NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 105 * Raw log
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• Previous call tries 2 • 37.25 of 506.00 AH used of 24V (92.64% remains)
• Surface angle -67.0 deg, depth 1.16 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 933.9, SM_CC=430)
• GPS1 time: 32 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
10 end surface: CONTROL_FINISHED_OK
11 begin dive
18.73 - - - 90.17 VBD -1.18 - - 182.06 - - - 2159.25 - -77.86 49.81 0.005 2449.28 - - - - - - - - - - 15.57
92.39 3.17 -4.56 10 212.51 -1.18 16.63 0.226 2227.44 123.0 3.26 0.082 3304.12 351.2 -77.86 11.94 0.007 3212.06 63.9 -4.795 - - - - - - 15.64 15.56 15.60
263.60 42.04 -14.72 27 281.54 roll -1.18 - - 2228.12 - 2.76 0.021 2145.69 -419.7 -77.86 - - 3214.38 - - - - - - - - - 15.82 -
467.49 65.51 -11.64 65 474.04 no move -1.18 - - 2228.38 - - - 2145.56 - -77.86 - - 3214.41 - - - - - - - - - - -
659.87 88.29 -11.66 103 680.10 roll -1.18 - - 2227.69 - 3.27 0.077 3303.19 354.0 -77.86 - - 3216.06 - - - - - - - - - 15.90 -
701.25 92.91 -11.28 108 719.30 roll -1.18 - - 2227.62 - 2.74 0.020 2143.81 -423.1 -77.86 - - 3215.00 - - - - - - - - - 15.94 -
905.10 110.72 -8.87 134 909.12 VBD -1.18 - - 2228.12 - - - 2143.00 - -77.86 - - 3215.16 - - - - - - - - - - -
1215.16 134.85 -7.53 165 1219.18 no move -1.18 - - 2228.31 - - - 2142.69 - -77.86 - - 3215.41 - - - - - - - - - - -
1525.21 157.30 -6.72 196 1545.73 done -1.18 - - 2227.88 - 3.26 0.077 3303.12 356.0 -77.86 - - 3215.00 - - - - - - - - - 16.00 -
1616.89 164.85 -8.42 211 1634.01 done -1.18 - - 2228.12 - 2.74 0.021 2143.38 -423.3 -77.86 - - 3217.41 - - - - - - - - - 16.02 -
1939.83 189.82 -7.76 243 1960.34 done -1.18 - - 2228.12 - 3.24 0.077 3302.75 357.8 -77.86 - - 3217.25 - - - - - - - - - 15.98 -
2001.51 195.14 -8.75 252 2019.31 done -1.18 - - 2227.75 - 2.74 0.021 2146.19 -422.1 -77.86 - - 3217.31 - - - - - - - - - 16.03 -
2325.27 220.49 -7.81 284 2344.63 roll -1.18 - - 2228.56 - 3.23 0.077 3301.81 357.8 -77.86 - - 3215.72 - - - - - - - - - 16.05 -
2450.85 231.49 -8.92 306 2468.58 roll -1.18 - - 2228.06 - 2.72 0.021 2146.69 -424.7 -77.86 - - 3217.31 - - - - - - - - - 16.04 -
2774.40 256.38 -7.84 338 2778.46 no move -1.18 - - 2227.25 - - - 2146.69 - -77.86 - - 3214.19 - - - - - - - - - - -
3084.42 282.14 -8.34 369 3103.78 roll -1.18 - - 2226.75 - 3.22 0.078 3303.88 359.4 -77.86 - - 3216.28 - - - - - - - - - 16.07 -
3139.99 287.24 -8.89 377 3157.32 roll -1.18 - - 2227.94 - 2.73 0.021 2147.12 -423.7 -77.86 - - 3214.28 - - - - - - - - - 16.08 -
3463.16 313.35 -8.10 409 3482.53 roll -1.18 - - 2228.12 - 3.23 0.078 3304.12 358.2 -77.86 - - 3211.78 - - - - - - - - - 16.02 -
