SMODE Mar23 * SG219 * Dive index * Mission links * Dive 91 * Raw log
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• Previous call tries 2 • 126.59 of 310.00 AH used of 24V (59.16% remains)
• Surface angle -67.0 deg, depth 1.39 m • Intended pitch -21.0 deg, speed -8.462 cm/s
• VBD pumped to 325.09 (SM_CC=325)
• GPS1 time: 35 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
16.36 - - - 80.90 VBD -0.65 - - 86.44 - - - 2772.75 - -97.32 59.58 0.005 2753.34 - - - - - - - - - - 14.83
81.33 2.09 -1.22 12 123.81 -0.65 9.05 0.360 2035.25 215.3 1.74 0.068 3851.38 619.9 -97.32 19.70 0.006 3365.22 31.1 -1.918 - - - - - - 14.89 15.00 15.11
126.16 9.62 -17.77 20 133.10 roll -0.65 - - 2035.12 - 1.58 0.022 2738.44 -704.4 -97.32 - - 3365.69 - - - - - - - - - 15.60 -
316.24 37.33 -15.50 58 321.54 no move -0.65 - - 2036.12 - - - 2733.31 - -97.32 - - 3367.66 - - - - - - - - - - -
506.26 63.80 -14.61 96 513.31 roll -0.65 - - 2025.12 - 1.82 0.063 3851.00 614.1 -97.32 - - 3369.12 - - - - - - - - - 15.68 -
611.28 78.52 -13.55 117 618.18 roll -0.65 - - 2027.38 - 1.57 0.019 2731.50 -713.1 -97.32 - - 3368.50 - - - - - - - - - 15.74 -
806.29 104.32 -12.41 153 813.51 roll -0.65 - - 2025.94 - 2.38 0.023 1397.12 -560.7 -97.32 - - 3368.97 - - - - - - - - - 15.14 -
851.04 109.58 -11.57 162 859.03 roll -0.65 - - 2015.12 - 2.74 0.041 2880.38 541.3 -97.32 - - 3369.34 - - - - - - - - - 15.44 -
1166.31 150.07 -12.61 194 1173.71 roll -0.65 - - 2015.62 - 2.63 0.023 1398.50 -563.5 -97.32 - - 3368.56 - - - - - - - - - 15.48 -
1191.06 153.23 -12.66 199 1199.04 roll -0.65 - - 2002.00 - 2.73 0.042 2878.81 542.2 -97.32 - - 3370.31 - - - - - - - - - 15.59 -
1506.33 194.59 -13.08 231 1513.96 roll back -0.65 0.15 0.249 2044.25 281.7 2.64 0.024 1398.94 -560.6 -97.32 - - 3368.59 - - - - - - - - 15.36 15.47 -
1586.42 203.08 -10.14 247 1593.26 roll -0.65 - - 2033.88 - 2.73 0.041 2879.06 542.2 -97.32 - - 3370.81 - - - - - - - - - 15.47 -
1896.47 236.13 -10.57 279 1898.26 no move -0.65 - - 2035.00 - - - 2879.12 - -97.32 - - 3367.78 - - - - - - - - - - -
2206.49 267.14 -9.13 310 2213.45 roll -0.65 - - 2036.56 - 2.61 0.024 1394.12 -569.0 -97.32 - - 3369.06 - - - - - - - - - 15.71 -
2261.25 272.05 -8.84 321 2268.71 roll -0.65 - - 2024.38 - 2.70 0.041 2880.31 550.4 -97.32 - - 3369.88 - - - - - - - - - 15.83 -
2576.53 303.18 -10.13 353 2583.41 roll -0.65 - - 2023.31 - 2.61 0.024 1397.50 -568.1 -97.32 - - 3370.38 - - - - - - - - - 15.81 -
2621.28 307.72 -10.07 362 2628.89 roll -0.65 - - 2012.19 - 2.72 0.042 2884.00 546.5 -97.32 - - 3369.09 - - - - - - - - - 15.85 -
