 - - 1972 - 2.50 0.058 886 -548.8 -116.8 - - 3179 - - - - - - - - 14.77 13.95 14.78
11144 951.8 -9.8 533 11149 done -0.63 - - 1972 - 2.58 0.063 2268 535.7 -116.8 - - 3179 - - - - - - - - 14.10 13.96 14.16
11481 983.8 -9.5 546 11486 roll -0.63 - - 1972 - 2.67 0.093 3689 532.2 -116.8 - - 3178 - - - - - - - - 14.78 13.80 14.81
11521 987.7 -6.9 552 11527 done -0.63 - - 1971 - 2.55 0.050 2270 -556.5 -116.8 - - 3178 - - - - - - - - 14.05 14.02 14.09
11588 end dive: TARGET_DEPTH_EXCEEDED
11588 begin apogee
11597 994.2 -9.2 555 11760 roll -0.19 0.60 0.215 2129 263.3 - - 2180 - - 149.70 2.545 2740 -2.9 0.229 - - - - 1 - 13.59 13.66 12.31
11762 end apogee: CONTROL_FINISHED_OK
11762 begin climb
11767 1000.8 - 558 11932 done 0.68 0.90 0.125 2410 312.2 - - 2180 - 116.8 157.80 1.851 2262 -3.0 0.328 - - - - - - 13.82 14.12 12.90
12265 967.0 8.8 588 12270 roll 0.63 - - 2410 - 2.65 0.087 3619 543.0 116.8 - - 2236 - - - - - - - - 14.69 14.26 14.71
12333 960.1 10.0 598 12339 done 0.56 0.15 0.282 2386 -160.0 2.47 0.059 2214 -568.8 116.8 - - 2234 - - - - - - - - 14.00 14.35 14.32
12656 934.3 8.0 609 12662 roll 0.56 - - 2397 - 2.60 0.072 788 -548.5 116.8 - - 2236 - - - - - - - - 14.76 14.24 14.78
12733 928.3 7.8 620 12738 done 0.56 - - 2397 - 2.58 0.060 2212 551.9 116.8 - - 2231 - - - - - - - - 14.33 14.22 14.38
13048 903.0 8.1 630 13052 roll 0.56 - - 2396 - 2.55 0.087 3608 547.5 116.8 - - 2231 - - - - - - - - 14.81 14.18 14.83
13082 900.0 10.0 635 13088 done 0.51 0.17 0.268 2368 -164.7 2.47 0.054 2195 -572.1 116.8 - - 2230 - - - - - - - - 13.88 14.31 14.22
13441 875.8 6.7 644 13453 roll 0.51 - - 2378 - 2.55 0.069 784 -553.3 132.0 5.43 1.613 2202 -5.2 0.560 - - - - - - 14.78 14.14 13.27
13523 870.1 6.8 656 13556 done 0.52 - - 2378 - 2.55 0.059 2201 555.7 145.2 26.40 1.870 2144 -2.2 0.205 - - - - - - 14.51 14.40 13.29
13889 843.8 7.3 673 13894 roll 0.52 - - 2378 - 2.60 0.089 3615 543.8 145.2 - - 2131 - - - - - - - - 14.74 14.20 14.76
13908 842.2 7.0 676 13914 done 0.53 - - 2385 - 2.50 0.056 2189 -570.4 152.2 2.00 0.191 2117 -7.0 6.176 - - - - - - 14.42 14.31 12.26
14224 818.7 7.4 686 14229 roll 0.53 - - 2398 - 2.53 0.070 797 -550.2 152.2 - - 2122 - - - - - - - - 14.76 14.20 14.78
14308 812.6 7.3 698 14313 done 0.53 - - 2398 - 2.53 0.057 2197 553.4 152.6 - - 2121 - - - - - - - - 14.38 14.26 14.42
14672 784.7 7.8 708 14677 roll 0.53 - - 2398 - 2.58 0.087 3608 546.9 152.6 - - 2123 - - - - - - - - 14.78 14.13 14.79
14713 781.1 8.7 714 14719 done 0.53 0.12 0.226 2373 -208.3 2.53 0.054 2193 -559.3 152.6 - - 2123 - - - - - - - - 13.78 14.16 14.18
15065 757.6 6.7 722 15098 roll 0.54 - - 2384 - 2.60 0.072 793 -538.5 168.5 28.50 1.760 2048 -2.6 0.227 - - - - - - 14.78 14.33 13.33
15192 748.8 7.1 740 15197 done 0.54 - - 2388 - 2.55 0.059 2190 547.8 173.3 - - 2036 - - - - - - - - 14.40 14.28 14.42
