EXPORTS Apr21 * SG219 * Dive index * Mission links * Dive 173 * Raw log
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• Previous call tries 1 • 137.81 of 350.00 AH used of 24V (60.63% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -49.6 deg, depth 1.00 m • Intended pitch -17.6 deg, speed -11.786 cm/s
VBD pumped to 375.04 (SM_CC=375)
• GPS1 time: 37 s
• GPS2 time: 7 s • Transponder ping count: 326
• 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
11 - - - 128 done -0.69 - - 194 - - - 2820 - -214.1 -114.03 0.004 3818 - - - - - - - - 14.64 13.11 14.67
132 4.5 -11.1 19 145 roll -0.69 6.07 0.358 1531 220.3 2.35 0.031 1439 -587.7 -214.1 - - 3819 - - - - - - - - 14.14 14.47 14.43
282 31.1 -13.9 47 289 done -0.69 - - 1522 - 2.62 0.070 2830 530.9 -214.1 - - 3820 - - - - - - - - 14.63 14.51 14.62
475 62.8 -16.3 84 482 roll -0.61 0.15 0.260 1558 240.0 2.40 0.035 1437 -580.4 -214.1 - - 3819 - - - - - - - - 14.32 14.54 14.43
502 66.5 -15.1 88 509 done -0.59 - - 1551 - 2.60 0.071 2830 535.8 -214.1 - - 3820 - - - - - - - - 14.62 14.50 14.66
695 91.8 -13.5 125 703 roll -0.56 - - 1544 - 1.77 0.093 3825 562.1 -214.1 - - 3820 - - - - - - - - 14.83 14.50 14.85
732 96.8 -14.3 131 739 done -0.52 0.17 0.220 1586 247.1 1.55 0.039 2832 -640.6 -214.1 - - 3819 - - - - - - - - 14.35 14.62 14.57
932 118.0 -10.3 152 938 roll -0.55 - - 1586 - 2.38 0.036 1433 -587.8 -214.1 - - 3820 - - - - - - - - 14.86 14.63 14.88
978 123.2 -9.2 160 984 done -0.64 - - 1579 - 2.62 0.072 2834 534.7 -214.1 - - 3820 - - - - - - - - 14.66 14.54 14.69
1173 143.0 -10.6 180 1179 roll -0.65 - - 1568 - 1.77 0.093 3838 567.2 -214.1 - - 3819 - - - - - - - - 14.85 14.54 14.88
1211 147.2 -10.7 187 1218 done -0.67 - - 1572 - 1.60 0.040 2819 -636.9 -214.1 - - 3819 - - - - - - - - 14.69 14.64 14.69
1398 167.4 -11.0 206 1404 roll -0.67 - - 1571 - 2.35 0.036 1439 -587.2 -214.1 - - 3819 - - - - - - - - 14.86 14.64 14.89
1444 172.0 -7.9 214 1450 done -0.74 0.12 0.118 1499 -600.0 2.60 0.071 2833 536.2 -214.1 - - 3819 - - - - - - - - 14.63 14.54 14.71
1643 203.3 -16.8 234 1649 roll -0.64 0.20 0.245 1549 250.0 1.77 0.086 3829 562.7 -214.1 - - 3823 - - - - - - - - 14.28 14.54 14.43
1682 209.9 -13.8 241 1690 done -0.61 - - 1543 - 1.62 0.038 2823 -621.0 -214.1 - - 3819 - - - - - - - - 14.67 14.66 14.69
1870 235.2 -13.9 260 1876 roll -0.58 0.12 0.265 1568 208.3 2.35 0.034 1439 -588.9 -214.1 - - 3819 - - - - - - - - 14.35 14.57 14.52
1906 239.6 -10.9 266 1912 done -0.62 - - 1560 - 2.62 0.074 2834 532.4 -214.1 - - 3819 - - - - - - - - 14.68 14.56 14.72
2101 263.6 -12.6 286 2107 roll -0.62 - - 1553 - 1.75 0.093 3825 566.3 -214.1 - - 3819 - - - - - - - - 14.89 14.52 14.89