2936.57 340.75 -10.49 394 2943.52 roll -0.65 - - 2014.38 - 2.61 0.023 1396.31 -570.0 -97.32 - - 3367.44 - - - - - - - - - 15.69 -
2981.32 345.38 -10.12 403 2988.78 roll -0.65 - - 2000.50 - 2.71 0.042 2883.50 548.8 -97.32 - - 3368.34 - - - - - - - - - 15.85 -
3296.59 379.43 -11.02 435 3303.70 roll back -0.65 0.16 0.241 2044.06 272.2 2.62 0.024 1396.88 -567.4 -97.32 - - 3367.84 - - - - - - - - 15.54 15.62 -
3406.62 388.72 -8.02 457 3413.57 roll -0.65 - - 2036.06 - 2.72 0.043 2881.75 545.9 -97.32 - - 3366.47 - - - - - - - - - 15.64 -
3716.65 417.08 -9.45 489 3718.45 no move -0.65 - - 2035.94 - - - 2881.81 - -97.32 - - 3364.91 - - - - - - - - - - -
4026.67 446.47 -9.47 520 4033.53 roll -0.65 - - 2035.25 - 2.62 0.024 1395.62 -567.2 -97.32 - - 3367.59 - - - - - - - - - 15.84 -
4116.72 454.60 -9.02 538 4123.73 roll -0.65 - - 2025.81 - 2.75 0.042 2880.81 540.1 -97.32 - - 3366.16 - - - - - - - - - 15.77 -
4426.76 484.82 -10.12 570 4433.62 roll -0.65 - - 2025.44 - 2.61 0.024 1398.31 -568.0 -97.32 - - 3364.94 - - - - - - - - - 15.44 -
4476.78 489.86 -10.02 580 4483.74 roll -0.65 - - 2012.19 - 2.72 0.042 2881.12 545.2 -97.32 - - 3366.56 - - - - - - - - - 15.76 -
4786.80 523.55 -11.17 612 4793.66 roll -0.65 - - 2012.94 - 2.62 0.024 1397.62 -566.2 -97.32 - - 3364.84 - - - - - - - - - 15.82 -
4876.84 533.56 -10.92 630 4883.84 roll -0.65 - - 2003.00 - 2.73 0.043 2880.88 543.3 -97.32 - - 3365.69 - - - - - - - - - 15.67 -
5186.85 568.27 -10.83 662 5194.10 roll back -0.65 0.15 0.240 2046.06 287.1 2.62 0.024 1397.56 -566.2 -97.32 - - 3363.97 - - - - - - - - 15.54 15.68 -
5231.61 572.37 -8.92 671 5239.09 roll -0.65 - - 2037.25 - 2.73 0.044 2879.19 542.7 -97.32 - - 3363.16 - - - - - - - - - 15.83 -
5546.90 600.18 -8.52 703 5553.79 roll -0.65 - - 2037.62 - 2.62 0.024 1398.19 -565.3 -97.32 - - 3362.41 - - - - - - - - - 15.93 -
5571.65 602.40 -8.58 708 5579.11 roll -0.65 - - 2026.12 - 2.76 0.043 2881.50 537.4 -97.32 - - 3362.12 - - - - - - - - - 15.79 -
5886.92 630.16 -8.59 740 5893.80 roll -0.65 - - 2026.12 - 2.63 0.024 1399.19 -563.6 -97.32 - - 3361.72 - - - - - - - - - 15.83 -
5966.95 636.86 -8.25 756 5973.89 roll -0.65 - - 2014.75 - 2.74 0.042 2881.00 540.8 -97.32 - - 3362.44 - - - - - - - - - 15.81 -
6276.99 664.34 -8.75 788 6283.84 roll -0.65 - - 2016.12 - 2.63 0.024 1399.25 -563.4 -97.32 - - 3361.91 - - - - - - - - - 15.82 -
6316.99 667.83 -8.73 796 6324.00 roll -0.65 - - 2004.38 - 2.75 0.042 2877.62 537.6 -97.32 - - 3362.91 - - - - - - - - - 15.35 -
6627.01 696.75 -9.26 828 6634.14 roll back -0.65 0.14 0.235 2043.81 281.6 2.63 0.025 1398.50 -562.4 -97.32 - - 3360.56 - - - - - - - - 15.52 15.58 -
