NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 3 • 37.63 of 506.00 AH used of 24V (92.56% remains)
• Surface angle -65.8 deg, depth 1.16 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 923.1, SM_CC=430)
• GPS1 time: 20 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
18.73 - - - 104.04 VBD -1.18 - - 178.25 - - - 2256.62 - -77.86 59.98 0.005 2581.38 - - - - - - - - - - 15.57
106.26 3.23 -3.79 12 219.09 -1.18 16.66 0.230 2227.38 123.0 2.94 0.083 3304.75 356.5 -77.86 9.24 0.007 3209.88 68.0 -5.199 - - - - - - 15.68 15.59 15.63
225.14 34.31 -16.21 19 243.28 roll -1.18 - - 2227.38 - 2.71 0.020 2144.31 -428.2 -77.86 - - 3213.25 - - - - - - - - - 15.89 -
429.22 57.37 -11.00 57 436.17 no move -1.18 - - 2228.56 - - - 2143.06 - -77.86 - - 3213.22 - - - - - - - - - - -
621.96 76.49 -9.12 95 639.80 roll -1.18 - - 2228.31 - 2.80 0.070 1092.88 -375.1 -77.86 - - 3215.16 - - - - - - - - - 15.93 -
750.97 90.03 -11.04 118 768.83 roll -1.18 - - 2228.25 - 2.73 0.024 2232.69 417.5 -77.86 - - 3214.66 - - - - - - - - - 15.97 -
959.64 107.90 -7.49 147 977.55 roll -1.18 - - 2226.38 - 2.93 0.078 3303.38 365.4 -77.86 - - 3216.00 - - - - - - - - - 15.97 -
1183.74 125.99 -8.84 189 1200.46 roll -1.18 - - 2227.69 - 2.68 0.020 2140.81 -433.8 -77.86 - - 3215.81 - - - - - - - - - 16.00 -
1506.28 150.12 -6.90 221 1510.30 no move -1.18 - - 2228.00 - - - 2139.19 - -77.86 - - 3214.56 - - - - - - - - - - -
1816.33 171.10 -7.03 252 1835.06 roll -1.18 - - 2228.12 - 3.19 0.076 3304.69 365.4 -77.86 - - 3215.09 - - - - - - - - - 16.01 -
1915.49 179.01 -8.13 269 1933.10 roll -1.18 - - 2227.75 - 2.70 0.020 2142.06 -430.6 -77.86 - - 3216.25 - - - - - - - - - 16.03 -
2239.03 204.15 -7.64 301 2257.99 roll -1.18 - - 2227.56 - 3.19 0.075 3302.25 363.7 -77.86 - - 3215.38 - - - - - - - - - 16.00 -
2314.19 210.76 -8.90 313 2331.52 roll -1.18 - - 2227.81 - 2.68 0.020 2144.56 -432.0 -77.86 - - 3214.19 - - - - - - - - - 16.05 -
2637.37 236.69 -7.54 345 2641.43 no move -1.18 - - 2228.44 - - - 2144.38 - -77.86 - - 3213.38 - - - - - - - - - - -
2947.42 258.71 -6.85 376 2966.78 roll -1.18 - - 2227.06 - 3.20 0.077 3303.69 362.3 -77.86 - - 3212.81 - - - - - - - - - 16.01 -
3047.25 267.08 -8.68 393 3064.89 roll -1.18 - - 2227.62 - 2.67 0.021 2145.94 -433.6 -77.86 - - 3213.22 - - - - - - - - - 16.03 -
3370.75 294.83 -9.00 425 3374.80 no move -1.18 - - 2227.62 - - - 2146.12 - -77.86 - - 3210.62 - - - - - - - - - - -
3680.80 320.05 -7.42 456 3699.76 roll -1.18 - - 2227.44 - 3.18 0.077 3303.75 364.0 -77.86 - - 3211.22 - - - - - - - - - 16.09 -
