SG114 RIMPAC 25Jun06

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Toggle: attitude * high V * low V * errors * retries           Statistics * Plot          
dive end time (UT/LT) length
(min)
depth
(meters)
lat lon dog
(km)
cog dtw
(km)
ctw dtg
(km)
ctg Umag
(cm/s)
Udir dive climb high V low V errors retries
pitch rollL rollR pitch rollL rollR volts kJ % cap volts kJ % cap TT8 CF8 pit rol VBD pit rol VBD
093cp-06/07/13 19:46 274 995(990) 019 20.87 -158 23.40 1.99159.8 4.59183.0 54.2152.2 17.0 17.5-25.2 4 19 12.3 2 323.413.477.710.1 4.772.8 0 0 0 0 0 0 2 1
092---06/07/13 15:06 249 997(990) 019 21.87 -158 23.79 1.83130.3 3.52171.0 56.2152.5 15.0 21.9 -6.8 3 11 19.0 0 1123.413.877.910.1 4.073.0 0 0 2 0 0 24 0 2
091---06/07/13 10:52 270 995(990) 019 22.51 -158 24.59 3.18130.5 4.71162.7 57.9151.8 15.0 24.5-23.5 3 9 15.5 0 1423.313.578.110.1 4.473.2 0 0 2 0 0 45 0 1
090---06/07/13 06:16 265 995(990) 019 23.62 -158 25.97 3.02111.7 4.45147.7 60.9150.7 17.0 8.5-25.5 3 11 17.7 2 1023.413.478.310.1 4.373.4 0 0 0 0 0 0 0 1
089---06/07/13 01:46 262 997(990) 019 24.22 -158 27.57 4.44111.2 4.29138.0 63.2149.0 12.0 39.3-28.1 2 7 14.6 3 923.413.478.410.1 4.473.6 0 0 0 0 0 0 2 1
088c--06/07/12 21:19 259 994(990) 019 25.09 -158 29.94 4.19113.4 4.41143.9 66.8146.6 14.0 31.8-27.2 2 9 14.1 2 1023.413.778.610.1 4.473.8 0 0 0 0 0 0 0 1
087cp-06/07/12 16:54 257 996(990) 019 25.99 -158 32.14 2.98146.9 4.37176.8 17.5185.0 14.0 36.1-29.8 3 10 12.7 2 923.413.878.810.1 4.374.0 0 0 0 0 0 0 2 1
086---06/07/12 12:31 256 998(990) 019 27.33 -158 33.07 2.88140.2 4.21182.8 17.6185.2 17.0 46.3-30.0 2 6 12.8 1 1323.414.279.010.1 4.474.2 2 0 0 0 0 0 2 1
085---06/07/12 08:07 277 999(990) 019 28.52 -158 34.12 2.51155.4 4.64178.0 17.7183.3 15.0 20.6-29.4 4 6 13.4 1 1523.313.679.210.1 4.574.4 0 0 0 0 0 0 0 2
084---06/07/12 03:25 274 996(990) 019 29.75 -158 34.72 3.20147.2 4.80178.6 17.3185.5 15.0 38.2-28.7 2 8 13.0 1 1223.313.679.310.1 4.574.6 0 0 0 0 0 0 0 1
083c--06/07/11 22:46 261 996(990) 019 31.20 -158 35.71 2.94155.3 4.20184.8 17.3183.9 13.0 46.8-29.6 2 10 13.9 2 1123.413.779.510.1 4.574.8 0 0 0 0 0 0 4 1
082c--06/07/11 18:19 316 996(990) 019 32.64 -158 36.42 3.50165.4 5.03182.8 16.6182.8 10.0 34.4-28.0 2 9 11.1 2 1023.313.479.710.1 5.275.0 0 0 0 0 0 0 1 1
081---06/07/11 12:58 304 995(990) 019 34.47 -158 36.92 3.31147.2 4.79181.9 17.3185.6 15.0 43.8-27.0 4 9 10.3 3 1123.314.279.910.1 5.275.2 0 0 0 0 0 0 2 0