6701.78 702.33 -7.25 843 6709.26 roll -0.65 - - 2035.69 - 2.77 0.044 2880.00 534.8 -97.32 - - 3360.38 - - - - - - - - - 15.80 -
7017.05 727.03 -7.97 875 7023.91 roll -0.65 - - 2036.12 - 2.63 0.025 1399.31 -563.0 -97.32 - - 3360.12 - - - - - - - - - 15.78 -
7081.81 732.23 -8.01 888 7089.26 roll -0.65 - - 2024.31 - 2.76 0.043 2879.19 536.2 -97.32 - - 3359.91 - - - - - - - - - 15.47 -
7397.10 759.76 -8.83 920 7403.97 roll -0.65 - - 2025.56 - 2.64 0.025 1399.44 -560.5 -97.32 - - 3359.00 - - - - - - - - - 15.43 -
7471.85 766.59 -9.07 935 7479.31 roll -0.65 - - 2014.94 - 2.74 0.043 2880.31 540.5 -97.32 - - 3358.41 - - - - - - - - - 15.43 -
7787.13 797.31 -9.86 967 7793.99 roll -0.65 - - 2014.44 - 2.63 0.025 1399.12 -563.2 -97.32 - - 3359.41 - - - - - - - - - 15.77 -
7851.89 803.63 -9.56 980 7859.36 roll -0.65 - - 2003.56 - 2.74 0.042 2879.88 540.4 -97.32 - - 3358.22 - - - - - - - - - 15.77 -
8167.17 835.81 -10.46 1012 8174.38 roll back -0.65 0.14 0.237 2046.81 308.9 2.64 0.025 1398.62 -561.1 -97.32 - - 3357.31 - - - - - - - - 15.34 15.44 -
8227.18 840.94 -8.27 1024 8234.13 roll -0.65 - - 2036.88 - 2.77 0.044 2878.94 534.4 -97.32 - - 3358.62 - - - - - - - - - 15.77 -
8537.21 866.74 -8.15 1056 8544.08 roll -0.65 - - 2038.06 - 2.64 0.025 1399.62 -560.3 -97.32 - - 3357.12 - - - - - - - - - 15.67 -
8587.22 870.87 -8.17 1066 8594.18 roll -0.65 - - 2027.38 - 2.76 0.043 2882.31 537.2 -97.32 - - 3356.81 - - - - - - - - - 15.77 -
8897.25 895.48 -7.55 1098 8904.18 roll -0.65 - - 2027.81 - 2.63 0.025 1400.81 -563.3 -97.32 - - 3357.03 - - - - - - - - - 15.70 -
8932.00 898.13 -7.57 1105 8939.54 roll -0.65 - - 2016.00 - 2.75 0.043 2880.19 538.0 -97.32 - - 3356.88 - - - - - - - - - 15.77 -
9247.28 922.58 -7.68 1137 9254.14 roll -0.65 - - 2014.88 - 2.64 0.024 1399.38 -560.9 -97.32 - - 3358.03 - - - - - - - - - 15.75 -
9312.04 927.61 -7.73 1150 9319.52 roll -0.65 - - 2004.50 - 2.75 0.043 2879.94 538.4 -97.32 - - 3356.81 - - - - - - - - - 15.76 -
9627.31 953.49 -8.18 1182 9634.43 roll back -0.65 0.14 0.231 2044.31 284.4 2.64 0.025 1397.81 -561.4 -97.32 - - 3356.88 - - - - - - - - 15.48 15.55 -
9692.07 957.84 -6.45 1195 9699.53 roll -0.65 - - 2037.25 - 2.76 0.044 2878.38 536.4 -97.32 - - 3355.53 - - - - - - - - - 15.61 -
10007.35 978.55 -6.68 1227 10014.30 roll -0.65 - - 2037.69 - 2.62 0.025 1399.25 -564.6 -97.32 - - 3356.34 - - - - - - - - - 15.69 -
10052.10 981.66 -6.79 1236 10059.59 roll -0.65 - - 2026.94 - 2.75 0.043 2877.81 537.7 -97.32 - - 3355.12 - - - - - - - - - 15.61 -
10177 end dive: TARGET_DEPTH_EXCEEDED
10177 begin apogee
