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| • Previous call tries 1 | • 30.92 of 575.00 AH used of 24V (94.62% remains) | |
| • Surface angle -68.0 deg, depth 2.30 m | • Intended pitch -20.2 deg, speed -9.167 cm/s | |
| • No surface pump (final VBD was 593.4, SM_CC=700) | ||
| • GPS1 time: 113 s | ||
| • GPS2 time: 4 s | ||
| • Time spent turning 0 s |
| 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 | pit | roll | vbd | flags | |||||
| 7 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7 | begin dive | ||||||||||||||||||||||||||||
| 8.50 | - | - | - | 50.47 | VBD | -2.10 | - | - | 218.75 | - | - | - | 2610.12 | - | -116.79 | 40.74 | 0.005 | 1204.91 | - | - | - | - | - | - | - | - | - | - | 15.82 |
| 50.73 | 3.47 | -3.85 | 4 | 146.76 | -2.10 | 12.64 | 0.303 | 1786.25 | 124.0 | 3.98 | 0.161 | 1191.50 | -356.4 | -116.79 | 70.92 | 0.005 | 3598.81 | 33.8 | -3.944 | - | - | - | - | - | - | 15.64 | 15.74 | 15.83 | |
| 374.18 | 73.42 | -18.38 | 68 | 380.09 | roll | -2.10 | - | - | 1787.31 | - | 3.57 | 0.075 | 2615.62 | 398.9 | -116.79 | - | - | 3600.94 | - | - | - | - | - | - | - | - | - | 15.87 | - |
| 744.91 | 125.25 | -13.72 | 82 | 751.29 | roll | -2.10 | - | - | 1786.94 | - | 3.97 | 0.157 | 1192.00 | -358.6 | -116.79 | - | - | 3600.91 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 924.24 | 154.53 | -16.02 | 118 | 930.18 | roll | -2.10 | - | - | 1787.00 | - | 3.51 | 0.073 | 2614.62 | 405.3 | -116.79 | - | - | 3601.09 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 1309.98 | 203.07 | -12.13 | 135 | 1316.37 | roll | -2.10 | - | - | 1787.06 | - | 3.97 | 0.158 | 1193.12 | -358.1 | -116.79 | - | - | 3601.88 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 1384.28 | 213.32 | -13.79 | 150 | 1390.15 | roll | -2.10 | - | - | 1787.50 | - | 3.48 | 0.071 | 2614.56 | 408.5 | -116.79 | - | - | 3602.47 | - | - | - | - | - | - | - | - | - | 16.02 | - |
| 1755.02 | 253.61 | -10.21 | 164 | 1761.40 | roll | -2.10 | - | - | 1787.06 | - | 3.95 | 0.159 | 1192.44 | -360.0 | -116.79 | - | - | 3601.03 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 1844.31 | 263.73 | -11.27 | 182 | 1850.20 | roll | -2.10 | - | - | 1786.88 | - | 3.45 | 0.070 | 2614.44 | 412.2 | -116.79 | - | - | 3600.19 | - | - | - | - | - | - | - | - | - | 16.06 | - |
| 2237.85 | 297.06 | -8.20 | 199 | 2244.41 | roll | -2.10 | - | - | 1786.44 | - | 3.96 | 0.161 | 1194.06 | -358.7 | -116.79 | - | - | 3600.94 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 2277.09 | 300.76 | -9.27 | 207 | 2283.15 | roll | -2.10 | - | - | 1786.81 | - | 3.48 | 0.072 | 2615.94 | 408.6 | -116.79 | - | - | 3601.09 | - | - | - | - | - | - | - | - | - | 16.02 | - |