080---06/07/11 07:49 309 996(990) 019 35.97 -158 37.95 2.83163.0 4.80183.9 17.2182.6 12.0 29.5-26.5 3 10 11.6 2 1023.413.680.010.1 5.175.4 0 0 0 0 0 0 4 0
079c--06/07/11 02:34 303 999(990) 019 37.43 -158 38.42 3.25155.5 4.87184.5 94.1146.7 14.0 41.6-27.9 4 6 10.8 3 923.413.680.210.1 5.175.7 0 0 0 0 0 0 3 1
078cp-06/07/10 21:25 277 992(990) 019 39.02 -158 39.19 1.51218.1 3.08217.7 2.3322.1 9.0 39.0-34.5 3 8 18.8 2 1423.410.480.410.1 5.175.9 0 0 0 0 0 0 2 1
077---06/07/10 16:42 284 998(990) 019 39.66 -158 38.66 2.93201.7 4.30209.7 2.4285.1 9.0 46.1-28.7 4 4 13.5 1 1323.412.980.510.1 5.076.1 0 0 0 0 0 0 1 0
076---06/07/10 11:53 291 997(990) 019 41.12 -158 38.04 2.87208.4 4.79205.9 4.0238.7 11.0 21.2-28.2 3 8 11.7 5 923.413.780.710.1 4.876.3 0 0 0 0 0 0 3 0
075---06/07/10 06:56 296 997(990) 019 42.48 -158 37.25 3.14180.4 4.67179.3 6.7226.1 9.0357.8-28.0 7 6 10.7 1 1423.413.680.910.1 5.176.6 0 0 0 0 0 0 4 1
074---06/07/10 01:54 298 996(990) 019 44.18 -158 37.24 3.30168.4 4.79173.9 9.1211.9 9.0 2.5-27.7 3 6 11.7 3 1423.414.081.010.1 5.176.8 0 0 0 0 0 0 0 1
073---06/07/09 20:46 299 996(990) 019 45.92 -158 37.62 3.28187.6 4.76173.0 11.7200.7 10.0325.5-27.8 7 7 11.7 6 823.313.481.210.1 5.077.0 0 0 0 0 0 0 3 1
072---06/07/09 15:41 298 993(990) 019 47.67 -158 37.37 4.31173.5 4.78161.8 15.0197.9 6.0280.1-27.2 7 4 11.6 3 1223.313.581.410.1 5.177.2 0 0 0 0 0 0 3 1
071---06/07/09 10:37 292 998(990) 019 49.98 -158 37.66 3.43175.7 4.71161.0 19.0192.5 9.0310.8-26.9 7 3 11.6 2 1023.413.581.610.1 4.877.5 0 0 0 0 0 0 0 1
070---06/07/09 05:40 305 995(990) 019 51.83 -158 37.80 3.27175.7 4.88158.3 22.3189.9 11.0310.4-26.8 6 4 12.2 0 1023.313.381.810.1 5.177.7 0 0 0 0 0 0 5 1
069---06/07/09 00:29 297 994(990) 019 53.58 -158 37.94 3.72175.3 4.75155.8 25.5188.1 10.0293.1-26.9 7 6 12.3 3 1323.313.781.910.1 5.077.9 0 0 0 0 0 0 7 2
068---06/07/08 19:25 298 994(990) 019 55.58 -158 38.12 4.05196.7 4.76170.5 29.1186.5 12.0294.2-27.3 9 2 11.4 3 1123.313.282.110.1 5.078.1 0 0 0 0 0 0 2 3
067---06/07/08 14:22 299 999(990) 019 57.67 -158 37.45 4.96214.1 4.71189.2 33.1187.7 11.0283.7-27.6 7 6 12.0 5 823.313.382.310.1 5.078.4 0 0 0 0 0 0 5 1
066---06/07/08 09:18 293 995(990) 019 59.88 -158 35.86 4.63225.8 4.66200.0 37.6191.1 11.0303.2-28.1 9 6 11.4 3 1123.413.682.510.1 4.978.6 0 0 0 0 0 0 7 1
065c--06/07/08 04:19 298 999(990) 020 01.62 -158 33.96 4.77225.7 4.60190.8 41.5194.7 14.0298.3-28.0 6 4 11.1 4 1223.414.282.610.1 5.278.8 0 0 0 0 0 3 5 1