2135 267.7 -12.6 292 2141 done -0.62 - - 1553 - 1.58 0.037 2816 -638.6 -214.1 - - 3819 - - - - - - - - 14.75 14.71 14.76
2330 292.9 -13.0 312 2336 roll -0.60 - - 1554 - 2.35 0.036 1433 -588.5 -214.1 - - 3819 - - - - - - - - 14.90 14.63 14.92
2366 297.2 -12.1 318 2371 done -0.63 - - 1544 - 2.62 0.079 2832 534.0 -214.1 - - 3818 - - - - - - - - 14.69 14.56 14.72
2561 323.4 -13.6 338 2567 roll -0.60 - - 1537 - 1.75 0.090 3820 564.6 -214.1 - - 3819 - - - - - - - - 14.89 14.52 14.91
2616 330.5 -12.3 348 2622 done -0.58 0.15 0.232 1570 220.0 1.55 0.036 2828 -640.0 -214.1 - - 3819 - - - - - - - - 14.33 14.69 14.55
2814 352.6 -11.1 368 2820 roll -0.58 - - 1570 - 2.38 0.037 1437 -584.5 -214.1 - - 3817 - - - - - - - - 14.89 14.65 14.92
2853 357.1 -10.1 375 2860 done -0.65 - - 1564 - 2.60 0.076 2826 534.2 -214.1 - - 3818 - - - - - - - - 14.68 14.55 14.71
3040 378.0 -11.7 394 3045 roll -0.65 - - 1556 - 1.77 0.093 3829 566.7 -214.1 - - 3818 - - - - - - - - 14.83 14.55 14.86
3095 384.5 -11.5 404 3100 done -0.67 - - 1556 - 1.58 0.038 2819 -639.2 -214.1 - - 3818 - - - - - - - - 14.76 14.71 14.75
3289 408.2 -12.3 424 3295 roll -0.67 - - 1556 - 2.35 0.037 1441 -586.4 -214.1 - - 3818 - - - - - - - - 14.90 14.66 14.92
3325 412.2 -11.4 430 3330 done -0.70 - - 1546 - 2.58 0.076 2822 535.3 -214.1 - - 3817 - - - - - - - - 14.69 14.56 14.75
3520 436.6 -13.0 450 3526 roll -0.68 - - 1539 - 1.80 0.093 3834 562.2 -214.1 - - 3818 - - - - - - - - 14.86 14.54 14.87
3578 444.5 -12.6 461 3586 done -0.68 - - 1536 - 1.60 0.037 2814 -637.5 -214.1 - - 3817 - - - - - - - - 14.68 14.63 14.69
3765 469.1 -13.4 480 3771 roll -0.65 - - 1539 - 2.33 0.036 1444 -588.0 -214.1 - - 3818 - - - - - - - - 14.90 14.65 14.92
3800 473.5 -12.6 486 3806 done -0.65 - - 1530 - 2.58 0.077 2826 535.7 -214.1 - - 3821 - - - - - - - - 14.63 14.52 14.67
3996 500.0 -14.0 506 4002 roll -0.60 0.15 0.259 1560 200.0 1.77 0.088 3825 564.4 -214.1 - - 3817 - - - - - - - - 14.34 14.55 14.49
4045 506.3 -11.1 515 4051 done -0.63 - - 1560 - 1.58 0.040 2816 -638.6 -214.1 - - 3818 - - - - - - - - 14.74 14.70 14.76
4231 527.7 -11.8 534 4237 roll -0.63 - - 1560 - 2.35 0.036 1436 -587.2 -214.1 - - 3818 - - - - - - - - 14.90 14.66 14.92
4267 531.5 -8.8 540 4272 done -0.67 - - 1551 - 2.60 0.073 2826 534.6 -214.1 - - 3818 - - - - - - - - 14.62 14.50 14.66
4461 554.7 -12.4 560 4467 roll -0.67 - - 1543 - 1.77 0.093 3831 567.8 -214.1 - - 3817 - - - - - - - - 14.90 14.51 14.92
4509 560.9 -12.5 569 4516 done -0.67 - - 1543 - 1.58 0.039 2825 -636.7 -214.1 - - 3818 - - - - - - - - 14.74 14.69 14.76