| 2652.89 | 330.21 | -7.58 | 222 | 2660.45 | roll | -2.10 | - | - | 1786.94 | - | 3.95 | 0.160 | 1191.81 | -360.5 | -116.79 | - | - | 3599.19 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 2712.88 | 335.69 | -9.27 | 234 | 2718.91 | roll | -2.10 | - | - | 1786.50 | - | 3.47 | 0.071 | 2616.44 | 410.6 | -116.79 | - | - | 3600.72 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 3098.70 | 364.64 | -7.30 | 251 | 3106.24 | roll | -2.10 | - | - | 1786.44 | - | 3.96 | 0.159 | 1189.44 | -360.4 | -116.79 | - | - | 3601.88 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 3124.44 | 366.79 | -7.32 | 256 | 3130.66 | roll | -2.10 | - | - | 1785.50 | - | 3.44 | 0.069 | 2616.44 | 414.8 | -116.79 | - | - | 3600.53 | - | - | - | - | - | - | - | - | - | 16.00 | - |
| 3514.47 | 395.36 | -7.27 | 274 | 3522.02 | roll | -2.10 | - | - | 1787.06 | - | 3.94 | 0.161 | 1192.44 | -361.4 | -116.79 | - | - | 3599.81 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 3559.49 | 399.30 | -8.68 | 283 | 3565.63 | roll | -2.10 | - | - | 1786.75 | - | 3.43 | 0.073 | 2616.50 | 415.2 | -116.79 | - | - | 3601.19 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 3930.27 | 426.70 | -7.32 | 297 | 3931.83 | no move | -2.10 | - | - | 1786.94 | - | - | - | 2616.25 | - | -116.79 | - | - | 3599.88 | - | - | - | - | - | - | - | - | - | - | - |
| 4320.26 | 454.75 | -7.10 | 310 | 4327.79 | roll | -2.10 | - | - | 1786.88 | - | 3.93 | 0.161 | 1193.12 | -362.1 | -116.79 | - | - | 3599.16 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 4395.29 | 461.00 | -8.42 | 325 | 4401.30 | roll | -2.10 | - | - | 1787.12 | - | 3.43 | 0.073 | 2614.56 | 414.4 | -116.79 | - | - | 3600.12 | - | - | - | - | - | - | - | - | - | 16.10 | - |
| 4766.03 | 486.60 | -6.87 | 339 | 4773.58 | roll | -2.10 | - | - | 1787.31 | - | 3.93 | 0.160 | 1191.62 | -362.1 | -116.79 | - | - | 3599.91 | - | - | - | - | - | - | - | - | - | 16.05 | - |
| 4801.05 | 489.47 | -6.97 | 346 | 4807.06 | roll | -2.10 | - | - | 1787.00 | - | 3.42 | 0.071 | 2616.81 | 416.7 | -116.79 | - | - | 3601.28 | - | - | - | - | - | - | - | - | - | 16.12 | - |
| 5181.82 | 516.07 | -7.00 | 362 | 5188.46 | roll | -2.10 | - | - | 1787.19 | - | 3.89 | 0.159 | 1192.50 | -366.1 | -116.79 | - | - | 3600.50 | - | - | - | - | - | - | - | - | - | 16.07 | - |
| 5211.09 | 518.47 | -7.09 | 368 | 5217.09 | roll | -2.10 | - | - | 1786.69 | - | 3.43 | 0.069 | 2616.00 | 415.0 | -116.79 | - | - | 3601.00 | - | - | - | - | - | - | - | - | - | 16.13 | - |
| 5596.85 | 545.82 | -7.03 | 385 | 5598.40 | no move | -2.10 | - | - | 1785.19 | - | - | - | 2614.94 | - | -116.79 | - | - | 3600.12 | - | - | - | - | - | - | - | - | - | - | - |