3745.94 325.51 -7.92 466 3762.87 roll -1.18 - - 2228.00 - 2.69 0.021 2146.38 -430.2 -77.86 - - 3210.84 - - - - - - - - - 16.09 -
4068.96 346.90 -6.27 498 4087.93 roll -1.18 - - 2226.69 - 3.17 0.078 3303.88 365.1 -77.86 - - 3209.81 - - - - - - - - - 16.08 -
4144.25 352.41 -7.37 510 4161.57 roll -1.18 - - 2228.38 - 2.68 0.021 2145.81 -432.1 -77.86 - - 3208.41 - - - - - - - - - 16.09 -
4467.42 375.75 -7.78 542 4471.48 no move -1.18 - - 2227.81 - - - 2145.62 - -77.86 - - 3207.09 - - - - - - - - - - -
4777.47 401.11 -8.35 573 4781.53 no move -1.18 - - 2228.19 - - - 2145.69 - -77.86 - - 3205.97 - - - - - - - - - - -
5087.52 426.21 -8.13 604 5106.51 roll -1.18 - - 2228.06 - 3.18 0.080 3302.56 363.8 -77.86 - - 3205.06 - - - - - - - - - 16.07 -
5142.70 431.16 -8.79 612 5159.63 roll -1.18 - - 2227.12 - 2.67 0.022 2145.31 -433.4 -77.86 - - 3207.38 - - - - - - - - - 16.09 -
5465.48 455.99 -7.31 644 5484.43 roll -1.18 - - 2226.50 - 3.18 0.080 3303.00 364.1 -77.86 - - 3205.72 - - - - - - - - - 16.02 -
5590.65 466.15 -8.22 666 5607.56 roll -1.18 - - 2227.50 - 2.68 0.022 2148.25 -430.9 -77.86 - - 3205.34 - - - - - - - - - 16.09 -
5913.40 487.73 -6.56 698 5917.46 no move -1.18 - - 2228.81 - - - 2148.50 - -77.86 - - 3202.88 - - - - - - - - - - -
6223.47 508.20 -6.56 729 6227.77 no move -1.18 - - 2228.38 - - - 2147.94 - -77.86 - - 3201.44 - - - - - - - - - - -
6533.73 529.20 -6.90 760 6553.09 roll -1.18 - - 2228.50 - 3.20 0.081 3302.25 360.7 -77.86 - - 3201.47 - - - - - - - - - 16.08 -
6643.59 537.65 -7.83 779 6661.26 roll -1.18 - - 2227.75 - 2.68 0.022 2149.75 -430.0 -77.86 - - 3201.44 - - - - - - - - - 16.09 -
6967.11 558.99 -6.69 811 6986.47 roll -1.18 - - 2227.69 - 3.21 0.081 3302.75 359.2 -77.86 - - 3200.59 - - - - - - - - - 16.07 -
7102.69 568.59 -7.17 835 7119.62 roll -1.18 - - 2227.50 - 2.69 0.022 2149.00 -428.9 -77.86 - - 3199.91 - - - - - - - - - 16.10 -
7425.47 588.17 -6.00 867 7429.53 no move -1.18 - - 2227.44 - - - 2149.50 - -77.86 - - 3198.94 - - - - - - - - - - -
7735.53 605.80 -5.83 898 7754.88 roll -1.18 - - 2227.56 - 3.21 0.082 3304.25 359.7 -77.86 - - 3198.44 - - - - - - - - - 16.08 -
7791.10 609.78 -6.50 906 7808.02 roll -1.18 - - 2226.88 - 2.68 0.022 2148.81 -431.1 -77.86 - - 3200.66 - - - - - - - - - 16.08 -
8113.87 630.05 -6.69 938 8133.06 roll -1.18 - - 2227.94 - 3.18 0.082 3302.50 362.8 -77.86 - - 3198.28 - - - - - - - - - 16.09 -
8159.37 633.31 -6.69 944 8176.71 roll -1.18 - - 2226.31 - 2.67 0.022 2147.06 -432.7 -77.86 - - 3200.28 - - - - - - - - - 16.09 -
8482.56 655.92 -7.34 976 8486.62 no move -1.18 - - 2227.44 - - - 2147.00 - -77.86 - - 3197.59 - - - - - - - - - - -