3498.73 316.17 -8.12 413 3516.45 roll -1.18 - - 2228.44 - 2.72 0.021 2147.19 -425.3 -77.86 - - 3213.03 - - - - - - - - - 16.08 -
3822.30 339.62 -7.00 445 3841.90 roll -1.18 - - 2228.06 - 3.22 0.078 3302.25 358.7 -77.86 - - 3214.12 - - - - - - - - - 16.06 -
3898.21 345.52 -7.91 457 3915.57 roll -1.18 - - 2228.25 - 2.72 0.021 2148.25 -424.3 -77.86 - - 3212.78 - - - - - - - - - 16.08 -
4221.38 368.88 -7.22 489 4240.75 roll -1.18 - - 2226.56 - 3.23 0.079 3302.69 357.4 -77.86 - - 3213.38 - - - - - - - - - 16.08 -
4311.23 376.20 -7.94 504 4329.68 roll -1.18 - - 2227.94 - 2.72 0.021 2149.25 -424.1 -77.86 - - 3212.75 - - - - - - - - - 16.09 -
4635.52 398.99 -7.01 536 4654.90 roll -1.18 - - 2228.25 - 3.22 0.079 3303.12 358.3 -77.86 - - 3209.09 - - - - - - - - - 16.09 -
4715.37 405.37 -8.11 549 4733.44 roll -1.18 - - 2227.62 - 2.72 0.021 2149.12 -424.3 -77.86 - - 3210.72 - - - - - - - - - 16.08 -
5039.28 430.26 -7.86 581 5043.35 no move -1.18 - - 2227.69 - - - 2148.00 - -77.86 - - 3208.91 - - - - - - - - - - -
5349.31 453.58 -7.40 612 5368.68 roll -1.18 - - 2228.31 - 3.24 0.080 3302.94 356.5 -77.86 - - 3209.03 - - - - - - - - - 16.07 -
5429.16 459.89 -7.79 625 5447.62 roll -1.18 - - 2228.00 - 2.72 0.021 2148.75 -424.3 -77.86 - - 3208.53 - - - - - - - - - 16.07 -
5753.44 481.91 -6.05 657 5772.81 roll -1.18 - - 2228.69 - 3.23 0.080 3301.06 356.8 -77.86 - - 3206.44 - - - - - - - - - 16.00 -
5799.11 485.27 -6.69 663 5816.45 roll -1.18 - - 2227.81 - 2.70 0.022 2147.75 -427.2 -77.86 - - 3206.69 - - - - - - - - - 16.08 -
6122.30 507.35 -7.14 695 6126.36 no move -1.18 - - 2227.56 - - - 2147.31 - -77.86 - - 3206.12 - - - - - - - - - - -
6432.32 530.86 -7.67 726 6451.69 roll -1.18 - - 2227.12 - 3.22 0.081 3304.25 359.3 -77.86 - - 3206.50 - - - - - - - - - 16.09 -
6487.89 535.65 -8.35 734 6505.23 roll -1.18 - - 2227.38 - 2.72 0.022 2150.25 -424.3 -77.86 - - 3205.91 - - - - - - - - - 16.08 -
6811.06 561.15 -8.15 766 6815.12 no move -1.18 - - 2228.00 - - - 2149.75 - -77.86 - - 3204.84 - - - - - - - - - - -
7121.12 584.91 -7.53 797 7140.50 roll -1.18 - - 2227.69 - 3.23 0.082 3305.06 357.7 -77.86 - - 3205.22 - - - - - - - - - 16.09 -
7216.71 592.49 -8.07 813 7234.43 roll -1.18 - - 2228.25 - 2.73 0.022 2149.56 -423.3 -77.86 - - 3204.25 - - - - - - - - - 16.09 -
7540.28 615.62 -6.96 845 7544.34 no move -1.18 - - 2227.44 - - - 2149.38 - -77.86 - - 3203.44 - - - - - - - - - - -
7850.56 637.64 -7.24 876 7854.61 no move -1.18 - - 2227.75 - - - 2149.69 - -77.86 - - 3202.38 - - - - - - - - - - -