4696 585.1 -13.7 588 4702 roll -0.65 - - 1544 - 2.35 0.036 1436 -591.1 -214.1 - - 3817 - - - - - - - - 14.90 14.65 14.96
4732 589.4 -13.6 594 4737 done -0.68 - - 1535 - 2.58 0.074 2825 538.4 -214.1 - - 3818 - - - - - - - - 14.69 14.55 14.72
4927 614.9 -13.5 614 4932 roll -0.64 - - 1527 - 1.77 0.093 3829 567.2 -214.1 - - 3817 - - - - - - - - 14.94 14.49 14.94
4972 621.2 -14.6 622 4978 done -0.62 0.12 0.242 1555 233.3 1.58 0.039 2821 -638.0 -214.1 - - 3818 - - - - - - - - 14.40 14.69 14.62
5171 645.0 -12.1 642 5176 roll -0.62 - - 1555 - 2.38 0.036 1433 -583.2 -214.1 - - 3818 - - - - - - - - 14.89 14.61 14.92
5209 649.9 -10.1 649 5217 done -0.67 - - 1547 - 2.60 0.073 2825 535.4 -214.1 - - 3817 - - - - - - - - 14.67 14.54 14.71
5396 673.1 -12.5 668 5401 roll -0.67 - - 1540 - 1.77 0.094 3833 569.5 -214.1 - - 3817 - - - - - - - - 14.92 14.54 14.95
5444 679.6 -13.2 677 5451 done -0.67 - - 1540 - 1.58 0.040 2824 -638.6 -214.1 - - 3818 - - - - - - - - 14.74 14.69 14.76
5631 704.3 -13.1 696 5636 roll -0.65 - - 1540 - 2.35 0.035 1439 -589.4 -214.1 - - 3815 - - - - - - - - 14.93 14.60 14.92
5659 707.8 -13.0 701 5667 done -0.65 - - 1530 - 2.60 0.073 2832 535.8 -214.1 - - 3815 - - - - - - - - 14.67 14.54 14.71
5846 731.9 -13.0 720 5852 roll -0.62 0.12 0.270 1557 225.0 1.77 0.089 3832 565.0 -214.1 - - 3820 - - - - - - - - 14.33 14.54 14.49
5885 736.7 -9.9 727 5891 done -0.64 - - 1557 - 1.60 0.041 2816 -635.0 -214.1 - - 3817 - - - - - - - - 14.73 14.69 14.78
6072 757.6 -11.3 746 6078 done -0.64 - - 1557 - - - 2816 - -214.1 - - 3817 - - - - - - - - 14.90 14.92 14.90
6261 779.0 -11.3 765 6267 roll -0.64 - - 1557 - 2.35 0.036 1435 -587.7 -214.1 - - 3817 - - - - - - - - 14.90 14.64 14.92
6287 782.2 -12.6 769 6294 done -0.68 - - 1549 - 2.60 0.076 2824 534.2 -214.1 - - 3814 - - - - - - - - 14.68 14.54 14.74
6483 804.0 -11.5 789 6489 roll -0.68 - - 1541 - 1.80 0.093 3837 562.8 -214.1 - - 3821 - - - - - - - - 14.89 14.53 14.92
6572 814.4 -11.0 806 6579 done -0.68 - - 1541 - 1.60 0.039 2814 -639.4 -214.1 - - 3816 - - - - - - - - 14.73 14.69 14.75
6758 835.4 -11.5 825 6766 done -0.68 - - 1542 - - - 2813 - -214.1 - - 3816 - - - - - - - - 14.88 14.92 14.91
6948 856.8 -11.3 844 6955 done -0.68 - - 1548 - - - 2813 - -214.1 - - 3816 - - - - - - - - 14.90 14.92 14.92
7138 878.8 -11.5 863 7145 done -0.68 - - 1542 - - - 2813 - -214.1 - - 3814 - - - - - - - - 14.89 14.92 14.92
7328 900.6 -11.4 882 7335 done -0.68 - - 1542 - - - 2813 - -214.1 - - 3816 - - - - - - - - 14.88 14.90 14.90
7518 922.0 -10.9 901 7524 roll -0.68 - - 1534 - 1.85 0.094 3837 553.5 -214.1 - - 3817 - - - - - - - - 14.90 14.53 14.92