15506 725.7 7.3 750 15511 roll 0.54 - - 2384 - 2.60 0.086 3612 546.9 174.5 - - 2035 - - - - - - - - 14.73 14.17 14.76
15546 722.2 8.6 756 15552 done 0.54 - - 2393 - 2.50 0.054 2191 -568.4 174.5 - - 2034 - - - - - - - - 14.39 14.28 14.42
15897 695.5 7.6 764 15902 roll 0.54 - - 2404 - 2.55 0.070 790 -549.4 174.5 - - 2034 - - - - - - - - 14.79 14.17 14.81
16002 687.8 7.3 779 16009 done 0.54 - - 2404 - 2.55 0.058 2190 549.0 176.4 2.15 0.380 2017 -7.9 2.863 - - - - - - 14.35 14.23 12.97
16346 661.3 7.7 786 16350 roll 0.54 - - 2404 - 2.60 0.085 3615 548.1 176.4 - - 2024 - - - - - - - - 14.76 14.12 14.78
16401 656.3 9.1 794 16407 done 0.54 0.15 0.248 2380 -160.0 2.53 0.054 2184 -565.6 176.4 - - 2024 - - - - - - - - 13.92 14.28 14.17
16738 632.7 7.0 807 16758 roll 0.55 - - 2388 - 2.60 0.070 782 -539.2 183.2 14.98 1.709 1989 -2.3 0.173 - - - - - - 14.74 14.36 13.35
16834 625.5 7.5 821 16841 done 0.55 - - 2390 - 2.55 0.057 2195 554.1 183.2 - - 1978 - - - - - - - - 14.46 14.34 14.50
17186 598.1 7.9 829 17192 roll 0.55 - - 2390 - 2.60 0.086 3610 544.2 183.2 - - 1979 - - - - - - - - 14.76 14.16 14.78
17247 592.5 9.0 838 17253 done 0.55 - - 2398 - 2.53 0.053 2173 -568.0 183.2 - - 1976 - - - - - - - - 14.39 14.28 14.43
17578 564.5 8.6 850 17582 roll 0.55 - - 2409 - 2.55 0.072 791 -542.0 183.2 - - 1977 - - - - - - - - 14.76 14.16 14.77
17668 556.8 8.3 863 17673 done 0.55 0.12 0.246 2382 -225.0 2.53 0.057 2188 552.2 183.2 - - 1976 - - - - - - - - 13.95 14.25 14.23
18026 530.2 7.4 872 18030 roll 0.55 - - 2382 - 2.62 0.083 3617 545.4 183.2 - - 1977 - - - - - - - - 14.78 14.09 14.81
18109 523.5 7.9 884 18114 done 0.55 - - 2390 - 2.55 0.054 2176 -565.1 183.2 - - 1976 - - - - - - - - 14.35 14.24 14.38
18474 497.8 7.0 894 18484 roll 0.55 - - 2392 - 2.55 0.073 787 -544.7 191.8 2.92 0.839 1957 -6.5 0.772 - - - - - - 14.76 14.35 13.26
18564 491.9 6.3 907 18612 done 0.61 - - 2392 - 2.53 0.056 2187 553.4 216.6 43.25 1.464 1854 -2.4 0.160 - - - - - - 14.42 14.30 13.40
18922 467.0 7.1 923 18927 roll 0.61 - - 2392 - 2.60 0.083 3616 549.6 221.2 - - 1834 - - - - - - - - 14.68 14.14 14.69
18997 460.5 8.6 934 19003 done 0.61 - - 2400 - 2.55 0.054 2167 -568.2 221.2 - - 1833 - - - - - - - - 14.36 14.26 14.40
19315 434.8 8.3 944 19319 roll 0.61 - - 2407 - 2.53 0.070 792 -543.5 221.2 - - 1833 - - - - - - - - 14.72 14.14 14.73
19396 428.0 8.1 956 19402 done 0.61 - - 2407 - 2.50 0.056 2179 554.8 221.2 - - 1832 - - - - - - - - 14.33 14.19 14.37
19762 398.1 8.2 966 19766 roll 0.61 - - 2407 - 2.62 0.083 3616 548.5 221.2 - - 1832 - - - - - - - - 14.76 14.09 14.77
19838 391.4 8.7 977 19844 done 0.61 - - 2416 - 2.53 0.054 2186 -565.2 221.2 - - 1832 - - - - - - - - 14.35 14.25 14.38
20153 366.1 8.0 987 20158 roll 0.61 - - 2424 - 2.55 0.067 790 -547.5 221.2 - - 1832 - - - - - - - - 14.80 14.06 14.81
20229 360.4 7.3 998 20235 done 0.61 - - 2424 - 2.53 0.056 2182 550.2 222.2 - - 1832 - - - - - - - - 14.28 14.16 14.33