8792.63 678.44 -7.33 1007 8811.59 roll -1.18 - - 2227.38 - 3.18 0.082 3302.62 363.4 -77.86 - - 3196.66 - - - - - - - - - 16.08 -
8912.08 688.03 -7.90 1028 8929.73 roll -1.18 - - 2228.19 - 2.68 0.022 2149.88 -430.1 -77.86 - - 3196.94 - - - - - - - - - 16.08 -
9235.58 709.81 -6.68 1060 9239.65 no move -1.18 - - 2228.31 - - - 2149.38 - -77.86 - - 3195.88 - - - - - - - - - - -
9545.64 729.52 -6.10 1091 9549.70 no move -1.18 - - 2227.81 - - - 2149.94 - -77.86 - - 3195.38 - - - - - - - - - - -
9855.70 748.78 -6.46 1122 9859.75 no move -1.18 - - 2227.56 - - - 2149.44 - -77.86 - - 3195.12 - - - - - - - - - - -
10165.75 766.84 -6.29 1153 10169.81 no move -1.18 - - 2227.62 - - - 2149.94 - -77.86 - - 3194.34 - - - - - - - - - - -
10475.81 784.31 -6.51 1184 10495.29 roll -1.18 - - 2227.25 - 3.22 0.083 3302.56 358.0 -77.86 - - 3196.62 - - - - - - - - - 16.07 -
10585.78 792.16 -7.22 1203 10604.48 roll -1.18 - - 2227.94 - 2.71 0.023 2149.25 -425.6 -77.86 - - 3194.69 - - - - - - - - - 16.08 -
10910.44 813.92 -7.27 1235 10914.51 no move -1.18 - - 2228.56 - - - 2148.75 - -77.86 - - 3193.31 - - - - - - - - - - -
11220.50 835.85 -6.97 1266 11239.86 roll -1.18 - - 2227.38 - 3.20 0.084 3303.00 360.7 -77.86 - - 3193.84 - - - - - - - - - 16.07 -
11346.09 845.55 -7.66 1288 11363.02 roll -1.18 - - 2228.12 - 2.69 0.023 2148.56 -429.2 -77.86 - - 3194.03 - - - - - - - - - 16.08 -
11668.87 866.90 -6.63 1320 11687.84 roll -1.18 - - 2227.00 - 3.20 0.084 3303.56 360.9 -77.86 - - 3193.81 - - - - - - - - - 16.06 -
11704.03 869.38 -6.69 1324 11721.38 roll -1.18 - - 2227.94 - 2.71 0.023 2148.25 -426.3 -77.86 - - 3193.88 - - - - - - - - - 16.08 -
12027.23 888.99 -5.79 1356 12031.29 no move -1.18 - - 2227.69 - - - 2148.25 - -77.86 - - 3192.19 - - - - - - - - - - -
12337.28 907.56 -5.82 1387 12356.65 roll -1.18 - - 2227.94 - 3.21 0.084 3302.19 359.5 -77.86 - - 3194.12 - - - - - - - - - 16.06 -
12392.85 911.44 -6.69 1395 12410.19 roll -1.18 - - 2227.50 - 2.71 0.023 2149.69 -425.3 -77.86 - - 3192.25 - - - - - - - - - 16.06 -
12716.25 930.65 -6.22 1427 12735.62 roll -1.18 - - 2227.69 - 3.22 0.084 3303.75 358.4 -77.86 - - 3192.34 - - - - - - - - - 16.06 -
12771.93 934.40 -6.14 1435 12789.28 roll -1.18 - - 2228.12 - 2.71 0.023 2152.31 -424.9 -77.86 - - 3192.66 - - - - - - - - - 16.06 -
13095.13 953.11 -5.77 1467 13112.88 roll -1.18 - - 2227.56 - 2.85 0.081 1095.38 -370.9 -77.86 - - 3192.41 - - - - - - - - - 16.05 -
13139.08 955.84 -5.67 1473 13156.42 roll -1.18 - - 2227.62 - 2.73 0.028 2231.62 416.2 -77.86 - - 3191.53 - - - - - - - - - 16.07 -
13462.28 973.39 -5.50 1505 13466.34 no move -1.18 - - 2227.25 - - - 2231.69 - -77.86 - - 3190.78 - - - - - - - - - - -
