SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 303 * Raw log
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• Previous call tries 1 • 122.36 of 350.00 AH used of 24V (65.04% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -59.6 deg, depth 0.83 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 40 s
• GPS2 time: 22 s • Transponder ping count: 8
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
20 - - - 105 VBD -0.68 - - 190 - - - 2297 - -116.8 -84.32 - 2911 - - - - - - - - 14.67 - 14.71
109 5.2 -7.1 3 133 roll -0.68 8.77 0.399 1982 204.3 2.80 2.049 873 -508.6 -116.8 -5.32 - 3221 -58.3 - - - - - - - 14.04 13.18 14.45
262 49.2 -19.2 25 268 done -0.52 0.22 0.274 2026 200.0 2.45 0.057 2276 572.7 -116.8 - - 3222 - - - - - - - - 14.11 14.41 14.40
583 85.3 -7.6 38 588 roll -0.44 0.12 0.279 2060 283.3 2.45 0.046 867 -575.1 -116.8 - - 3223 - - - - - - - - 14.21 14.45 14.35
612 87.6 -8.0 42 617 done -0.39 - - 2056 - 2.50 0.055 2301 573.6 -116.8 - - 3223 - - - - - - - - 14.59 14.49 14.62
975 114.3 -7.4 55 980 roll -0.39 - - 2049 - 2.42 0.077 3688 573.1 -116.8 - - 3224 - - - - - - - - 14.87 14.47 14.89
1079 122.7 -8.1 70 1086 done -0.39 - - 2049 - 2.40 0.040 2263 -593.8 -116.8 - - 3224 - - - - - - - - 14.59 14.54 14.60
1424 147.5 -7.0 77 1429 roll -0.39 - - 2049 - 2.35 0.050 891 -583.8 -116.8 - - 3223 - - - - - - - - 14.90 14.54 14.92
1450 149.8 -7.9 81 1457 done -0.39 - - 2043 - 2.47 0.057 2286 564.8 -116.8 - - 3223 - - - - - - - - 14.53 14.47 14.57
1815 178.9 -8.2 91 1820 roll -0.39 - - 2038 - 2.47 0.080 3700 572.5 -116.8 - - 3221 - - - - - - - - 14.91 14.47 14.92
1850 181.9 -8.4 96 1855 done -0.39 0.12 0.228 2068 250.0 2.35 0.041 2267 -609.8 -116.8 - - 3221 - - - - - - - - 14.33 14.63 14.54
2207 206.9 -6.9 105 2213 roll -0.39 - - 2068 - 2.35 0.054 902 -580.9 -116.8 - - 3218 - - - - - - - - 14.91 14.53 14.92
2291 212.9 -7.1 117 2297 done -0.45 - - 2068 - 2.40 0.060 2280 574.2 -116.8 - - 3219 - - - - - - - - 14.64 14.52 14.67
2655 236.0 -6.3 127 2660 roll -0.45 - - 2064 - 2.53 0.083 3696 559.7 -116.8 - - 3216 - - - - - - - - 14.91 14.46 14.92
2696 238.7 -6.5 133 2703 done -0.51 - - 2064 - 2.40 0.046 2279 -590.4 -116.8 - - 3216 - - - - - - - - 14.60 14.57 14.62
3048 261.4 -6.5 141 3053 roll -0.51 - - 2064 - 2.40 0.054 900 -574.6 -116.8 - - 3214 - - - - - - - - 14.92 14.51 14.95
3137 267.6 -6.7 154 3143 done -0.56 0.15 0.127 2000 -426.7 2.42 0.060 2278 569.4 -116.8 - - 3213 - - - - - - - - 14.51 14.49 14.62
3495 302.7 -10.2 163 3496 done -0.51 0.12 0.265 2027 225.0 - - 2278 - -116.8 - - 3210 - - - - - - - - 14.23 14.52 14.44