10180.00 990.56 -7.21 1249 10279.90 -0.12 0.62 0.174 2210.62 296.3 0.22 0.105 2437.19 -2002.8 - 90.94 2.314 2965.34 -4.3 0.325 - - - - - - 15.40 14.87 10.15
10281 end apogee: CONTROL_FINISHED_OK
10282 begin climb
10282.50 992.09 - 1258 10395.07 0.65 0.77 0.093 2477.12 346.1 2.99 0.035 952.12 -496.7 97.32 96.43 2.265 2568.53 -4.1 0.319 - - - - - - 15.16 14.62 11.41
10417.39 987.03 6.38 1283 10424.93 roll 0.69 - - 2477.38 - 2.95 0.035 2429.81 500.9 97.32 - - 2566.75 - - - - - - - - - 15.16 -
10732.59 960.93 8.29 1315 10739.15 done 0.69 - - 2477.69 - 2.27 0.065 3838.69 620.7 97.32 - - 2558.16 - - - - - - - - - 15.65 -
10842.61 950.50 9.58 1337 10849.15 done 0.69 - - 2487.69 - 2.28 0.020 2322.12 -665.2 97.32 - - 2556.62 - - - - - - - - - 15.15 -
11152.63 924.86 7.98 1369 11154.43 VBD 0.69 - - 2488.31 - - - 2308.31 - 97.32 - - 2553.28 - - - - - - - - - - -
11462.98 899.95 7.80 1400 11469.36 done 0.71 - - 2488.00 - 2.46 0.062 3840.94 623.0 97.32 - - 2552.66 - - - - - - - - - 15.78 -
11532.66 893.63 9.22 1414 11539.23 done 0.71 - - 2497.88 - 2.27 0.020 2315.44 -672.0 97.32 - - 2553.31 - - - - - - - - - 15.12 -
11842.79 869.80 7.36 1446 11849.49 done 0.73 - - 2499.44 - 2.47 0.061 3840.31 617.4 97.32 - - 2553.00 - - - - - - - - - 15.81 -
11937.50 861.66 8.47 1465 11944.54 done 0.73 - - 2508.50 - 2.29 0.020 2313.56 -666.7 97.32 - - 2552.69 - - - - - - - - - 15.10 -
12252.88 838.21 7.50 1497 12259.58 done 0.75 - - 2509.38 - 2.52 0.060 3841.69 606.4 97.32 - - 2552.09 - - - - - - - - - 14.99 -
12312.92 833.13 8.49 1509 12319.44 done 0.75 - - 2521.50 - 2.29 0.020 2321.12 -664.0 97.32 - - 2551.16 - - - - - - - - - 15.07 -
12622.84 808.05 8.48 1541 12629.80 0.75 0.15 0.246 2481.69 -265.4 2.49 0.060 3840.38 610.1 97.32 - - 2551.00 - - - - - - - - 15.47 15.53 -
12707.59 800.66 8.66 1558 12714.71 done 0.75 - - 2491.88 - 2.28 0.020 2328.25 -663.2 97.32 - - 2551.31 - - - - - - - - - 15.79 -
13022.88 775.88 8.14 1590 13024.68 VBD 0.75 - - 2490.88 - - - 2313.75 - 97.32 - - 2549.72 - - - - - - - - - - -
13332.91 749.44 8.88 1621 13339.71 done 0.75 - - 2490.19 - 2.51 0.061 3839.81 608.0 97.32 - - 2550.66 - - - - - - - - - 14.90 -
13387.67 743.85 10.22 1632 13394.72 done 0.75 - - 2500.56 - 2.26 0.019 2322.50 -671.4 97.32 - - 2550.69 - - - - - - - - - 15.81 -
13702.96 714.73 9.20 1664 13704.75 VBD 0.75 - - 2502.38 - - - 2308.19 - 97.32 - - 2549.09 - - - - - - - - - - -
14013.05 686.62 8.96 1695 14019.68 done 0.75 - - 2500.38 - 2.48 0.060 3840.94 618.0 97.32 - - 2550.16 - - - - - - - - - 15.79 -
14067.73 681.33 9.65 1706 14074.79 done 0.75 - - 2512.12 - 2.30 0.020 2318.00 -662.1 97.32 - - 2549.62 - - - - - - - - - 14.96 -