13772 end dive: TARGET_DEPTH_EXCEEDED
13773 begin apogee
13776.87 990.03 -5.57 1536 13875.68 -0.31 1.54 0.139 2439.88 138.1 0.10 0.216 2192.56 -391.3 - 59.62 2.471 2890.50 -5.0 0.334 - - - - - - 15.97 15.61 11.74
13880 end apogee: CONTROL_FINISHED_OK
13881 begin climb
13883.69 991.69 - 1543 14009.20 1.18 2.53 0.095 2804.75 144.2 2.95 0.083 1145.56 -354.9 77.86 65.46 2.424 2571.28 -4.9 0.330 - - - - - - 15.72 15.36 12.50
14016.57 985.81 6.00 1557 14035.56 roll back 1.31 0.17 0.090 2844.75 235.3 2.87 0.032 2275.12 393.6 77.86 - - 2568.47 - - - - - - - - 15.61 15.63 -
14341.92 962.15 7.24 1589 14360.49 done 1.35 - - 2847.06 - 3.10 0.097 3352.75 347.6 77.86 - - 2561.62 - - - - - - - - - 15.83 -
14406.68 956.50 8.75 1599 14424.41 done 1.35 - - 2846.62 - 2.75 0.024 2202.50 -418.3 77.86 - - 2562.22 - - - - - - - - - 15.87 -
14730.26 930.99 7.81 1631 14748.02 done 1.35 - - 2845.81 - 2.88 0.080 1143.94 -367.6 77.86 - - 2559.56 - - - - - - - - - 15.86 -
14808.50 923.96 8.65 1644 14826.57 done 1.35 - - 2846.38 - 2.80 0.033 2275.25 404.0 77.86 - - 2560.97 - - - - - - - - - 15.95 -
15132.43 898.18 7.90 1676 15136.49 VBD 1.35 - - 2845.81 - - - 2275.00 - 77.86 - - 2559.06 - - - - - - - - - - -
15442.48 874.25 7.73 1707 15461.04 done 1.35 - - 2847.25 - 3.05 0.077 1144.19 -370.8 77.86 - - 2557.38 - - - - - - - - - 16.02 -
15517.26 868.44 7.75 1719 15534.61 done 1.35 - - 2845.12 - 2.78 0.033 2275.31 406.9 77.86 - - 2561.78 - - - - - - - - - 16.01 -
15840.98 846.54 6.51 1751 15859.54 done 1.45 - - 2846.81 - 3.03 0.077 1143.56 -373.5 77.86 - - 2558.00 - - - - - - - - - 16.03 -
15910.42 841.38 7.42 1762 15929.73 1.48 0.18 0.086 2889.06 234.7 2.79 0.033 2273.88 405.1 77.86 - - 2560.09 - - - - - - - - 15.93 16.03 -
16235.98 818.01 7.21 1794 16240.06 VBD 1.53 - - 2888.94 - - - 2274.56 - 77.86 - - 2557.16 - - - - - - - - - - -
16546.31 795.43 7.41 1825 16550.38 VBD 1.57 - - 2890.25 - - - 2273.81 - 77.86 - - 2557.72 - - - - - - - - - - -
16856.63 772.79 7.33 1856 16875.19 done 1.62 - - 2889.31 - 3.04 0.097 3350.69 354.2 77.86 - - 2559.97 - - - - - - - - - 16.03 -
16921.39 767.68 8.03 1866 16938.33 done 1.62 - - 2890.06 - 2.68 0.024 2200.62 -429.1 77.86 - - 2559.09 - - - - - - - - - 16.06 -
17244.59 742.82 7.02 1898 17249.96 1.68 0.20 0.078 2935.81 228.8 - - 2199.12 - 77.86 - - 2556.06 - - - - - - - - 16.02 - -
17555.82 716.17 8.14 1929 17573.81 done 1.68 - - 2936.25 - 2.84 0.080 1143.81 -371.6 77.86 - - 2557.62 - - - - - - - - - 16.05 -
17680.15 704.79 8.85 1951 17697.51 done 1.68 - - 2936.06 - 2.79 0.033 2275.25 405.5 77.86 - - 2556.53 - - - - - - - - - 16.05 -