3832 333.7 -9.2 169 3837 roll -0.51 - - 2027 - 2.42 0.055 902 -568.6 -116.8 - - 3207 - - - - - - - - 14.96 14.49 14.95
3865 337.1 -9.9 174 3872 done -0.51 - - 2026 - 2.47 0.062 2296 564.4 -116.8 - - 3208 - - - - - - - - 14.58 14.44 14.62
4223 369.5 -9.0 183 4228 roll -0.51 - - 2025 - 2.47 0.055 894 -567.6 -116.8 - - 3206 - - - - - - - - 14.91 14.48 14.92
4258 372.7 -9.4 188 4263 done -0.51 - - 2026 - 2.45 0.062 2273 562.9 -116.8 - - 3205 - - - - - - - - 14.59 14.47 14.63
4615 405.1 -9.1 197 4621 roll -0.51 - - 2018 - 2.53 0.086 3689 559.7 -116.8 - - 3203 - - - - - - - - 14.90 14.40 14.93
4671 410.3 -9.3 205 4677 done -0.51 - - 2018 - 2.38 0.048 2281 -591.6 -116.8 - - 3203 - - - - - - - - 14.62 14.57 14.66
5008 439.7 -8.7 218 5013 roll -0.51 - - 2018 - 2.45 0.057 883 -570.6 -116.8 - - 3199 - - - - - - - - 14.92 14.46 14.93
5055 443.8 -8.4 225 5063 done -0.51 - - 2015 - 2.50 0.063 2261 551.2 -116.8 - - 3201 - - - - - - - - 14.45 14.38 14.50
5399 470.5 -7.8 232 5400 done -0.51 - - 2015 - - - 2260 - -116.8 - - 3199 - - - - - - - - 14.90 14.92 14.92
5736 497.5 -8.2 238 5737 done -0.51 - - 2014 - - - 2260 - -116.8 - - 3198 - - - - - - - - 14.90 14.93 14.92
6071 526.7 -8.8 244 6076 roll -0.51 - - 2011 - 2.58 0.088 3696 556.6 -116.8 - - 3196 - - - - - - - - 14.93 14.35 14.95
6098 529.2 -8.7 248 6104 done -0.51 - - 2011 - 2.47 0.049 2267 -578.5 -116.8 - - 3196 - - - - - - - - 14.52 14.50 14.63
6463 560.4 -8.4 258 6468 roll -0.51 - - 2011 - 2.45 0.060 876 -567.8 -116.8 - - 3194 - - - - - - - - 14.90 14.41 14.91
6560 568.9 -8.5 272 6566 done -0.51 - - 2011 - 2.53 0.065 2258 546.2 -116.8 - - 3193 - - - - - - - - 14.43 14.36 14.49
6911 595.6 -7.5 280 6916 roll -0.51 - - 2010 - 2.60 0.089 3696 553.1 -116.8 - - 3193 - - - - - - - - 14.92 14.34 14.94
6967 599.8 -7.7 288 6972 done -0.51 - - 2010 - 2.45 0.049 2261 -585.7 -116.8 - - 3191 - - - - - - - - 14.60 14.53 14.62
7304 626.4 -8.0 301 7309 roll -0.51 - - 2009 - 2.42 0.059 885 -568.6 -116.8 - - 3190 - - - - - - - - 14.88 14.40 14.90
7400 634.4 -8.1 315 7406 done -0.51 - - 2010 - 2.53 0.065 2289 554.9 -116.8 - - 3190 - - - - - - - - 14.50 14.35 14.55
7751 663.3 -8.3 323 7756 roll -0.51 - - 2001 - 2.53 0.089 3694 555.3 -116.8 - - 3189 - - - - - - - - 14.91 14.33 14.92
7793 667.0 -9.2 329 7799 done -0.51 0.12 0.242 2029 233.3 2.45 0.050 2255 -587.3 -116.8 - - 3189 - - - - - - - - 14.16 14.52 14.40
8143 693.5 -7.5 337 8148 roll -0.51 - - 2029 - 2.42 0.061 882 -567.4 -116.8 - - 3187 - - - - - - - - 14.88 14.37 14.90
8205 698.4 -7.7 346 8211 done -0.51 - - 2026 - 2.47 0.064 2257 556.7 -116.8 - - 3187 - - - - - - - - 14.51 14.37 14.55