8160.58 660.96 -7.67 907 8180.05 roll -1.18 - - 2227.81 - 3.23 0.082 3303.62 357.3 -77.86 - - 3202.22 - - - - - - - - - 16.09 -
8206.24 665.09 -8.67 913 8223.58 roll -1.18 - - 2228.38 - 2.71 0.022 2149.94 -425.7 -77.86 - - 3203.03 - - - - - - - - - 16.08 -
8529.40 690.17 -7.33 945 8548.77 roll -1.18 - - 2227.94 - 3.21 0.082 3302.31 359.0 -77.86 - - 3202.22 - - - - - - - - - 16.08 -
8574.96 694.11 -7.37 951 8592.29 roll -1.18 - - 2227.00 - 2.72 0.022 2149.88 -423.7 -77.86 - - 3202.81 - - - - - - - - - 16.09 -
8898.14 715.68 -6.20 983 8917.50 roll -1.18 - - 2227.69 - 3.21 0.083 3301.62 358.8 -77.86 - - 3201.44 - - - - - - - - - 16.08 -
8987.98 722.34 -7.01 998 9006.24 roll -1.18 - - 2226.88 - 2.71 0.022 2149.25 -425.2 -77.86 - - 3203.38 - - - - - - - - - 16.07 -
9312.09 740.81 -6.16 1030 9331.46 roll -1.18 - - 2226.88 - 3.22 0.083 3302.06 358.0 -77.86 - - 3202.28 - - - - - - - - - 16.08 -
9451.95 750.05 -6.74 1055 9469.87 roll -1.18 - - 2228.38 - 2.70 0.022 2150.31 -426.6 -77.86 - - 3200.75 - - - - - - - - - 16.08 -
9775.83 768.64 -5.41 1087 9779.89 no move -1.18 - - 2227.56 - - - 2149.31 - -77.86 - - 3200.56 - - - - - - - - - - -
10085.89 787.33 -6.09 1118 10089.95 no move -1.18 - - 2227.69 - - - 2149.56 - -77.86 - - 3199.34 - - - - - - - - - - -
10395.95 806.57 -6.25 1149 10400.01 no move -1.18 - - 2228.31 - - - 2149.06 - -77.86 - - 3198.88 - - - - - - - - - - -
10706.00 824.85 -5.86 1180 10725.37 roll -1.18 - - 2227.31 - 3.23 0.084 3301.25 356.7 -77.86 - - 3200.31 - - - - - - - - - 16.07 -
10755.85 828.21 -6.21 1187 10773.92 roll -1.18 - - 2228.31 - 2.71 0.022 2148.06 -425.5 -77.86 - - 3199.47 - - - - - - - - - 16.08 -
11079.77 846.38 -5.60 1219 11083.83 no move -1.18 - - 2228.00 - - - 2148.50 - -77.86 - - 3198.62 - - - - - - - - - - -
11389.83 863.98 -5.43 1250 11409.19 roll -1.18 - - 2228.19 - 3.22 0.084 3302.38 358.3 -77.86 - - 3197.62 - - - - - - - - - 16.02 -
11465.51 868.64 -5.56 1262 11482.85 roll -1.18 - - 2227.88 - 2.71 0.023 2149.62 -425.4 -77.86 - - 3198.75 - - - - - - - - - 16.07 -
11788.70 887.07 -5.98 1294 11808.30 roll -1.18 - - 2226.75 - 3.21 0.084 3302.69 359.2 -77.86 - - 3199.19 - - - - - - - - - 16.06 -
11834.62 890.09 -6.63 1300 11851.55 roll -1.18 - - 2227.19 - 2.69 0.023 2147.88 -429.3 -77.86 - - 3199.19 - - - - - - - - - 16.07 -
12157.37 908.66 -5.63 1332 12161.43 no move -1.18 - - 2228.00 - - - 2148.31 - -77.86 - - 3197.12 - - - - - - - - - - -
12467.39 926.92 -6.30 1363 12471.46 no move -1.18 - - 2228.19 - - - 2147.81 - -77.86 - - 3196.72 - - - - - - - - - - -
12777.42 944.35 -5.85 1394 12796.79 roll -1.18 - - 2227.00 - 3.22 0.085 3301.19 358.2 -77.86 - - 3196.53 - - - - - - - - - 16.05 -