18003.35 678.93 7.66 1983 18007.42 VBD 1.68 - - 2936.50 - - - 2275.25 - 77.86 - - 2556.47 - - - - - - - - - - -
18313.39 655.32 7.61 2014 18331.96 done 1.68 - - 2936.06 - 3.05 0.076 1144.38 -370.8 77.86 - - 2555.03 - - - - - - - - - 16.06 -
18418.19 647.06 7.72 2032 18435.54 done 1.68 - - 2936.38 - 2.79 0.033 2274.69 405.1 77.86 - - 2557.22 - - - - - - - - - 16.06 -
18741.78 624.23 6.95 2064 18745.85 VBD 1.74 - - 2936.50 - - - 2274.19 - 77.86 - - 2555.12 - - - - - - - - - - -
19052.09 601.27 7.32 2095 19056.16 VBD 1.79 - - 2936.69 - - - 2274.44 - 77.86 - - 2555.28 - - - - - - - - - - -
19361.96 578.01 7.66 2126 19380.53 done 1.79 - - 2936.00 - 3.06 0.075 1143.75 -369.5 77.86 - - 2556.53 - - - - - - - - - 16.07 -
19597.18 559.42 7.53 2170 19614.53 done 1.82 - - 2936.75 - 2.79 0.033 2274.62 405.3 77.86 - - 2556.75 - - - - - - - - - 16.06 -
19920.78 536.86 6.78 2202 19942.41 1.89 0.24 0.073 2989.88 221.4 3.03 0.075 1144.25 -373.1 77.86 - - 2555.22 - - - - - - - - 16.03 16.01 -
20008.01 530.16 7.80 2216 20026.49 done 1.89 - - 2989.56 - 2.81 0.032 2275.81 402.7 77.86 - - 2556.53 - - - - - - - - - 16.07 -
20332.74 507.10 6.84 2248 20336.80 VBD 1.97 - - 2989.88 - - - 2275.50 - 77.86 - - 2555.31 - - - - - - - - - - -
20643.04 485.44 6.70 2279 20647.11 VBD 2.05 - - 2989.19 - - - 2275.44 - 77.86 - - 2555.41 - - - - - - - - - - -
20953.33 464.70 6.87 2310 20972.74 2.12 0.06 0.167 3011.38 369.8 3.04 0.096 3352.19 354.2 77.86 - - 2555.19 - - - - - - - - 16.01 15.95 -
21009.06 460.14 8.46 2318 21026.40 done 2.12 - - 3012.50 - 2.68 0.024 2200.88 -429.6 77.86 - - 2555.59 - - - - - - - - - 16.06 -
21332.25 434.99 7.89 2350 21350.00 done 2.12 - - 3012.00 - 2.87 0.078 1145.38 -367.8 77.86 - - 2557.44 - - - - - - - - - 15.92 -
21496.24 421.47 8.27 2380 21513.71 done 2.12 - - 3011.62 - 2.79 0.032 2275.31 405.0 77.86 - - 2556.66 - - - - - - - - - 16.04 -
21819.96 396.42 7.54 2412 21824.26 VBD 2.15 - - 3013.31 - - - 2274.31 - 77.86 - - 2555.31 - - - - - - - - - - -
22130.62 374.33 6.80 2443 22149.21 2.22 - - 3012.56 - 3.05 0.074 1143.94 -370.6 77.86 - - 2556.34 - - - - - - - - - 16.01 -
22180.08 370.76 7.45 2450 22198.17 2.26 - - 3012.06 - 2.78 0.032 2275.62 407.1 77.86 - - 2557.19 - - - - - - - - - 16.03 -
22504.39 350.78 5.56 2482 22508.55 2.41 - - 3012.94 - - - 2275.69 - 77.86 - - 2555.34 - - - - - - - - - - -
22814.80 334.75 5.22 2513 22818.88 2.58 - - 3012.75 - - - 2275.75 - 77.86 - - 2555.44 - - - - - - - - - - -
23125.12 318.12 5.20 2544 23143.70 2.75 - - 3012.12 - 3.04 0.094 3353.81 354.6 77.86 - - 2554.44 - - - - - - - - - 16.03 -