8536 722.3 -7.2 358 8537 done -0.51 - - 2026 - - - 2259 - -116.8 - - 3186 - - - - - - - - 14.87 14.88 14.88
8871 746.5 -7.2 364 8876 roll -0.51 - - 2020 - 2.60 0.091 3700 554.2 -116.8 - - 3185 - - - - - - - - 14.88 14.29 14.90
8919 750.2 -7.8 371 8926 done -0.51 - - 2020 - 2.50 0.050 2256 -577.6 -116.8 - - 3184 - - - - - - - - 14.45 14.41 14.47
9264 777.5 -8.0 378 9268 roll -0.51 - - 2024 - 2.42 0.060 889 -564.9 -116.8 - - 3184 - - - - - - - - 14.87 14.36 14.89
9332 782.9 -8.2 388 9338 done -0.51 - - 2020 - 2.53 0.064 2292 554.5 -116.8 - - 3183 - - - - - - - - 14.38 14.22 14.42
9655 808.9 -8.1 399 9660 roll -0.51 - - 2014 - 2.58 0.093 3694 543.4 -116.8 - - 3182 - - - - - - - - 14.88 14.26 14.89
9690 811.8 -8.2 404 9695 done -0.51 - - 2014 - 2.45 0.052 2270 -581.2 -116.8 - - 3182 - - - - - - - - 14.54 14.47 14.57
10047 839.8 -7.7 413 10053 roll -0.51 - - 2013 - 2.47 0.063 883 -561.5 -116.8 - - 3181 - - - - - - - - 14.87 14.31 14.88
10137 846.9 -7.6 426 10143 done -0.51 - - 2013 - 2.50 0.067 2264 552.4 -116.8 - - 3181 - - - - - - - - 14.47 14.33 14.52
10496 872.8 -7.2 435 10501 roll -0.51 - - 2011 - 2.62 0.094 3694 545.8 -116.8 - - 3180 - - - - - - - - 14.85 14.25 14.88
10543 876.3 -7.3 442 10551 done -0.51 - - 2010 - 2.53 0.053 2250 -570.8 -116.8 - - 3180 - - - - - - - - 14.42 14.38 14.45
10887 901.6 -7.4 449 10893 roll -0.51 - - 2011 - 2.45 0.062 884 -557.6 -116.8 - - 3179 - - - - - - - - 14.92 14.32 14.90
10950 906.5 -7.7 458 10955 done -0.51 - - 2011 - 2.50 0.067 2258 549.6 -116.8 - - 3179 - - - - - - - - 14.45 14.33 14.50
11279 930.6 -7.3 470 11280 done -0.51 - - 2011 - - - 2258 - -116.8 - - 3178 - - - - - - - - 14.88 14.90 14.90
11615 954.6 -7.2 476 11620 roll -0.51 - - 2011 - 2.47 0.060 889 -554.3 -116.8 - - 3177 - - - - - - - - 14.85 14.31 14.87
11650 957.2 -5.6 481 11656 done -0.51 - - 2011 - 2.47 0.066 2248 550.2 -116.8 - - 3177 - - - - - - - - 14.47 14.33 14.51
12007 982.1 -7.0 490 12012 roll -0.51 - - 2011 - 2.70 0.097 3700 537.8 -116.8 - - 3177 - - - - - - - - 14.88 14.21 14.90
12076 987.0 -7.0 500 12082 done -0.51 - - 2011 - 2.53 0.053 2240 -577.1 -116.8 - - 3177 - - - - - - - - 14.49 14.40 14.52
12171 end dive: TARGET_DEPTH_EXCEEDED
12171 begin apogee
12180 993.7 -6.4 507 12372 roll -0.19 0.45 0.213 2133 271.1 - - 2232 - - 190.02 1.625 2739 -2.3 0.268 - - - - - - 14.07 13.94 13.25
12374 end apogee: CONTROL_FINISHED_OK
12374 begin climb
12377 998.8 - 510 12541 roll 0.68 0.93 0.155 2417 305.4 2.65 0.096 3615 521.9 116.8 148.35 1.875 2252 -3.3 0.333 - - - - - - 13.89 13.92 12.90
