SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 327 * Raw log
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• Previous call tries 1 • 131.02 of 350.00 AH used of 24V (62.57% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.4 deg, depth 0.85 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 42 s
• GPS2 time: 18 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 - - - 2331 - -116.8 -84.40 - 2837 - - - - - - - - 14.68 - 14.69
109 3.9 -5.1 3 133 roll -0.68 9.02 0.410 1981 198.6 2.83 2.046 893 -508.1 -116.8 -6.97 - 3220 -54.9 - - - - - - - 14.00 13.11 14.42
203 35.3 -24.7 17 208 done -0.49 0.25 0.258 2033 208.0 2.47 0.062 2292 566.4 -116.8 - - 3221 - - - - - - - - 14.15 14.39 14.41
525 79.6 -10.0 30 530 roll -0.42 - - 2033 - 2.42 0.046 880 -583.5 -116.8 - - 3223 - - - - - - - - 14.83 14.50 14.85
630 88.0 -7.2 45 637 done -0.37 0.20 0.241 2075 210.0 2.40 0.053 2261 575.4 -116.8 - - 3223 - - - - - - - - 14.21 14.49 14.46
945 108.1 -6.2 55 950 roll -0.37 - - 2066 - 2.50 0.075 3698 574.8 -116.8 - - 3224 - - - - - - - - 14.89 14.47 14.91
1043 114.2 -6.4 69 1048 done -0.37 - - 2067 - 2.42 0.042 2244 -600.8 -116.8 - - 3224 - - - - - - - - 14.66 14.61 14.69
1393 138.1 -7.0 77 1394 done -0.37 - - 2067 - - - 2237 - -116.8 - - 3224 - - - - - - - - 14.90 14.92 14.92
1729 160.1 -6.3 83 1734 roll -0.37 - - 2067 - 2.35 0.055 894 -571.5 -116.8 - - 3222 - - - - - - - - 14.92 14.53 14.93
1813 165.6 -6.5 95 1818 done -0.41 - - 2065 - 2.40 0.058 2264 570.8 -116.8 - - 3221 - - - - - - - - 14.64 14.53 14.68
2177 187.7 -6.0 105 2178 done -0.41 - - 2065 - - - 2263 - -116.8 - - 3218 - - - - - - - - 14.92 14.94 14.93
2513 208.6 -6.3 111 2518 roll -0.41 - - 2057 - 2.53 0.080 3695 566.0 -116.8 - - 3217 - - - - - - - - 14.92 14.46 14.95
2555 211.4 -6.8 117 2560 done -0.47 - - 2053 - 2.42 0.045 2247 -598.3 -116.8 - - 3216 - - - - - - - - 14.66 14.59 14.67
2905 235.5 -6.9 125 2910 roll -0.47 - - 2057 - 2.38 0.057 888 -571.0 -116.8 - - 3214 - - - - - - - - 14.92 14.50 14.94
2953 239.1 -7.1 132 2961 done -0.47 - - 2053 - 2.45 0.060 2252 556.7 -116.8 - - 3214 - - - - - - - - 14.50 14.43 14.54
3298 263.7 -7.3 139 3303 roll -0.47 - - 2056 - 2.58 0.086 3690 557.4 -116.8 - - 3211 - - - - - - - - 14.93 14.42 14.95
3346 267.3 -7.3 146 3352 done -0.53 - - 2056 - 2.47 0.047 2251 -582.6 -116.8 - - 3211 - - - - - - - - 14.57 14.52 14.59
3690 291.8 -7.1 153 3694 roll -0.53 - - 2056 - 2.38 0.054 896 -569.3 -116.8 - - 3209 - - - - - - - - 14.92 14.50 14.94