12822.98 946.89 -6.02 1400 12839.92 roll -1.18 - - 2228.12 - 2.70 0.023 2150.00 -426.4 -77.86 - - 3196.91 - - - - - - - - - 16.07 -
13146.17 963.84 -4.98 1432 13165.55 roll -1.18 - - 2227.44 - 3.22 0.085 3303.31 358.2 -77.86 - - 3196.75 - - - - - - - - - 16.04 -
13226.02 968.67 -5.96 1445 13244.08 roll -1.18 - - 2228.06 - 2.71 0.023 2151.44 -425.0 -77.86 - - 3196.75 - - - - - - - - - 16.06 -
13550.34 984.14 -4.67 1477 13554.40 no move -1.18 - - 2227.31 - - - 2150.75 - -77.86 - - 3195.97 - - - - - - - - - - -
13669 end dive: TARGET_DEPTH_EXCEEDED
13670 begin apogee
13675.24 990.16 -4.56 1489 13775.12 -0.31 1.53 0.138 2438.06 137.7 0.12 0.197 2193.00 352.1 - 60.77 2.487 2890.38 -5.0 0.332 - - - - - - 15.96 15.60 11.75
13788 end apogee: CONTROL_FINISHED_OK
13788 begin climb
13791.42 991.62 - 1496 13900.32 1.18 2.54 0.097 2804.44 144.2 - - 2192.12 - 77.86 65.67 2.433 2573.41 -4.8 0.326 - - - - - - 15.71 - 12.50
14206.68 965.36 6.86 1534 14210.75 VBD 1.25 - - 2805.44 - - - 2192.06 - 77.86 - - 2561.69 - - - - - - - - - - -
14517.11 944.67 6.63 1565 14522.48 1.34 0.22 0.083 2851.94 211.4 - - 2191.50 - 77.86 - - 2562.47 - - - - - - - - 15.88 - -
14828.71 921.32 7.22 1596 14832.77 VBD 1.39 - - 2852.44 - - - 2192.31 - 77.86 - - 2559.28 - - - - - - - - - - -
15139.03 898.27 6.90 1627 15143.09 VBD 1.46 - - 2853.00 - - - 2191.81 - 77.86 - - 2559.28 - - - - - - - - - - -
15448.95 873.77 8.07 1658 15453.02 VBD 1.46 - - 2852.56 - - - 2192.06 - 77.86 - - 2557.91 - - - - - - - - - - -
15759.40 849.53 7.30 1689 15781.41 1.50 0.17 0.088 2893.12 238.6 3.30 0.094 3352.56 351.7 77.86 - - 2560.12 - - - - - - - - 15.98 15.96 -
15836.90 841.83 9.39 1701 15855.19 done 1.50 - - 2894.50 - 2.70 0.024 2205.06 -425.0 77.86 - - 2558.88 - - - - - - - - - 16.03 -
16161.16 814.30 8.65 1733 16165.22 VBD 1.50 - - 2894.69 - - - 2204.00 - 77.86 - - 2557.38 - - - - - - - - - - -
16471.63 790.25 6.66 1764 16475.69 VBD 1.59 - - 2894.25 - - - 2202.69 - 77.86 - - 2557.53 - - - - - - - - - - -
16781.54 766.09 8.28 1795 16799.29 done 1.59 - - 2892.56 - 2.88 0.081 1143.81 -367.7 77.86 - - 2560.19 - - - - - - - - - 16.04 -
16945.53 752.57 8.72 1825 16962.87 done 1.59 - - 2893.06 - 2.79 0.034 2273.81 405.0 77.86 - - 2559.34 - - - - - - - - - 16.05 -
17268.72 727.53 7.94 1857 17272.79 VBD 1.59 - - 2894.06 - - - 2274.19 - 77.86 - - 2555.88 - - - - - - - - - - -
17578.78 703.46 7.85 1888 17582.84 VBD 1.59 - - 2894.62 - - - 2274.50 - 77.86 - - 2555.94 - - - - - - - - - - -
17889.24 680.49 7.12 1919 17907.80 done 1.64 - - 2894.00 - 3.04 0.077 1143.94 -371.9 77.86 - - 2556.31 - - - - - - - - - 16.06 -