14383.03 655.14 8.20 1738 14384.83 VBD 0.75 - - 2512.88 - - - 2302.88 - 97.32 - - 2548.19 - - - - - - - - - - -
14693.05 630.09 8.17 1769 14699.75 done 0.75 - - 2513.88 - 2.49 0.060 3843.00 618.5 97.32 - - 2549.06 - - - - - - - - - 15.75 -
14777.80 622.29 9.25 1786 14784.85 done 0.75 - - 2523.38 - 2.26 0.020 2321.50 -673.2 97.32 - - 2548.75 - - - - - - - - - 15.91 -
15093.09 594.69 8.66 1818 15095.13 0.75 0.16 0.233 2479.56 -273.9 - - 2305.88 - 97.32 - - 2548.97 - - - - - - - - 15.43 - -
15403.20 571.30 7.36 1849 15409.91 done 0.77 - - 2480.94 - 2.51 0.061 3840.56 611.4 97.32 - - 2548.94 - - - - - - - - - 14.81 -
15523.13 561.61 8.03 1873 15529.75 done 0.77 - - 2490.44 - 2.29 0.020 2331.81 -658.8 97.32 - - 2550.09 - - - - - - - - - 14.90 -
15833.24 539.98 6.47 1905 15835.04 VBD 0.81 - - 2492.06 - - - 2317.75 - 97.32 - - 2547.56 - - - - - - - - - - -
16143.27 519.95 6.40 1936 16145.07 VBD 0.85 - - 2492.06 - - - 2317.75 - 97.32 - - 2547.62 - - - - - - - - - - -
16453.30 500.02 6.46 1967 16460.27 0.89 0.12 0.070 2579.25 726.6 2.53 0.061 3839.25 601.4 97.32 - - 2548.19 - - - - - - - - 15.73 14.76 -
16553.23 490.06 10.26 1987 16560.11 0.89 0.24 0.270 2527.19 -216.9 2.28 0.019 2325.56 -663.9 97.32 - - 2548.97 - - - - - - - - 15.24 15.91 -
16863.60 466.74 7.52 2019 16865.41 VBD 0.91 - - 2527.62 - - - 2309.56 - 97.32 - - 2547.19 - - - - - - - - - - -
17173.40 443.93 7.30 2050 17180.10 done 0.93 - - 2526.62 - 2.53 0.059 3840.50 605.1 97.32 - - 2548.59 - - - - - - - - - 14.76 -
17283.33 434.79 8.12 2072 17289.89 done 0.93 - - 2537.44 - 2.27 0.019 2321.06 -669.4 97.32 - - 2548.44 - - - - - - - - - 15.91 -
17593.44 411.79 7.35 2104 17595.23 VBD 0.95 - - 2537.44 - - - 2306.31 - 97.32 - - 2547.06 - - - - - - - - - - -
17903.47 389.53 6.84 2135 17905.26 VBD 0.99 - - 2538.44 - - - 2306.06 - 97.32 - - 2547.41 - - - - - - - - - - -
18213.48 368.69 6.62 2166 18215.54 1.02 0.11 0.070 2618.12 724.4 - - 2306.56 - 97.32 - - 2546.59 - - - - - - - - 15.85 - -
18523.44 343.35 8.05 2197 18530.50 1.02 0.19 0.262 2579.12 -205.3 2.59 0.030 945.38 -525.6 97.32 - - 2547.94 - - - - - - - - 15.19 14.82 -
18668.28 332.79 6.99 2226 18675.74 done 1.05 - - 2578.06 - 2.81 0.033 2436.00 530.5 97.32 - - 2551.16 - - - - - - - - - 15.85 -
18983.57 310.14 7.38 2258 18990.43 done 1.07 - - 2589.88 - 2.77 0.029 946.50 -537.7 97.32 - - 2550.56 - - - - - - - - - 15.87 -
19013.57 307.88 7.49 2264 19020.45 done 1.09 - - 2590.75 - 2.80 0.032 2436.81 532.3 97.32 - - 2548.50 - - - - - - - - - 15.86 -
19323.59 285.60 6.98 2296 19330.48 done 1.12 - - 2602.62 - 2.78 0.029 947.31 -535.8 97.32 - - 2548.03 - - - - - - - - - 15.87 -