064cp-06/07/07 23:13 296 994(990) 020 03.42 -158 32.00 4.01212.1 4.63175.6 16.6174.4 13.0299.9-27.8 7 7 11.3 6 1023.416.382.810.1 5.279.0 0 0 0 0 0 0 6 9
063c--06/07/07 17:59 296 999(990) 020 05.25 -158 30.78 3.87220.5 4.69175.5 17.2172.2 18.0301.2-28.0 5 5 11.7 4 1123.413.583.010.1 5.079.3 0 0 0 0 0 0 1 0
062---06/07/07 12:58 306 998(990) 020 06.84 -158 29.34 4.24217.0 4.64175.9 16.7171.9 16.0293.2-27.8 8 5 12.5 4 1223.414.083.210.1 5.379.5 0 0 0 0 0 0 2 3
061---06/07/07 07:43 297 994(990) 020 08.67 -158 27.87 4.00215.1 4.57177.4 16.7173.1 14.0296.8-27.7 5 8 11.4 3 1423.413.483.410.1 5.079.8 1 0 0 0 0 1 2 2
060---06/07/07 02:42 301 998(990) 020 10.43 -158 26.55 5.05238.0 4.76197.5 61.1202.6 18.0304.5-28.3 7 4 11.7 6 1223.413.483.610.1 5.180.0 0 0 0 0 0 0 0 1
059---06/07/06 21:36 293 998(990) 020 11.87 -158 24.09 1.41128.9 4.64118.3 65.3205.2 18.0293.7-24.0 6 6 15.2 3 1323.413.383.710.1 5.080.2 0 0 0 0 0 0 3 3
058---06/07/06 16:37 300 996(990) 020 12.35 -158 24.72 1.30167.8 4.77128.9 65.7204.0 20.0297.2-24.9 8 6 14.2 4 923.414.283.910.1 5.180.4 0 0 0 0 0 0 6 1
057c--06/07/06 11:28 298 997(990) 020 13.04 -158 24.88 2.79201.9 4.74137.2 66.7203.3 20.0279.6-25.9 5 3 13.7 4 1223.416.484.110.1 5.380.7 0 0 0 0 0 0 6 6
056c--06/07/06 06:13 298 995(990) 020 14.43 -158 24.29 3.28194.7 4.72148.0 69.5203.3 18.0283.4-26.2 6 4 12.4 4 1323.413.584.310.1 5.180.9 1 0 0 0 0 0 0 3
055---06/07/06 01:09 291 998(990) 020 16.14 -158 23.81 2.90196.4 4.67142.0 78.3211.2 20.0283.7-27.1 10 0 10.7 8 523.414.384.510.1 5.981.1 0 0 0 0 0 0 1 2
054---06/07/05 20:11 290 995(990) 020 17.64 -158 23.34 2.58158.8 4.72118.0 81.1210.6 18.0266.8-24.9 11 1 12.2 8 623.414.184.710.1 5.881.4 0 0 0 0 0 0 0 2
053---06/07/05 15:16 284 998(990) 020 18.93 -158 23.87 6.16238.0 4.56199.0 82.7209.2 21.0286.5-29.1 9 0 10.1 6 323.414.284.810.1 5.681.7 0 0 0 0 0 0 0 1
052---06/07/05 10:26 286 994(990) 020 20.69 -158 20.87 7.21232.8 4.41204.9 88.2211.2 21.0265.0-29.0 10 1 10.0 10 323.414.285.010.1 5.881.9 0 0 0 0 0 0 0 1
051---06/07/05 05:34 2911001(990) 020 23.05 -158 17.56 6.36237.2 4.44202.0 94.9212.8 19.0279.9-28.9 12 3 9.5 7 323.414.785.210.1 5.982.2 0 0 0 0 0 0 0 0
050---06/07/05 00:33 279 995(990) 020 24.91 -158 14.49 7.24245.7 4.51206.8100.8214.3 24.0283.9-29.3 11 0 10.2 11 323.415.485.410.1 5.982.4 0 0 0 0 0 0 1 0
049---06/07/04 19:38 288 998(990) 020 26.52 -158 10.70 4.36209.2 4.62159.8107.0216.3 20.0278.3-28.2 8 1 9.2 11 223.414.485.610.1 5.782.7 0 0 0 0 0 0 1 0