18048.30 667.64 8.15 1948 18066.37 done 1.64 - - 2894.19 - 2.78 0.033 2272.94 406.1 77.86 - - 2558.47 - - - - - - - - - 16.07 -
18372.63 644.70 6.85 1980 18394.49 1.71 0.23 0.075 2943.81 215.7 3.06 0.097 3352.06 352.7 77.86 - - 2554.94 - - - - - - - - 16.02 15.99 -
18435.80 639.43 9.35 1989 18452.75 done 1.71 - - 2944.50 - 2.69 0.024 2201.00 -427.9 77.86 - - 2556.78 - - - - - - - - - 16.06 -
18759.00 614.92 7.16 2021 18776.76 done 1.77 - - 2943.44 - 2.83 0.079 1144.31 -373.4 77.86 - - 2558.84 - - - - - - - - - 16.06 -
18832.98 609.23 7.59 2033 18850.35 done 1.77 - - 2944.50 - 2.76 0.033 2275.94 410.0 77.86 - - 2557.47 - - - - - - - - - 16.06 -
19156.59 586.24 6.87 2065 19160.66 VBD 1.84 - - 2944.56 - - - 2276.50 - 77.86 - - 2555.12 - - - - - - - - - - -
19466.91 563.96 7.04 2096 19486.71 1.90 0.19 0.080 2989.81 238.2 3.01 0.096 3352.69 357.5 77.86 - - 2557.06 - - - - - - - - 16.02 15.98 -
19622.95 549.71 9.70 2124 19640.29 done 1.90 - - 2991.75 - 2.71 0.024 2202.50 -424.4 77.86 - - 2555.84 - - - - - - - - - 16.05 -
19946.14 521.77 8.13 2156 19950.20 VBD 1.90 - - 2991.88 - - - 2201.38 - 77.86 - - 2555.62 - - - - - - - - - - -
20256.19 496.46 8.57 2187 20260.26 VBD 1.90 - - 2991.56 - - - 2201.25 - 77.86 - - 2555.06 - - - - - - - - - - -
20566.65 473.19 7.50 2218 20584.41 done 1.93 - - 2991.62 - 2.84 0.079 1143.94 -372.3 77.86 - - 2556.19 - - - - - - - - - 16.05 -
20735.04 460.13 7.91 2249 20753.13 done 1.93 - - 2991.62 - 2.77 0.033 2275.19 408.4 77.86 - - 2555.72 - - - - - - - - - 16.06 -
21059.39 437.46 6.49 2281 21077.95 done 2.02 - - 2992.19 - 3.03 0.095 3353.00 355.7 77.86 - - 2555.69 - - - - - - - - - 15.96 -
21168.83 429.49 7.52 2300 21186.51 done 2.06 - - 2991.38 - 2.68 0.023 2201.00 -429.9 77.86 - - 2557.16 - - - - - - - - - 16.05 -
21492.72 410.54 5.90 2332 21510.92 2.19 0.05 0.205 3014.75 467.4 2.80 0.078 1143.94 -377.5 77.86 - - 2556.22 - - - - - - - - 16.01 15.95 -
21627.65 401.61 6.74 2356 21645.01 2.26 - - 3014.44 - 2.76 0.032 2277.25 410.6 77.86 - - 2556.91 - - - - - - - - - 16.03 -
21951.27 380.47 6.93 2388 21969.43 2.33 - - 3014.38 - 3.00 0.094 3353.50 358.8 77.86 - - 2556.00 - - - - - - - - - 16.03 -
22030.15 374.34 7.61 2401 22048.37 2.33 - - 3014.38 - 2.70 0.023 2199.94 -427.2 77.86 - - 2555.59 - - - - - - - - - 15.97 -
22354.72 351.41 6.98 2433 22372.87 2.39 - - 3014.88 - 2.82 0.077 1143.75 -374.5 77.86 - - 2555.94 - - - - - - - - - 16.05 -
22603.80 334.02 6.86 2480 22621.89 2.47 - - 3015.19 - 2.74 0.032 2278.44 414.1 77.86 - - 2556.09 - - - - - - - - - 16.04 -
22928.14 314.11 5.66 2512 22946.82 2.61 - - 3015.19 - 3.04 0.073 1143.38 -373.4 77.86 - - 2557.34 - - - - - - - - - 16.01 -