7557 926.5 -11.8 908 7563 done -0.68 - - 1534 - 1.60 0.034 2814 -639.4 -214.1 - - 3815 - - - - - - - - 14.73 14.69 14.76
7743 947.5 -11.3 927 7749 roll -0.68 - - 1534 - 2.35 0.036 1431 -588.5 -214.1 - - 3816 - - - - - - - - 14.88 14.64 14.90
7799 953.0 -9.2 937 7805 done -0.72 - - 1525 - 2.62 0.078 2832 534.7 -214.1 - - 3815 - - - - - - - - 14.66 14.53 14.71
7995 976.4 -12.6 957 8001 roll -0.70 - - 1517 - 1.77 0.093 3826 561.6 -214.1 - - 3816 - - - - - - - - 14.89 14.50 14.91
8085 987.7 -12.3 974 8091 done -0.70 - - 1517 - 1.58 0.037 2817 -638.6 -214.1 - - 3816 - - - - - - - - 14.72 14.68 14.74
8107 end dive: TARGET_DEPTH_EXCEEDED
8107 begin apogee
8114 990.8 -12.2 977 8328 done -0.12 0.70 0.197 1711 277.1 - - 2814 - - 203.65 2.118 2966 -4.2 0.378 - - - - - - 14.35 13.92 13.14
8332 end apogee: CONTROL_FINISHED_OK
8333 begin climb
8336 998.5 - 999 8556 roll 0.69 0.85 0.112 1978 314.1 2.00 0.094 3819 502.5 214.1 208.57 2.064 2115 -4.1 0.382 - - - - - - 13.97 13.71 12.99
8570 976.9 15.2 1042 8578 done 0.61 0.15 0.278 1956 -146.7 1.70 0.038 2807 -595.3 214.1 - - 2112 - - - - - - - - 13.75 13.92 13.91
8760 952.8 12.2 1061 8766 done 0.57 - - 1957 - - - 2805 - 214.1 - - 2108 - - - - - - - - 14.56 14.59 14.59
8947 929.7 12.3 1080 8953 roll 0.54 - - 1966 - 2.42 0.042 1415 -574.4 214.1 - - 2108 - - - - - - - - 14.71 14.54 14.73
8986 925.2 10.7 1087 8993 done 0.54 0.12 0.232 1937 -241.7 2.60 0.072 2800 532.7 214.1 - - 2107 - - - - - - - - 14.35 14.48 14.57
9172 904.6 11.4 1106 9178 roll 0.54 - - 1939 - 1.83 0.092 3821 557.9 214.1 - - 2107 - - - - - - - - 14.81 14.54 14.81
9231 897.0 13.0 1117 9238 done 0.50 - - 1945 - 1.67 0.038 2790 -617.4 214.1 - - 2106 - - - - - - - - 14.64 14.62 14.65
9418 874.9 11.8 1136 9423 roll 0.48 - - 1955 - 2.38 0.041 1419 -576.1 214.1 - - 2105 - - - - - - - - 14.84 14.64 14.87
9462 870.2 9.6 1144 9527 done 0.56 - - 1955 - 2.58 0.068 2801 535.7 274.4 56.20 1.952 1874 -4.1 0.354 - - - - - - 14.69 14.57 13.50
9706 838.7 13.2 1174 9713 roll 0.56 - - 1955 - 1.83 0.091 3821 557.4 274.4 - - 1872 - - - - - - - - 14.68 14.44 14.70
9742 833.7 14.3 1180 9748 done 0.53 0.12 0.233 1936 -158.3 1.62 0.040 2800 -630.2 274.4 - - 1875 - - - - - - - - 14.36 14.57 14.54
9940 810.7 11.5 1200 9946 roll 0.55 - - 1944 - 2.38 0.039 1421 -579.4 274.4 - - 1871 - - - - - - - - 14.79 14.59 14.81
9995 804.3 11.1 1210 10002 done 0.58 - - 1944 - 2.60 0.072 2807 533.1 274.4 - - 1871 - - - - - - - - 14.66 14.54 14.68
10191 781.7 11.3 1230 10198 done 0.58 - - 1944 - - - 2807 - 274.4 - - 1871 - - - - - - - - 14.83 14.87 14.86