048---06/07/04 14:44 283 997(990) 020 28.57 -158 09.48 4.57219.6 4.46164.8111.3216.1 23.0281.6-28.4 10 1 9.1 8 223.414.085.810.1 5.883.0 0 0 0 0 0 0 0 0
047---06/07/04 09:56 2981003(990) 020 30.46 -158 07.80 5.67227.0 4.70182.4115.9216.2 22.0281.9-28.8 6 6 9.0 11 323.414.486.010.1 5.883.2 0 0 0 0 0 0 1 0
046c--06/07/04 04:51 289 994(990) 020 32.55 -158 05.42 4.84211.7 4.60172.7121.5216.7 17.0278.0-29.4 11 1 8.6 9 123.414.386.210.1 5.883.5 0 0 0 0 0 0 0 0
045c--06/07/03 23:56 2451000(990) 020 34.77 -158 03.95 7.53297.9 4.15302.1 1.9283.2 22.0293.8-24.5 4 2 19.3 6 723.414.486.310.1 4.983.7 0 0 0 0 0 1 0 0
044---06/07/03 19:46 2471001(990) 020 32.88 -158 00.12 7.20282.8 4.01293.4 9.3295.0 20.0269.4-24.8 5 3 18.7 4 923.414.386.510.1 5.184.0 0 0 0 0 0 0 0 0
043---06/07/03 15:30 242 996(990) 020 32.02 -157 56.08 6.90278.7 3.91276.5 16.5289.7 20.0282.2-26.1 5 3 17.8 5 623.414.086.710.1 5.084.2 0 0 0 0 0 0 0 1
042---06/07/03 11:22 243 996(990) 020 31.45 -157 52.16 7.21293.1 4.00295.6 23.3286.5 21.0289.2-24.9 4 3 18.6 4 623.413.986.910.1 4.984.4 0 0 0 0 0 0 0 0
041---06/07/03 07:14 240 996(990) 020 29.93 -157 48.34 6.90295.1 3.96297.9 30.4288.0 18.0290.0-25.0 6 2 19.7 3 523.414.587.110.1 4.884.6 0 0 0 0 0 0 0 1
040-p-06/07/03 03:06 246 999(990) 020 28.36 -157 44.75 1.33 80.6 4.24102.8 14.8 33.8 19.0293.2-27.4 5 1 16.0 4 823.414.187.310.1 4.984.8 0 0 0 0 0 0 0 1
039---06/07/02 22:53 242 995(990) 020 28.24 -157 45.50 4.21354.4 4.13 41.4 15.8 37.3 20.0289.9-23.7 7 2 20.3 4 1123.414.587.410.1 5.085.1 0 0 0 0 0 0 0 2
038---06/07/02 18:41 244 997(990) 020 25.98 -157 45.26 1.23128.8 4.22107.9 19.1 28.7 20.0280.4-27.6 9 0 15.8 5 723.414.087.610.1 4.985.3 0 0 0 0 0 0 1 0
037---06/07/02 14:32 239 999(990) 020 26.40 -157 45.82 4.62355.3 4.09 36.9 18.9 32.3 21.0296.3-23.1 7 2 20.4 4 623.413.987.810.1 4.885.5 0 0 0 0 0 1 0 0
036---06/07/02 10:28 2471002(990) 020 23.92 -157 45.60 4.83345.6 4.19 27.3 22.7 25.3 21.0287.7-23.1 4 4 20.7 3 923.414.188.010.1 4.985.7 0 0 0 0 0 0 0 2
035---06/07/02 06:16 246 996(990) 020 21.40 -157 44.91 4.93346.6 4.16 25.4 26.6 18.7 20.0289.8-23.2 6 4 20.7 2 923.414.188.210.1 5.085.9 0 0 0 0 0 0 0 3
034---06/07/02 02:04 249 994(990) 020 18.81 -157 44.25 0.85170.8 4.04119.7 25.9 45.0 23.0288.8-29.2 7 2 15.1 4 923.413.788.410.1 5.086.2 0 0 0 0 0 0 0 2
033---06/07/01 21:50 243 995(990) 020 19.26 -157 44.33 4.10356.0 4.05 44.8 25.5 46.5 22.0291.1-24.3 6 2 19.5 2 1223.414.088.510.1 4.986.4 0 0 0 0 0 0 0 2