| 5986.86 | 572.84 | -6.82 | 398 | 5994.37 | roll | -2.10 | - | - | 1786.75 | - | 3.90 | 0.160 | 1193.50 | -364.5 | -116.79 | - | - | 3599.03 | - | - | - | - | - | - | - | - | - | 16.09 | - |
| 6051.88 | 578.06 | -8.14 | 411 | 6057.82 | roll | -2.10 | - | - | 1787.38 | - | 3.39 | 0.070 | 2615.81 | 419.6 | -116.79 | - | - | 3600.28 | - | - | - | - | - | - | - | - | - | 16.16 | - |
| 6432.61 | 604.03 | -6.83 | 427 | 6434.16 | no move | -2.10 | - | - | 1785.62 | - | - | - | 2614.94 | - | -116.79 | - | - | 3599.91 | - | - | - | - | - | - | - | - | - | - | - |
| 6822.61 | 630.51 | -6.73 | 440 | 6830.16 | roll | -2.10 | - | - | 1787.12 | - | 3.91 | 0.159 | 1191.69 | -364.0 | -116.79 | - | - | 3600.97 | - | - | - | - | - | - | - | - | - | 16.11 | - |
| 6867.64 | 634.06 | -7.76 | 449 | 6873.65 | roll | -2.10 | - | - | 1787.44 | - | 3.41 | 0.071 | 2614.75 | 417.3 | -116.79 | - | - | 3600.59 | - | - | - | - | - | - | - | - | - | 16.16 | - |
| 7238.38 | 658.83 | -6.62 | 463 | 7239.94 | no move | -2.10 | - | - | 1785.75 | - | - | - | 2614.44 | - | -116.79 | - | - | 3599.56 | - | - | - | - | - | - | - | - | - | - | - |
| 7628.39 | 684.31 | -6.54 | 476 | 7635.94 | roll | -2.10 | - | - | 1786.88 | - | 3.90 | 0.160 | 1194.06 | -364.2 | -116.79 | - | - | 3599.03 | - | - | - | - | - | - | - | - | - | 16.12 | - |
| 7684.15 | 688.58 | -7.79 | 487 | 7690.42 | roll | -2.10 | - | - | 1787.19 | - | 3.40 | 0.072 | 2615.06 | 417.9 | -116.79 | - | - | 3599.72 | - | - | - | - | - | - | - | - | - | 16.18 | - |
| 8069.17 | 713.88 | -6.56 | 504 | 8070.73 | no move | -2.10 | - | - | 1786.88 | - | - | - | 2614.19 | - | -116.79 | - | - | 3600.62 | - | - | - | - | - | - | - | - | - | - | - |
| 8434.19 | 737.54 | -6.43 | 517 | 8435.74 | no move | -2.10 | - | - | 1785.81 | - | - | - | 2614.31 | - | -116.79 | - | - | 3600.19 | - | - | - | - | - | - | - | - | - | - | - |
| 8824.20 | 762.74 | -6.46 | 530 | 8831.69 | roll | -2.10 | - | - | 1786.19 | - | 3.90 | 0.161 | 1192.25 | -364.6 | -116.79 | - | - | 3601.41 | - | - | - | - | - | - | - | - | - | 16.12 | - |
| 8854.19 | 765.04 | -6.54 | 536 | 8860.13 | roll | -2.10 | - | - | 1786.94 | - | 3.39 | 0.072 | 2615.31 | 419.8 | -116.79 | - | - | 3600.94 | - | - | - | - | - | - | - | - | - | 16.18 | - |
| 9239.92 | 790.20 | -6.48 | 553 | 9241.47 | no move | -2.10 | - | - | 1785.69 | - | - | - | 2614.50 | - | -116.79 | - | - | 3600.53 | - | - | - | - | - | - | - | - | - | - | - |
| 9629.92 | 815.33 | -6.46 | 566 | 9631.48 | no move | -2.10 | - | - | 1786.75 | - | - | - | 2615.56 | - | -116.79 | - | - | 3601.12 | - | - | - | - | - | - | - | - | - | - | - |