3773 298.0 -7.2 165 3778 done -0.58 0.15 0.127 1996 -400.0 2.38 0.061 2245 566.8 -116.8 - - 3208 - - - - - - - - 14.51 14.49 14.61
4138 334.8 -10.4 175 4143 roll -0.58 - - 1986 - 2.58 0.082 3687 558.9 -116.8 - - 3207 - - - - - - - - 14.91 14.45 14.92
4164 337.6 -10.4 179 4170 done -0.58 - - 1986 - 2.47 0.044 2241 -585.4 -116.8 - - 3206 - - - - - - - - 14.57 14.52 14.59
4530 374.4 -9.9 189 4535 roll -0.53 0.15 0.261 2026 266.7 2.35 0.051 890 -574.9 -116.8 - - 3204 - - - - - - - - 14.11 14.38 14.26
4585 379.1 -7.9 197 4590 done -0.53 - - 2023 - 2.40 0.061 2241 562.9 -116.8 - - 3204 - - - - - - - - 14.58 14.46 14.62
4922 403.4 -7.2 210 4927 roll -0.53 - - 2016 - 2.58 0.082 3695 563.6 -116.8 - - 3202 - - - - - - - - 14.93 14.41 14.95
4963 406.6 -7.8 216 4969 done -0.53 - - 2016 - 2.47 0.047 2236 -590.7 -116.8 - - 3200 - - - - - - - - 14.65 14.58 14.67
5313 433.6 -7.7 224 5319 roll -0.53 - - 2016 - 2.35 0.054 884 -575.3 -116.8 - - 3200 - - - - - - - - 14.94 14.47 14.95
5383 439.1 -7.7 234 5388 done -0.53 - - 2020 - 2.40 0.061 2236 563.3 -116.8 - - 3199 - - - - - - - - 14.57 14.44 14.61
5705 463.5 -7.6 245 5710 roll -0.53 - - 2012 - 2.62 0.085 3700 558.8 -116.8 - - 3198 - - - - - - - - 14.91 14.38 14.93
5747 466.7 -7.8 251 5752 done -0.53 - - 2012 - 2.50 0.047 2221 -591.6 -116.8 - - 3197 - - - - - - - - 14.62 14.54 14.64
6098 495.5 -8.3 259 6103 roll -0.53 - - 2012 - 2.35 0.059 879 -571.1 -116.8 - - 3196 - - - - - - - - 14.92 14.45 14.94
6180 503.2 -9.0 271 6186 done -0.53 - - 2011 - 2.47 0.064 2234 548.6 -116.8 - - 3196 - - - - - - - - 14.42 14.33 14.47
6545 537.4 -9.5 281 6550 roll -0.53 - - 2010 - 2.65 0.089 3698 552.5 -116.8 - - 3197 - - - - - - - - 14.91 14.35 14.95
6594 542.1 -9.7 288 6601 done -0.53 - - 2010 - 2.50 0.049 2228 -588.0 -116.8 - - 3195 - - - - - - - - 14.59 14.51 14.62
6937 576.2 -10.0 295 6942 roll -0.53 - - 2009 - 2.38 0.057 881 -566.0 -116.8 - - 3193 - - - - - - - - 14.90 14.41 14.92
6964 579.1 -10.5 299 6970 done -0.53 - - 2009 - 2.47 0.064 2260 558.3 -116.8 - - 3193 - - - - - - - - 14.52 14.38 14.57
7330 615.2 -9.9 309 7334 roll -0.53 - - 2000 - 2.58 0.086 3694 555.8 -116.8 - - 3191 - - - - - - - - 14.92 14.33 14.93
7371 619.3 -9.9 315 7377 done -0.53 0.12 0.236 2029 241.7 2.53 0.049 2233 -577.5 -116.8 - - 3191 - - - - - - - - 14.16 14.50 14.40
7721 646.7 -7.5 323 7726 roll -0.53 - - 2029 - 2.40 0.060 882 -562.9 -116.8 - - 3190 - - - - - - - - 14.92 14.39 14.94