032---06/07/01 17:41 2431002(990) 020 17.06 -157 44.16 0.97151.8 4.21116.2 28.2 40.1 22.0285.8-28.8 5 2 15.7 4 1323.414.188.710.1 4.986.6 0 0 0 0 0 0 0 1
031---06/07/01 13:33 2451000(990) 020 17.52 -157 44.43 0.70 66.7 4.25101.7 27.9 41.9 22.0287.6-27.4 8 2 16.3 4 923.414.688.910.1 5.086.8 0 0 0 0 0 0 0 1
030---06/07/01 09:19 249 995(990) 020 17.37 -157 44.80 4.38351.9 4.12 42.7 28.5 42.5 23.0291.7-24.4 3 4 19.9 2 1223.414.189.110.1 5.087.1 0 0 0 0 0 0 0 0
029c--06/07/01 05:04 246 996(990) 020 15.03 -157 44.44 4.99342.9 4.25 36.5 31.5 36.4 23.0287.7-23.9 4 3 20.0 3 923.417.289.310.1 5.287.3 0 0 0 0 0 0 0 8
028c--06/07/01 00:40 237 996(990) 020 12.46 -157 43.60 4.83355.3 4.00 32.7 34.7 29.7 19.0300.8-23.2 4 3 20.4 2 1023.413.989.510.1 4.987.5 0 0 0 0 0 0 0 1
027---06/06/30 20:38 248 997(990) 020 09.86 -157 43.37 1.69 49.1 4.06 86.8 38.8 25.7 18.0288.1-26.2 7 1 17.8 2 1223.413.989.710.1 5.087.7 0 0 0 0 0 0 0 0
026---06/06/30 16:24 245 999(990) 020 09.27 -157 44.10 1.69 58.1 4.32 90.3 40.3 26.6 20.0285.8-26.9 3 2 17.0 5 823.414.389.910.1 4.988.0 0 0 0 0 0 0 0 0
025---06/06/30 12:14 248 997(990) 020 08.79 -157 44.93 2.25 45.1 4.03 83.3 41.8 27.8 16.0293.9-26.7 3 2 17.8 2 1023.413.990.010.1 5.088.2 0 0 0 0 0 0 1 2
024c--06/06/30 08:01 245 997(990) 020 07.93 -157 45.84 2.58 28.6 4.09 79.8 43.9 28.7 17.0297.8-26.5 8 3 18.5 2 1223.415.290.210.1 5.188.4 1 0 0 0 0 0 0 0
023cp-06/06/30 03:45 293 996(990) 020 06.71 -157 46.55 6.03351.3 4.28 27.5 46.5 28.7 19.0306.4-21.9 7 4 18.1 1 823.413.590.410.1 6.088.6 0 0 0 0 0 0 0 1
022c--06/06/29 22:44 287 994(990) 020 03.50 -157 46.02 6.17352.5 4.37 26.2 51.4 24.6 19.0309.2-22.1 6 7 18.5 6 1223.413.290.610.1 5.888.9 0 0 0 0 0 0 0 0
021c--06/06/29 17:51 298 997(990) 020 00.20 -157 45.56 6.05348.6 1.32 24.8 56.8 21.3 27.0342.5 0.0 0 0 0.0 0 023.313.790.810.1 5.989.2 0 0 0 0 0 2 0 0
020---06/06/29 12:47 298 994(990) 019 57.01 -157 44.88 3.52 35.1 4.85 76.4 61.9 18.3 17.0301.6-22.7 7 3 15.5 4 723.313.790.910.1 5.989.4 0 0 0 0 0 0 0 0
019---06/06/29 07:43 296 996(990) 019 55.46 -157 46.04 4.69 16.0 4.71 61.4 65.3 19.2 19.0307.7-22.8 5 5 16.6 5 923.313.191.110.1 5.889.7 0 0 0 0 0 1 0 0
018---06/06/29 02:42 3031000(990) 019 53.03 -157 46.78 4.14 16.6 4.83 72.4 70.0 18.9 19.0307.1-22.8 4 4 15.9 4 723.314.791.310.1 6.390.0 0 0 0 0 0 0 0 0
017---06/06/28 21:22 288 997(990) 019 50.89 -157 47.46 4.75 21.2 4.56 64.6 74.1 18.8 18.0314.6-22.7 6 4 16.3 5 523.313.491.510.1 5.890.2 0 0 0 0 0 2 0 1