12626 979.3 10.8 550 12631 done 0.60 - - 2422 - 2.55 0.063 2217 -548.2 116.8 - - 2237 - - - - - - - - 14.08 13.98 14.11
12963 943.0 10.9 563 12968 roll 0.52 0.17 0.261 2374 -282.4 2.60 0.090 3617 538.5 116.8 - - 2231 - - - - - - - - 14.05 14.30 14.22
13125 927.9 9.1 586 13131 done 0.52 - - 2388 - 2.53 0.063 2194 -562.5 116.8 - - 2230 - - - - - - - - 14.48 14.38 14.52
13467 898.0 8.7 593 13472 roll 0.52 - - 2393 - 2.55 0.078 794 -549.0 116.8 - - 2227 - - - - - - - - 14.77 14.34 14.79
13556 890.3 8.4 606 13561 done 0.52 - - 2393 - 2.53 0.066 2196 554.2 116.8 - - 2227 - - - - - - - - 14.51 14.38 14.56
13914 858.1 9.0 615 13919 roll 0.52 - - 2393 - 2.58 0.092 3611 548.4 116.8 - - 2227 - - - - - - - - 14.83 14.33 14.85
14005 848.7 10.1 628 14010 done 0.46 0.20 0.256 2357 -180.0 2.47 0.059 2195 -573.3 116.8 - - 2225 - - - - - - - - 14.09 14.42 14.40
14362 822.7 7.1 637 14367 roll 0.47 - - 2366 - 2.53 0.075 795 -553.4 121.6 - - 2226 - - - - - - - - 14.82 14.32 14.84
14410 819.3 7.0 644 14417 done 0.47 - - 2367 - 2.55 0.063 2197 549.8 130.0 2.97 0.955 2210 -5.4 0.879 - - - - - - 14.39 14.32 13.33
14755 794.5 7.2 651 14765 roll 0.47 - - 2363 - 2.60 0.091 3609 543.1 132.3 2.70 0.818 2200 -3.7 0.684 - - - - - - 14.82 14.53 13.35
14823 788.6 8.2 661 14830 done 0.47 - - 2376 - 2.50 0.056 2200 -563.6 132.3 1.95 0.195 2198 - - - - - - - - 14.59 14.43 14.30
15146 763.9 7.8 672 15151 roll 0.47 - - 2386 - 2.55 0.076 793 -551.8 132.3 - - 2208 - - - - - - - - 14.84 14.36 14.86
15194 760.0 8.0 679 15202 done 0.47 0.10 0.223 2358 -280.0 2.60 0.063 2213 546.2 132.3 1.77 0.177 2198 -5.6 4.613 - - - - - - 14.09 14.35 14.26
15538 734.9 7.4 686 15543 roll 0.47 - - 2358 - 2.55 0.092 3610 547.8 132.3 - - 2208 - - - - - - - - 14.85 14.32 14.87
15650 725.6 8.4 702 15655 done 0.47 - - 2367 - 2.45 0.057 2212 -570.6 132.3 - - 2208 - - - - - - - - 14.50 14.42 14.51
15986 699.1 7.9 715 15990 roll 0.47 - - 2377 - 2.55 0.071 793 -556.5 132.3 - - 2208 - - - - - - - - 14.83 14.33 14.85
16076 692.0 7.7 728 16081 done 0.47 - - 2375 - 2.55 0.062 2212 556.5 132.3 - - 2208 - - - - - - - - 14.50 14.37 14.53
16434 663.2 8.1 737 16439 roll 0.47 - - 2377 - 2.53 0.090 3606 551.0 132.3 - - 2208 - - - - - - - - 14.83 14.28 14.85
16546 653.1 9.0 753 16552 done 0.47 0.12 0.258 2358 -158.3 2.42 0.057 2215 -574.8 132.3 - - 2208 - - - - - - - - 14.09 14.40 14.33
16883 628.9 7.2 766 16894 roll 0.48 - - 2369 - 2.58 0.073 792 -551.6 136.6 4.38 1.343 2185 -5.3 0.468 - - - - - - 14.83 14.56 13.47
16930 625.4 7.2 773 16939 done 0.48 - - 2368 - 2.60 0.063 2224 550.8 139.0 3.90 1.218 2173 -3.1 0.300 - - - - - - 14.47 14.40 13.48