| 10019.92 | 840.66 | -6.46 | 579 | 10027.48 | roll | -2.10 | - | - | 1786.81 | - | 3.93 | 0.159 | 1193.06 | -362.0 | -116.79 | - | - | 3602.12 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 10059.96 | 843.71 | -6.64 | 587 | 10066.01 | roll | -2.10 | - | - | 1787.06 | - | 3.44 | 0.072 | 2614.50 | 413.2 | -116.79 | - | - | 3602.00 | - | - | - | - | - | - | - | - | - | 16.09 | - |
| 10435.73 | 867.54 | -6.26 | 602 | 10442.17 | roll | -2.10 | - | - | 1784.75 | - | 3.70 | 0.155 | 4006.62 | 376.2 | -116.79 | - | - | 3601.59 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 10444.99 | 868.17 | -6.26 | 604 | 10451.04 | roll | -2.10 | - | - | 1787.06 | - | 3.53 | 0.079 | 2573.94 | -405.9 | -116.79 | - | - | 3601.28 | - | - | - | - | - | - | - | - | - | 16.05 | - |
| 10820.75 | 891.79 | -6.27 | 619 | 10827.25 | roll | -2.10 | - | - | 1785.69 | - | 3.82 | 0.146 | 4006.94 | 375.1 | -116.79 | - | - | 3600.41 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 10830.01 | 892.44 | -6.28 | 621 | 10836.11 | roll | -2.10 | - | - | 1787.56 | - | 3.60 | 0.079 | 2573.94 | -398.1 | -116.79 | - | - | 3601.16 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 11205.77 | 916.09 | -6.26 | 636 | 11207.33 | no move | -2.10 | - | - | 1785.38 | - | - | - | 2573.56 | - | -116.79 | - | - | 3601.44 | - | - | - | - | - | - | - | - | - | - | - |
| 11595.79 | 940.11 | -6.14 | 649 | 11602.29 | roll | -2.10 | - | - | 1784.75 | - | 3.84 | 0.147 | 4007.56 | 373.4 | -116.79 | - | - | 3601.75 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 11605.06 | 940.74 | -6.17 | 651 | 11611.12 | roll | -2.10 | - | - | 1786.06 | - | 3.60 | 0.081 | 2572.25 | -398.7 | -116.79 | - | - | 3601.25 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 11980.82 | 964.16 | -6.25 | 666 | 11987.32 | roll | -2.10 | - | - | 1784.88 | - | 3.82 | 0.146 | 4008.88 | 376.1 | -116.79 | - | - | 3601.78 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 11995.10 | 965.14 | -6.25 | 669 | 12001.15 | roll | -2.10 | - | - | 1787.50 | - | 3.59 | 0.084 | 2573.12 | -399.9 | -116.79 | - | - | 3599.56 | - | - | - | - | - | - | - | - | - | 16.06 | - |
| 12365.84 | 988.28 | -6.27 | 683 | 12372.35 | roll | -2.10 | - | - | 1786.75 | - | 3.83 | 0.147 | 4007.12 | 374.4 | -116.79 | - | - | 3600.84 | - | - | - | - | - | - | - | - | - | 16.05 | - |
| 12375.11 | 988.92 | -6.28 | 685 | 12381.17 | roll | -2.10 | - | - | 1787.31 | - | 3.58 | 0.081 | 2571.88 | -400.9 | -116.79 | - | - | 3601.28 | - | - | - | - | - | - | - | - | - | 16.08 | - |
| 12421 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 12421 | begin apogee | ||||||||||||||||||||||||||||
| 12422.33 | 991.78 | -6.32 | 689 | 12529.71 | -0.40 | 2.81 | 0.150 | 2198.69 | 146.4 | 0.06 | 0.310 | 2696.88 | 2083.3 | - | 99.14 | 2.212 | 3118.91 | -4.9 | 0.367 | - | - | - | - | - | - | 16.06 | 15.36 | 12.01 | |