19423.61 278.19 7.42 2316 19430.58 done 1.14 - - 2602.44 - 2.85 0.032 2436.50 522.5 97.32 - - 2549.50 - - - - - - - - - 14.79 -
19733.63 255.68 7.56 2348 19740.09 done 1.16 - - 2602.94 - 2.24 0.062 3840.94 627.0 97.32 - - 2547.69 - - - - - - - - - 15.76 -
19883.57 242.56 8.96 2378 19890.13 done 1.16 - - 2611.50 - 2.26 0.018 2308.44 -678.1 97.32 - - 2548.06 - - - - - - - - - 15.90 -
20193.69 220.71 6.51 2410 20200.47 done 1.20 - - 2623.81 - 2.51 0.029 945.06 -543.2 97.32 - - 2549.09 - - - - - - - - - 15.86 -
20243.69 217.53 6.41 2420 20250.66 done 1.24 - - 2623.00 - 2.81 0.031 2439.44 531.8 97.32 - - 2548.34 - - - - - - - - - 15.85 -
20553.72 197.73 6.25 2452 20561.10 1.29 0.11 0.074 2721.19 892.6 2.27 0.060 3840.94 617.4 97.32 - - 2547.88 - - - - - - - - 15.74 15.63 -
20588.46 194.81 7.32 2459 20596.48 1.31 0.30 0.328 2663.75 -191.5 2.28 0.017 2324.88 -664.9 97.32 - - 2548.16 - - - - - - - - 14.92 15.81 -
20903.68 168.83 8.52 2491 20911.21 done 1.31 - - 2665.31 - 2.54 0.056 3843.12 597.7 97.32 - - 2548.84 - - - - - - - - - 15.62 -
21033.76 157.61 8.39 2517 21040.98 done 1.31 - - 2672.81 - 2.30 0.017 2310.56 -666.3 97.32 - - 2549.75 - - - - - - - - - 15.78 -
21343.88 136.24 6.26 2549 21351.35 done 1.35 - - 2675.31 - 2.59 0.056 3841.19 591.0 97.32 - - 2548.41 - - - - - - - - - 15.49 -
21418.60 130.36 8.06 2564 21426.62 done 1.35 - - 2683.75 - 2.33 0.017 2306.12 -658.8 97.32 - - 2549.56 - - - - - - - - - 14.74 -
21733.98 108.01 6.65 2596 21741.44 done 1.39 - - 2695.75 - 2.57 0.028 942.75 -530.5 97.32 - - 2550.28 - - - - - - - - - 15.57 -
21844.05 101.11 6.10 2618 21851.96 done 1.44 - - 2697.38 - 2.85 0.030 2442.38 526.2 97.32 - - 2549.19 - - - - - - - - - 15.58 -
22154.52 85.80 4.33 2679 22221.72 1.53 0.13 0.092 2753.94 435.1 2.29 0.057 3840.69 610.6 167.51 54.57 1.158 2283.12 -4.9 0.064 - - - - - - 15.53 15.21 10.92
22399.25 57.17 12.56 2727 22406.82 done 1.53 - - 2763.69 - 2.31 0.017 2331.19 -653.5 167.51 - - 2277.09 - - - - - - - - - 15.62 -
22589.37 39.70 6.60 2765 22597.13 done 1.57 - - 2765.06 - 2.54 0.054 3842.75 595.1 167.51 - - 2275.25 - - - - - - - - - 14.98 -
22644.64 35.11 8.56 2776 22652.22 done 1.57 - - 2774.50 - 2.31 0.017 2312.75 -662.3 167.51 - - 2275.19 - - - - - - - - - 15.42 -
22834.69 14.81 12.08 2814 22842.41 done 1.57 - - 2776.06 - 2.57 0.054 3841.50 594.8 167.51 - - 2274.22 - - - - - - - - - 15.27 -
22935 end climb: SURFACE_DEPTH_REACHED
22935 begin surface coast
22950 end surface coast: CONTROL_FINISHED_OK
22950 begin surface
SM 1.30 - - - - 214.9 114.55 1.035 1642.7 14.3 7.34 0.071 1637.5 223.1 - 1.54 0.026 1647.9 1068.4 -5.460 - - 11.08 15.63 15.79 -