10381 759.2 11.9 1249 10386 roll 0.58 - - 1948 - 2.40 0.040 1415 -580.0 274.4 - - 1870 - - - - - - - - 14.86 14.56 14.88
10409 755.6 11.4 1254 10417 done 0.61 - - 1953 - 2.60 0.077 2807 535.4 274.4 - - 1870 - - - - - - - - 14.69 14.57 14.72
10596 732.5 12.2 1273 10603 done 0.61 - - 1953 - - - 2807 - 274.4 - - 1870 - - - - - - - - 14.88 14.91 14.91
10786 709.1 12.3 1292 10791 roll 0.61 - - 1960 - 2.40 0.038 1412 -581.2 274.4 - - 1870 - - - - - - - - 14.88 14.67 14.90
10825 704.5 11.7 1299 10832 done 0.63 - - 1960 - 2.58 0.068 2803 539.1 274.4 - - 1870 - - - - - - - - 14.71 14.58 14.73
11011 681.4 12.8 1318 11017 roll 0.63 - - 1960 - 1.80 0.090 3830 570.6 274.4 - - 1873 - - - - - - - - 14.88 14.59 14.91
11046 676.4 13.7 1324 11052 done 0.60 - - 1966 - 1.62 0.040 2798 -637.0 274.4 - - 1869 - - - - - - - - 14.77 14.72 14.78
11244 651.4 13.6 1344 11249 roll 0.58 - - 1977 - 2.35 0.037 1412 -589.8 274.4 - - 1869 - - - - - - - - 14.88 14.67 14.90
11298 644.1 11.9 1354 11305 done 0.58 - - 1982 - 2.58 0.068 2803 539.1 274.4 - - 1869 - - - - - - - - 14.71 14.59 14.74
11494 618.3 13.5 1374 11501 roll 0.54 0.15 0.217 1933 -326.7 1.83 0.086 3827 559.6 274.4 - - 1869 - - - - - - - - 14.41 14.59 14.53
11525 614.2 13.9 1379 11532 done 0.54 - - 1944 - 1.65 0.040 2783 -632.7 274.4 - - 1866 - - - - - - - - 14.75 14.71 14.77
11711 594.2 11.3 1398 11717 roll 0.54 - - 1953 - 2.33 0.037 1416 -586.7 274.4 - - 1866 - - - - - - - - 14.90 14.64 14.92
11771 587.9 9.2 1409 11842 done 0.66 - - 1953 - 2.58 0.067 2799 536.0 344.9 62.17 1.665 1595 -4.4 0.298 - - - - - - 14.66 14.54 13.64
12021 558.0 12.8 1440 12028 done 0.68 - - 1953 - - - 2798 - 344.9 - - 1591 - - - - - - - - 14.69 14.72 14.71
12212 534.5 12.6 1459 12217 roll 0.70 - - 1961 - 2.40 0.038 1419 -574.6 344.9 - - 1590 - - - - - - - - 14.77 14.53 14.80
12260 528.4 12.3 1468 12268 done 0.74 0.12 0.125 2030 575.0 2.60 0.067 2806 533.5 344.9 - - 1587 - - - - - - - - 14.52 14.50 14.61
12450 492.6 20.0 1487 12457 done 0.66 0.20 0.242 1980 -250.0 - - 2807 - 344.9 - - 1589 - - - - - - - - 14.32 14.57 14.47
12637 461.8 15.6 1506 12643 roll 0.63 - - 1990 - 2.40 0.039 1419 -578.3 344.9 - - 1589 - - - - - - - - 14.84 14.61 14.87
12687 454.2 14.9 1515 12694 done 0.63 - - 1990 - 2.60 0.068 2809 534.6 344.9 - - 1589 - - - - - - - - 14.67 14.55 14.71
12873 423.3 16.8 1534 12881 done 0.60 0.15 0.219 1954 -240.0 - - 2809 - 344.9 - - 1589 - - - - - - - - 14.38 14.59 14.55
13063 397.3 13.3 1553 13068 roll 0.63 - - 1962 - 2.40 0.040 1418 -579.6 344.9 - - 1588 - - - - - - - - 14.86 14.65 14.90
13112 390.8 14.3 1562 13120 done 0.67 - - 1965 - 2.60 0.070 2800 531.5 344.9 - - 1589 - - - - - - - - 14.62 14.50 14.66