| 12539 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 12539 | begin climb | ||||||||||||||||||||||||||||
| 12540.20 | 992.37 | - | 692 | 12654.68 | 2.10 | 3.99 | 0.070 | 2810.88 | 153.4 | - | - | 2697.38 | - | 116.79 | 104.18 | 2.152 | 2643.97 | -4.6 | 0.354 | - | - | - | - | - | - | 15.45 | - | 11.78 | |
| 13027.83 | 899.71 | 23.80 | 724 | 13029.40 | VBD | 2.10 | - | - | 2811.75 | - | - | - | 2697.75 | - | 116.79 | - | - | 2629.06 | - | - | - | - | - | - | - | - | - | - | - |
| 13417.84 | 808.66 | 23.09 | 737 | 13424.24 | done | 2.10 | - | - | 2811.25 | - | 3.55 | 0.137 | 4007.88 | 369.1 | 116.79 | - | - | 2624.94 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 13477.12 | 793.94 | 24.78 | 749 | 13483.17 | done | 2.10 | - | - | 2811.56 | - | 3.36 | 0.077 | 2694.69 | -390.8 | 116.79 | - | - | 2625.25 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 13862.87 | 707.06 | 22.25 | 766 | 13869.23 | done | 2.10 | - | - | 2808.75 | - | 3.49 | 0.134 | 4008.50 | 376.4 | 116.79 | - | - | 2622.84 | - | - | - | - | - | - | - | - | - | 15.93 | - |
| 13907.15 | 696.37 | 24.07 | 775 | 13913.21 | done | 2.10 | - | - | 2812.00 | - | 3.32 | 0.076 | 2691.75 | -396.6 | 116.79 | - | - | 2624.34 | - | - | - | - | - | - | - | - | - | 15.98 | - |
| 14277.90 | 614.95 | 21.79 | 789 | 14284.25 | done | 2.10 | - | - | 2812.50 | - | 3.50 | 0.131 | 4007.75 | 376.0 | 116.79 | - | - | 2620.66 | - | - | - | - | - | - | - | - | - | 15.98 | - |
| 14327.17 | 603.35 | 23.49 | 799 | 14333.85 | done | 2.10 | - | - | 2812.88 | - | 3.28 | 0.073 | 2691.69 | -401.2 | 116.79 | - | - | 2623.97 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 14722.92 | 518.59 | 21.17 | 813 | 14729.32 | done | 2.10 | - | - | 2812.69 | - | 3.51 | 0.129 | 4008.50 | 375.2 | 116.79 | - | - | 2619.91 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 14757.19 | 510.72 | 22.79 | 820 | 14763.15 | done | 2.10 | - | - | 2811.56 | - | 3.28 | 0.072 | 2690.94 | -401.7 | 116.79 | - | - | 2622.09 | - | - | - | - | - | - | - | - | - | 16.06 | - |
| 15137.94 | 430.80 | 20.74 | 836 | 15139.50 | VBD | 2.10 | - | - | 2813.06 | - | - | - | 2690.75 | - | 116.79 | - | - | 2620.38 | - | - | - | - | - | - | - | - | - | - | - |
| 15527.95 | 353.87 | 19.21 | 849 | 15534.30 | done | 2.10 | - | - | 2812.50 | - | 3.49 | 0.131 | 4007.81 | 377.4 | 116.79 | - | - | 2621.59 | - | - | - | - | - | - | - | - | - | 16.06 | - |
| 15607.24 | 337.93 | 19.87 | 865 | 15613.95 | done | 2.10 | - | - | 2812.50 | - | 3.22 | 0.075 | 2692.56 | -408.5 | 116.79 | - | - | 2621.25 | - | - | - | - | - | - | - | - | - | 16.10 | - |