17274 599.9 7.5 780 17281 roll 0.48 - - 2368 - 2.55 0.092 3614 545.1 139.0 2.60 0.711 2173 - - - - - - - - 14.82 14.51 13.42
17344 594.1 8.4 790 17350 done 0.48 - - 2378 - 2.40 0.058 2224 -579.2 139.0 - - 2179 - - - - - - - - 14.47 14.45 14.53
17659 570.6 7.5 800 17665 roll 0.48 - - 2386 - 2.62 0.074 796 -545.0 139.0 2.12 0.353 2172 -3.3 1.015 - - - - - - 14.82 14.48 13.30
17687 568.5 7.3 804 17692 done 0.48 0.12 0.257 2359 -225.0 2.55 0.062 2224 560.0 139.3 - - 2175 - - - - - - - - 14.21 14.45 14.47
18044 545.9 6.2 813 18106 roll 0.49 - - 2359 - 2.60 0.091 3615 535.0 166.0 57.60 1.403 2059 -2.0 0.149 - - - - - - 14.85 14.28 13.67
18156 538.0 7.8 829 18162 done 0.49 - - 2367 - 2.47 0.058 2214 -567.2 166.0 - - 2049 - - - - - - - - 14.35 14.26 14.39
18493 513.4 7.4 842 18497 roll 0.49 - - 2377 - 2.58 0.072 797 -549.2 166.0 - - 2045 - - - - - - - - 14.70 14.30 14.71
18548 509.2 7.5 850 18553 done 0.55 - - 2377 - 2.58 0.060 2233 556.6 166.0 - - 2044 - - - - - - - - 14.45 14.33 14.52
18885 481.3 8.5 863 18890 roll 0.55 - - 2377 - 2.53 0.090 3615 546.2 166.0 - - 2044 - - - - - - - - 14.75 14.30 14.77
18953 474.6 9.4 873 18959 done 0.55 - - 2385 - 2.47 0.057 2229 -561.1 166.0 - - 2044 - - - - - - - - 14.39 14.34 14.42
19276 447.4 8.3 884 19281 roll 0.55 - - 2392 - 2.60 0.073 794 -551.9 166.0 - - 2044 - - - - - - - - 14.81 14.30 14.83
19346 441.9 7.7 894 19351 done 0.55 - - 2393 - 2.58 0.062 2228 555.8 166.0 - - 2043 - - - - - - - - 14.47 14.35 14.52
19668 414.8 8.5 905 19674 roll 0.55 - - 2393 - 2.53 0.090 3612 547.0 166.0 - - 2043 - - - - - - - - 14.80 14.27 14.82
19737 408.0 9.7 915 19742 done 0.55 - - 2401 - 2.45 0.055 2235 -562.0 166.0 - - 2042 - - - - - - - - 14.40 14.35 14.45
20061 377.9 9.4 926 20066 roll 0.55 - - 2412 - 2.60 0.070 784 -558.1 166.0 - - 2043 - - - - - - - - 14.81 14.31 14.82
20108 373.6 8.8 933 20117 done 0.55 0.10 0.202 2382 -300.0 2.65 0.061 2237 548.3 166.0 - - 2043 - - - - - - - - 14.06 14.29 14.21
20452 348.4 7.2 940 20457 roll 0.55 - - 2382 - 2.50 0.086 3620 553.2 170.1 - - 2042 - - - - - - - - 14.82 14.26 14.83
20501 344.5 8.1 947 20507 done 0.55 - - 2390 - 2.45 0.055 2230 -567.3 170.1 - - 2043 - - - - - - - - 14.50 14.40 14.54
20844 319.2 7.4 954 20849 roll 0.55 - - 2399 - 2.62 0.070 788 -550.4 170.1 - - 2042 - - - - - - - - 14.82 14.30 14.84
20878 316.8 6.8 959 20901 done 0.56 - - 2399 - 2.60 0.060 2237 557.3 183.6 17.75 1.318 1993 -2.8 0.126 - - - - - - 14.50 14.35 13.86
21237 288.8 7.9 968 21242 roll 0.56 - - 2399 - 2.53 0.086 3616 545.1 183.6 - - 1976 - - - - - - - - 14.77 14.29 14.78