016---06/06/28 16:27 301 996(990) 019 48.50 -157 48.44 4.31 26.0 4.75 66.9 78.9 19.0 17.0309.0-22.2 8 3 16.3 6 823.313.191.710.1 6.190.5 0 0 0 0 0 1 0 0
015---06/06/28 11:20 299 996(990) 019 46.42 -157 49.52 5.00 18.6 4.67 48.5 83.1 19.3 12.0308.3-21.7 6 2 16.8 7 923.313.591.810.1 6.090.8 0 0 0 0 0 2 0 1
014c--06/06/28 06:12 299 994(990) 019 43.87 -157 50.43 5.20 21.2 4.74 46.5 88.1 19.3 11.0317.6-21.8 4 3 16.6 5 723.313.292.010.1 6.191.1 0 0 0 0 0 1 0 1
013c--06/06/28 01:07 300 995(990) 019 41.25 -157 51.51 3.08 25.7 3.90 71.3 93.3 19.4 14.0304.6-20.8 1 20 21.3 0 1823.313.492.210.1 5.891.3 0 0 0 0 0 0 7 3
012-p-06/06/27 19:54 301 994(990) 019 39.76 -157 52.27 3.76 20.0 3.73 48.7 96.4 19.6 10.0306.5-19.9 1 20 21.2 1 1823.312.292.310.1 5.891.6 1 0 0 0 0 0 9 3
011---06/06/27 14:48 294 994(990) 019 37.85 -157 53.01 3.00 10.5 3.71 53.0100.2 19.6 14.0285.5-20.1 2 18 20.9 1 1823.313.192.510.1 5.891.8 0 0 0 0 0 0 8 1
010---06/06/27 09:44 299 995(990) 019 36.26 -157 53.32 4.34 16.0 3.85 39.8103.1 19.3 9.0306.1-20.6 0 18 20.9 1 1923.312.892.710.1 5.692.1 0 0 0 0 0 1 9 3
009c--06/06/27 04:38 330 991(990) 019 34.01 -157 54.00 5.53359.7 4.10 32.1107.5 19.2 12.0308.5-21.5 1 20 19.7 0 1623.314.492.810.1 6.492.4 0 0 0 0 0 0 21 9
008c--06/06/26 22:50 334 991(990) 019 31.04 -157 53.99 3.70354.7 4.05 25.1112.7 18.2 10.0270.3-21.2 1 25 19.5 0 1723.312.593.010.1 6.392.6 0 0 0 0 0 0 10 5
007c--06/06/26 17:11 312 926(990) 019 29.05 -157 53.79 3.83358.5 3.98 20.6116.1 17.5 8.0278.1-19.5 1 24 21.8 0 1523.312.093.210.1 6.092.9 0 0 0 0 0 0 5 4
006---06/06/26 11:54 313 943(990) 019 26.99 -157 53.74 3.75 10.9 4.03 27.2119.7 16.9 7.0268.3-19.6 3 21 21.2 0 1423.312.493.310.1 6.093.2 0 0 0 0 0 0 53 3
005c--06/06/26 06:32 218 660(660) 019 25.00 -157 54.14 3.04 8.7 2.62 12.8123.4 16.7 2.0336.3-20.7 2 12 20.5 1 923.511.893.510.1 5.293.5 0 0 0 0 0 0 17 1
004cp-06/06/26 02:45 212 590(660) 019 23.38 -157 54.41 2.55 5.9 2.37 30.4126.5 16.5 8.0295.9-18.9 1 13 20.1 0 1123.510.393.710.1 5.293.7 0 0 0 0 0 0 7 1
003c--06/06/25 23:08 213 628(660) 019 22.01 -157 54.56 2.64 1.6 2.56 14.6129.0 16.3 6.0281.1-19.2 0 15 19.3 0 1023.5 9.693.810.1 5.093.9 0 0 0 0 0 0 27 0
002c--06/06/25 19:14 106 302(300) 019 20.57 -157 54.62 1.38 50.3 1.12 54.2131.6 16.0 4.0 41.0-21.5 1 6 17.0 1 523.8 8.493.910.1 4.094.2 0 0 0 0 0 0 7 3
001c--06/06/25 17:09 22 49( 45) 019 20.06 -157 55.14 0.47321.6 0.14 19.4132.7 16.3 35.0310.5-22.9 0 1 15.6 0 224.0 6.594.110.2 1.394.4 0 0 0 0 0 0 0 1