| 16002.98 | 274.74 | 14.29 | 879 | 16004.54 | VBD | 2.10 | - | - | 2812.44 | - | - | - | 2691.88 | - | 116.79 | - | - | 2619.62 | - | - | - | - | - | - | - | - | - | - | - |
| 16393.05 | 246.76 | 3.94 | 892 | 16488.26 | 2.49 | 0.55 | 0.093 | 2905.81 | 169.8 | 4.01 | 0.144 | 1248.50 | -359.9 | 216.13 | 82.78 | 1.277 | 2237.28 | -4.6 | 0.150 | - | - | - | - | - | - | 16.10 | 15.68 | 12.03 | |
| 16560.71 | 225.26 | 21.59 | 925 | 16566.88 | roll | 2.49 | - | - | 2906.00 | - | 3.67 | 0.068 | 2732.06 | 404.2 | 216.13 | - | - | 2229.31 | - | - | - | - | - | - | - | - | - | 15.77 | - |
| 16936.47 | 167.42 | 13.14 | 940 | 16942.81 | done | 2.49 | - | - | 2903.56 | - | 3.44 | 0.133 | 4009.00 | 371.2 | 216.13 | - | - | 2226.41 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 17021.48 | 157.46 | 11.40 | 957 | 17027.80 | done | 2.49 | - | - | 2906.06 | - | 3.31 | 0.072 | 2692.69 | -397.7 | 216.13 | - | - | 2225.16 | - | - | - | - | - | - | - | - | - | 15.88 | - |
| 17406.55 | 124.29 | 7.59 | 974 | 17440.21 | done | 2.61 | - | - | 2905.62 | - | 3.98 | 0.146 | 1247.00 | -363.2 | 246.11 | 26.14 | 1.107 | 2112.66 | -4.3 | 0.081 | - | - | - | - | - | - | - | 15.77 | 11.87 |
| 17537.89 | 109.90 | 13.01 | 1000 | 17545.03 | roll | 2.61 | - | - | 2905.44 | - | 3.70 | 0.069 | 2734.00 | 401.9 | 246.11 | - | - | 2112.66 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 17908.59 | 79.43 | 6.00 | 1014 | 17972.20 | 2.85 | 0.52 | 0.098 | 2993.31 | 169.0 | - | - | 2732.88 | - | 306.32 | 59.58 | 1.076 | 1870.81 | -4.1 | 0.050 | - | - | - | - | - | - | 15.93 | - | 12.16 | |
| 18355.38 | 52.87 | 2.73 | 1038 | 18523.16 | 3.34 | 0.71 | 0.090 | 3110.75 | 165.4 | 3.57 | 0.134 | 4008.50 | 357.3 | 428.65 | 153.91 | 1.015 | 1372.03 | -3.2 | 0.028 | - | - | - | - | - | - | 15.89 | 15.43 | 11.86 | |
| 18751.42 | 27.84 | 2.56 | 1116 | 18951.40 | 3.85 | 0.75 | 0.105 | 3230.94 | 160.3 | 3.37 | 0.073 | 2690.75 | -391.0 | 554.06 | 184.63 | 0.962 | 862.06 | -2.8 | 0.013 | - | - | - | - | - | - | 15.72 | 15.74 | 11.69 | |
| 19254.58 | 10.82 | -0.98 | 1185 | 19398.43 | 4.62 | 1.18 | 0.104 | 3417.69 | 158.3 | 4.11 | 0.140 | 1247.75 | -351.1 | 746.72 | 130.65 | 0.947 | 500.78 | -2.8 | 0.005 | - | - | - | - | - | - | 15.73 | 15.40 | 11.79 | |
| 19501 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 19501 | begin surface coast | ||||||||||||||||||||||||||||
| 19526 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 19527 | begin surface | ||||||||||||||||||||||||||||
| SM | 4.37 | - | - | - | - | 217.3 | 0.05 | 0.442 | 499.8 | 7383.0 | 22.23 | 0.162 | 406.1 | 18.2 | - | 3.41 | 0.066 | 593.4 | 172.8 | -1.169 | - | - | 15.79 | 15.54 | 15.66 | - | |||