20546 335.8 7.8 1008 20551 roll 0.61 - - 2424 - 2.62 0.082 3616 547.3 222.2 - - 1831 - - - - - - - - 14.78 14.05 14.80
20628 328.4 9.2 1020 20634 done 0.61 0.15 0.246 2399 -166.7 2.55 0.053 2176 -564.7 222.2 - - 1831 - - - - - - - - 13.83 14.19 14.09
20994 302.7 7.1 1030 21005 roll 0.62 - - 2406 - 2.53 0.070 794 -546.2 227.7 3.38 0.871 1809 -6.5 0.453 - - - - - - 14.75 14.31 13.35
21084 296.2 7.2 1043 21091 done 0.67 - - 2406 - 2.50 0.055 2187 557.2 230.7 3.33 0.869 1799 -3.0 0.205 - - - - - - 14.44 14.33 13.31
21434 269.3 7.8 1051 21441 roll 0.67 - - 2406 - 2.62 0.080 3614 544.7 230.7 2.28 0.428 1796 -1.3 0.166 - - - - - - 14.79 14.28 13.21
21498 263.6 9.0 1060 21503 done 0.67 - - 2416 - 2.53 0.050 2167 -571.9 230.7 - - 1807 - - - - - - - - 14.39 14.28 14.42
21820 235.5 8.9 1071 21825 roll 0.67 - - 2424 - 2.50 0.067 796 -548.4 230.7 - - 1808 - - - - - - - - 14.80 14.09 14.81
21890 229.2 9.0 1081 21896 done 0.67 - - 2424 - 2.50 0.054 2185 555.6 230.7 1.83 0.184 1797 -6.0 1.498 - - - - - - 14.30 14.19 13.97
22212 198.1 9.7 1092 22217 roll 0.67 - - 2424 - 2.58 0.079 3606 550.8 230.7 - - 1809 - - - - - - - - 14.76 14.04 14.78
22302 188.2 10.9 1105 22308 done 0.67 - - 2433 - 2.47 0.049 2187 -574.5 230.7 - - 1807 - - - - - - - - 14.31 14.20 14.37
22661 153.9 9.3 1114 22667 roll 0.67 - - 2442 - 2.60 0.064 797 -534.6 230.7 1.65 0.184 1796 -6.7 1.116 - - - - - - 14.79 14.04 13.85
22743 146.9 8.0 1126 22749 done 0.67 - - 2442 - 2.53 0.052 2190 550.6 230.7 - - 1805 - - - - - - - - 14.25 14.13 14.29
23102 115.6 9.0 1135 23107 roll 0.67 - - 2442 - 2.58 0.079 3606 548.8 230.7 - - 1807 - - - - - - - - 14.78 13.92 14.83
23177 107.6 10.1 1146 23183 done 0.67 0.15 0.252 2417 -166.7 2.50 0.048 2184 -568.8 230.7 - - 1810 - - - - - - - - 13.76 14.15 14.03
23493 84.9 6.7 1159 23513 roll 0.68 - - 2424 - 2.47 0.064 791 -564.0 246.0 12.75 0.356 1738 -5.6 0.269 - - - - - - 14.74 14.28 13.78
23571 79.9 6.8 1170 23589 done 0.76 - - 2424 - 2.50 0.053 2186 558.0 259.9 12.23 0.352 1682 -4.6 0.208 - - - - - - 14.35 14.24 13.81
23917 56.2 6.9 1186 23933 roll 0.84 0.12 0.132 2480 466.7 2.60 0.077 3630 555.4 270.3 9.38 0.268 1639 -4.6 0.192 - - - - - - 14.28 14.23 13.84
24165 40.9 1.8 1222 24261 done 0.97 - - 2488 - 2.55 0.044 2157 -577.6 403.1 87.60 0.257 1094 -6.2 0.198 - - - - - - 14.33 14.25 14.00
24585 15.3 7.9 1249 24591 roll 1.25 0.32 0.130 2592 325.0 2.65 0.073 3613 549.4 403.1 - - 1096 - - - - - - - - 13.97 14.10 14.07
24703 4.5 10.9 1266 24709 done 1.25 - - 2601 - 2.47 0.052 2203 -570.9 403.1 - - 1096 - - - - - - - - 14.31 14.20 14.33
24714 end climb: SURFACE_DEPTH_REACHED
24714 begin surface coast
24750 end surface coast: CONTROL_FINISHED_OK
24750 begin surface
SM 0.73 - - - - -6.15 7.05 0.071 205 29.1 0.17 0.106 2292 7423.5 500.66 61.53 0.133 699 11.4 -0.006 - - - - - -