13299 365.1 14.2 1581 13306 done 0.67 - - 1962 - - - 2803 - 344.9 - - 1589 - - - - - - - - 14.88 14.91 14.90
13489 338.7 13.8 1600 13495 roll 0.68 - - 1971 - 2.40 0.040 1412 -579.6 344.9 - - 1591 - - - - - - - - 14.88 14.61 14.91
13534 332.5 13.1 1608 13540 done 0.72 - - 1971 - 2.60 0.072 2804 535.4 344.9 - - 1588 - - - - - - - - 14.70 14.57 14.76
13729 304.0 14.6 1628 13736 done 0.72 - - 1971 - - - 2805 - 344.9 - - 1588 - - - - - - - - 14.88 14.92 14.91
13919 276.8 14.1 1647 13925 roll 0.72 - - 1980 - 2.40 0.039 1417 -578.3 344.9 - - 1589 - - - - - - - - 14.89 14.66 14.92
13965 270.3 14.2 1655 13971 done 0.74 - - 1980 - 2.58 0.067 2803 537.2 344.9 - - 1588 - - - - - - - - 14.70 14.57 14.73
14160 242.1 14.3 1675 14167 done 0.74 - - 1983 - - - 2804 - 344.9 - - 1592 - - - - - - - - 14.89 14.92 14.89
14350 214.4 14.7 1694 14356 roll 0.74 - - 1985 - 2.40 0.041 1414 -579.2 344.9 - - 1592 - - - - - - - - 14.89 14.66 14.92
14395 208.2 13.6 1702 14402 done 0.74 - - 1990 - 2.58 0.070 2802 538.0 344.9 - - 1587 - - - - - - - - 14.69 14.57 14.73
14594 179.0 15.5 1722 14600 roll 0.72 - - 1989 - 1.83 0.090 3829 561.2 344.9 - - 1588 - - - - - - - - 14.85 14.54 14.88
14619 174.3 17.0 1726 14626 done 0.70 - - 1997 - 1.62 0.038 2807 -630.9 344.9 - - 1586 - - - - - - - - 14.71 14.70 14.73
14818 142.4 15.9 1746 14824 roll 0.67 - - 2003 - 2.40 0.039 1399 -586.7 344.9 - - 1588 - - - - - - - - 14.87 14.62 14.90
14904 129.0 14.8 1762 14911 done 0.65 0.17 0.200 1962 -241.2 2.62 0.068 2808 537.8 344.9 - - 1589 - - - - - - - - 14.45 14.54 14.63
15103 104.2 12.6 1782 15110 done 0.68 - - 1962 - - - 2808 - 344.9 - - 1588 - - - - - - - - 14.87 14.90 14.89
15293 80.1 14.5 1816 15300 roll 0.70 - - 1970 - 2.42 0.041 1407 -578.9 344.9 - - 1588 - - - - - - - - 14.82 14.62 14.85
15339 74.8 12.5 1824 15346 done 0.74 - - 1971 - 2.62 0.072 2809 535.1 344.9 - - 1589 - - - - - - - - 14.62 14.50 14.65
15532 49.6 13.3 1861 15539 roll 0.76 - - 1971 - 1.83 0.092 3835 560.7 344.9 - - 1588 - - - - - - - - 14.82 14.47 14.85
15553 46.2 14.1 1864 15560 done 0.76 - - 1979 - 1.73 0.038 2778 -611.0 344.9 - - 1588 - - - - - - - - 14.60 14.57 14.62
15747 20.5 13.0 1901 15754 roll 0.76 - - 1989 - 2.33 0.036 1413 -585.8 344.9 - - 1588 - - - - - - - - 14.85 14.62 14.88
15834 9.4 13.6 1917 15841 done 0.78 - - 1989 - 2.60 0.064 2807 536.2 344.9 - - 1589 - - - - - - - - 14.65 14.52 14.68
15891 end climb: SURFACE_DEPTH_REACHED
15891 begin surface coast
15909 end surface coast: CONTROL_FINISHED_OK
15909 begin surface
SM 0.37 - - - - -4.70 5.20 0.069 221 42.5 - - 2809 - 375.04 23.38 1.003 1475 63.1 -0.002 - - - - - -