23003.66 309.74 5.80 2524 23021.42 2.74 - - 3015.00 - 2.76 0.031 2276.50 410.6 77.86 - - 2556.44 - - - - - - - - - 16.03 -
23327.66 292.41 5.03 2556 23400.77 2.87 - - 3015.00 - - - 2277.06 - 140.36 48.52 1.646 2317.94 -4.9 0.145 - - - - - - - - 11.85
23706.61 258.37 9.85 2597 23710.69 2.87 - - 3015.75 - - - 2276.31 - 140.36 - - 2309.00 - - - - - - - - - - -
24016.90 227.57 9.75 2628 24020.98 2.87 - - 3015.12 - - - 2276.69 - 140.36 - - 2306.91 - - - - - - - - - - -
24326.94 197.41 9.86 2659 24345.51 2.87 - - 3015.12 - 3.05 0.074 1143.94 -371.4 140.36 - - 2309.72 - - - - - - - - - 15.87 -
24486.03 181.38 9.45 2688 24504.53 2.87 - - 3015.31 - 2.82 0.032 2276.19 401.5 140.36 - - 2306.91 - - - - - - - - - 15.98 -
24810.35 154.88 7.86 2720 24828.94 2.87 - - 3014.62 - 3.05 0.093 3352.44 352.9 140.36 - - 2306.16 - - - - - - - - - 15.86 -
24879.41 148.84 8.82 2731 24897.90 2.87 - - 3014.69 - 2.70 0.023 2200.12 -426.8 140.36 - - 2307.81 - - - - - - - - - 15.98 -
25203.75 123.53 7.65 2763 25221.92 2.87 - - 3015.50 - 2.83 0.077 1143.62 -373.3 140.36 - - 2306.31 - - - - - - - - - 15.98 -
25318.54 114.81 7.22 2783 25335.91 2.92 - - 3014.19 - 2.78 0.030 2277.38 407.8 140.36 - - 2305.94 - - - - - - - - - 15.99 -
25642.16 99.34 4.28 2816 25746.14 3.08 - - 3015.50 - 3.06 0.074 1144.12 -370.3 218.33 59.93 1.383 1998.22 -5.1 0.061 - - - - - - - 15.73 12.09
25752.85 93.39 7.03 2830 25771.73 roll back 3.14 - - 3014.88 - 2.83 0.029 2275.31 399.7 218.33 - - 1994.28 - - - - - - - - - 15.83 -
25957.99 79.08 6.99 2868 25977.29 3.20 - - 3014.62 - 3.06 0.092 3351.81 351.8 218.33 - - 1989.66 - - - - - - - - - 15.81 -
26023.90 74.33 7.41 2878 26041.58 3.24 - - 3015.44 - 2.69 0.022 2195.19 -430.0 218.33 - - 1989.12 - - - - - - - - - 15.87 -
26227.81 62.76 4.90 2916 26316.66 3.37 - - 3014.88 - 2.87 0.078 1143.94 -366.3 283.44 49.42 1.305 1732.56 -5.2 0.041 - - - - - - - 15.68 12.24
26418.00 49.96 7.99 2947 26436.73 3.37 - - 3015.31 - 2.82 0.029 2276.62 401.7 283.44 - - 1726.34 - - - - - - - - - 15.82 -
26623.01 33.03 7.17 2985 26629.87 3.42 - - 3014.81 - - - 2277.25 - 283.44 - - 1723.47 - - - - - - - - - - -
26816.24 22.03 5.04 3023 26905.88 3.55 - - 3015.25 - 3.06 0.072 1143.75 -370.4 345.54 48.11 1.231 1481.66 -5.0 0.015 - - - - - - - 15.70 12.29
27137.54 14.98 1.84 3080 27290.90 3.80 - - 3015.69 - 2.81 0.027 2279.44 404.2 473.78 97.25 1.200 958.75 -5.4 0.011 - - - - - - - 15.86 12.35
27366 end climb: SURFACE_DEPTH_REACHED
27367 begin surface coast
27442 end surface coast: CONTROL_FINISHED_OK
27443 begin surface
SM 0.99 - - - - 180.4 - - 948.2 - 18.58 0.049 962.6 51.8 - 0.25 0.060 933.9 3724.4 -6.281 - - 30.00 15.77 15.80 -