21312 281.6 9.3 979 21317 done 0.56 - - 2408 - 2.47 0.055 2234 -559.5 183.6 - - 1975 - - - - - - - - 14.40 14.35 14.44
21628 252.9 9.1 989 21634 roll 0.56 - - 2418 - 2.62 0.068 783 -553.8 183.6 - - 1975 - - - - - - - - 14.80 14.32 14.81
21691 247.4 8.8 998 21696 done 0.56 0.15 0.232 2381 -246.7 2.62 0.060 2246 558.4 183.6 - - 1974 - - - - - - - - 14.12 14.34 14.40
22020 224.7 6.7 1010 22041 roll 0.57 - - 2381 - 2.53 0.087 3613 540.3 198.6 16.90 1.190 1925 -2.9 0.104 - - - - - - 14.81 14.52 13.90
22090 219.5 7.8 1020 22095 done 0.57 - - 2390 - 2.40 0.053 2236 -573.8 198.6 - - 1917 - - - - - - - - 14.47 14.39 14.50
22406 196.5 7.4 1030 22411 roll 0.57 - - 2391 - 2.60 0.070 799 -552.7 198.6 - - 1914 - - - - - - - - 14.78 14.33 14.80
22475 191.3 7.6 1040 22480 done 0.64 - - 2391 - 2.58 0.057 2247 561.2 198.6 - - 1915 - - - - - - - - 14.47 14.35 14.52
22798 165.4 8.1 1051 22802 roll 0.64 - - 2391 - 2.50 0.086 3610 545.2 198.6 - - 1917 - - - - - - - - 14.83 14.29 14.85
22860 159.8 8.9 1060 22865 done 0.64 - - 2401 - 2.45 0.051 2233 -562.0 198.6 - - 1914 - - - - - - - - 14.51 14.35 14.54
23189 131.9 8.6 1072 23194 roll 0.64 - - 2406 - 2.60 0.067 793 -553.8 198.6 - - 1914 - - - - - - - - 14.84 14.31 14.86
23239 128.0 7.8 1079 23245 done 0.70 - - 2406 - 2.58 0.057 2245 562.8 198.6 - - 1915 - - - - - - - - 14.48 14.36 14.53
23582 100.6 8.1 1086 23586 roll 0.70 - - 2406 - 2.47 0.085 3607 551.4 198.6 - - 1912 - - - - - - - - 14.83 14.29 14.84
23666 94.1 7.5 1098 23670 done 0.70 - - 2415 - 2.35 0.050 2246 -579.1 198.6 - - 1913 - - - - - - - - 14.46 14.38 14.50
24002 73.7 6.4 1113 24021 roll 0.77 0.12 0.138 2468 441.7 2.47 0.084 3607 551.0 221.7 12.52 0.317 1840 -5.8 0.258 - - - - - - 14.38 14.46 14.16
24183 61.3 5.1 1139 24225 done 0.80 - - 2478 - 2.35 0.049 2279 -565.1 275.2 36.28 0.314 1618 -6.1 0.227 - - - - - - 14.42 14.37 14.21
24537 46.0 4.5 1156 24589 roll 0.92 - - 2475 - 2.67 0.065 801 -553.6 342.0 43.72 0.268 1347 -6.2 0.202 - - - - - - 14.76 14.45 14.23
24691 38.8 4.8 1178 24736 done 1.13 0.28 0.095 2584 389.3 2.58 0.054 2266 567.8 402.4 40.62 0.245 1099 -6.1 0.184 - - - - - - 14.40 14.38 14.19
25059 8.8 9.0 1198 25063 roll 1.13 - - 2592 - 2.65 0.063 799 -553.6 402.4 - - 1102 - - - - - - - - 14.77 14.35 14.79
25093 5.8 8.3 1203 25098 done 1.13 - - 2592 - 2.58 0.055 2263 567.4 402.4 - - 1102 - - - - - - - - 14.50 14.39 14.53
25139 end climb: SURFACE_DEPTH_REACHED
25139 begin surface coast
25168 end surface coast: CONTROL_FINISHED_OK
25168 begin surface
SM 0.90 - - - - -6.13 6.75 0.058 216 32.0 - - 2264 - 500.17 61.55 0.138 700 11.4 -0.008 - - - - - -