23260.32 310.63 5.48 2568 23277.67 2.90 - - 3012.44 - 2.69 0.023 2197.88 -429.7 77.86 - - 2557.19 - - - - - - - - - 16.03 -
23583.93 295.51 4.44 2600 23669.44 3.05 - - 3012.06 - - - 2197.06 - 152.41 57.93 1.653 2268.00 -5.0 0.148 - - - - - - - - 11.84
23975.29 258.53 10.70 2642 23993.06 3.05 - - 3012.81 - 2.87 0.078 1143.50 -367.1 152.41 - - 2258.12 - - - - - - - - - 15.90 -
24139.42 240.18 11.04 2672 24157.20 3.05 - - 3012.50 - 2.82 0.032 2275.19 401.3 152.41 - - 2258.03 - - - - - - - - - 15.93 -
24463.02 205.80 10.76 2704 24481.61 3.05 - - 3013.06 - 3.07 0.074 1144.19 -368.4 152.41 - - 2255.62 - - - - - - - - - 15.89 -
24537.82 197.56 11.06 2716 24555.57 3.05 - - 3012.81 - 2.81 0.032 2274.06 402.1 152.41 - - 2256.72 - - - - - - - - - 15.90 -
24861.42 165.22 9.73 2748 24879.99 3.05 - - 3013.00 - 3.06 0.073 1144.25 -369.2 152.41 - - 2255.25 - - - - - - - - - 15.94 -
24990.50 152.22 9.86 2771 25009.40 3.05 - - 3013.31 - 2.82 0.031 2274.62 400.8 152.41 - - 2255.19 - - - - - - - - - 15.97 -
25315.65 128.60 6.16 2803 25334.24 3.17 - - 3013.12 - 3.05 0.093 3352.25 353.3 152.41 - - 2253.38 - - - - - - - - - 15.95 -
25365.12 125.15 6.84 2810 25382.80 3.24 - - 3013.12 - 2.70 0.023 2199.56 -426.9 152.41 - - 2255.19 - - - - - - - - - 15.98 -
25689.43 104.62 5.53 2842 25707.58 3.39 - - 3012.88 - 2.81 0.076 1143.44 -375.8 152.41 - - 2255.72 - - - - - - - - - 15.92 -
25939.24 95.29 2.91 2889 26070.27 3.60 - - 3013.50 - 2.76 0.029 2279.19 411.5 258.69 80.24 1.374 1834.78 -5.2 0.060 - - - - - - - 15.99 12.21
26256.13 75.13 7.76 2943 26262.75 3.60 - - 3013.44 - - - 2279.62 - 258.69 - - 1824.47 - - - - - - - - - - -
26449.13 59.74 7.44 2981 26468.43 3.64 - - 3013.38 - 3.01 0.093 3352.38 356.4 258.69 - - 1822.16 - - - - - - - - - 15.81 -
26495.04 56.34 7.51 2987 26513.12 3.67 - - 3012.56 - 2.72 0.022 2197.12 -424.7 258.69 - - 1822.78 - - - - - - - - - 15.87 -
26699.36 41.70 6.75 3025 26718.48 3.75 - - 3013.12 - 2.83 0.076 1144.00 -372.1 258.69 - - 1820.50 - - - - - - - - - 15.86 -
26835.22 31.67 7.36 3049 26853.71 3.79 - - 3011.94 - 2.78 0.029 2276.00 407.2 258.69 - - 1820.41 - - - - - - - - - 15.92 -
27039.96 22.06 4.22 3087 27144.09 3.95 - - 3012.69 - 3.09 0.073 1145.50 -365.9 337.87 60.19 1.240 1512.19 -5.1 0.015 - - - - - - - 15.69 12.22
27375.76 9.69 1.32 3146 27541.97 4.23 - - 3013.38 - 2.78 0.027 2280.69 408.3 476.85 105.23 1.198 946.41 -5.4 0.007 - - - - - - - 15.86 12.29
27548 end climb: SURFACE_DEPTH_REACHED
27548 begin surface coast
27624 end surface coast: CONTROL_FINISHED_OK
27625 begin surface
SM 1.09 - - - - 178.4 - - 935.9 - 18.59 0.050 948.8 51.0 - 0.25 0.061 923.1 3681.3 -6.723 - - 30.00 15.74 15.77 -