7783 651.3 -7.3 332 7790 done -0.53 - - 2029 - 2.45 0.064 2238 553.5 -116.8 - - 3190 - - - - - - - - 14.50 14.36 14.54
8114 672.5 -6.4 344 8120 roll -0.53 - - 2025 - 2.65 0.088 3695 549.8 -116.8 - - 3189 - - - - - - - - 14.89 14.29 14.90
8148 674.7 -6.4 349 8153 done -0.53 - - 2025 - 2.53 0.050 2228 -579.8 -116.8 - - 3188 - - - - - - - - 14.57 14.49 14.59
8505 696.2 -6.0 358 8510 roll -0.53 - - 2025 - 2.40 0.063 875 -563.8 -116.8 - - 3187 - - - - - - - - 14.89 14.36 14.90
8562 699.6 -6.0 366 8567 done -0.53 - - 2025 - 2.47 0.066 2236 551.0 -116.8 - - 3187 - - - - - - - - 14.49 14.36 14.54
8897 719.1 -5.8 379 8902 roll -0.53 - - 2025 - 2.65 0.091 3693 549.8 -116.8 - - 3186 - - - - - - - - 14.88 14.26 14.90
8960 722.9 -6.0 388 8966 done -0.58 - - 2025 - 2.53 0.052 2218 -583.0 -116.8 - - 3185 - - - - - - - - 14.54 14.46 14.57
9290 743.2 -6.3 400 9295 roll -0.58 - - 2025 - 2.38 0.061 876 -563.9 -116.8 - - 3184 - - - - - - - - 14.90 14.33 14.92
9352 747.4 -6.6 409 9357 done -0.58 - - 2025 - 2.45 0.067 2227 551.4 -116.8 - - 3184 - - - - - - - - 14.46 14.33 14.50
9682 769.0 -6.7 421 9687 roll -0.58 - - 2020 - 2.67 0.092 3700 551.7 -116.8 - - 3184 - - - - - - - - 14.87 14.25 14.89
9715 771.4 -7.2 426 9721 done -0.58 - - 2020 - 2.53 0.052 2224 -583.4 -116.8 - - 3184 - - - - - - - - 14.52 14.44 14.55
10074 797.4 -7.4 435 10078 roll -0.58 - - 2020 - 2.40 0.065 878 -560.8 -116.8 - - 3183 - - - - - - - - 14.87 14.31 14.89
10151 803.4 -7.8 446 10155 done -0.58 - - 2020 - 2.45 0.067 2228 551.0 -116.8 - - 3182 - - - - - - - - 14.42 14.29 14.47
10465 827.0 -7.3 456 10471 roll -0.58 - - 2015 - 2.67 0.093 3687 546.4 -116.8 - - 3182 - - - - - - - - 14.90 14.21 14.92
10541 833.0 -8.3 467 10547 done -0.58 - - 2015 - 2.53 0.053 2223 -578.7 -116.8 - - 3181 - - - - - - - - 14.47 14.38 14.51
10858 856.4 -7.5 477 10863 roll -0.58 - - 2015 - 2.40 0.066 888 -556.2 -116.8 - - 3180 - - - - - - - - 14.89 14.28 14.90
10933 862.2 -7.8 488 10940 done -0.58 - - 2015 - 2.50 0.067 2230 536.8 -116.8 - - 3178 - - - - - - - - 14.46 14.22 14.49
11250 885.3 -7.3 498 11254 roll -0.58 - - 2011 - 2.70 0.094 3690 540.7 -116.8 - - 3179 - - - - - - - - 14.85 14.21 14.88
11312 890.0 -7.6 507 11317 done -0.58 - - 2012 - 2.55 0.054 2233 -571.4 -116.8 - - 3178 - - - - - - - - 14.47 14.38 14.50
11641 914.2 -7.4 519 11646 roll -0.58 - - 2012 - 2.42 0.061 876 -560.7 -116.8 - - 3178 - - - - - - - - 14.90 14.26 14.90
11704 918.7 -6.8 528 11710 done -0.58 - - 2012 - 2.50 0.069 2240 545.6 -116.8 - - 3178 - - - - - - - - 14.40 14.26 14.45
12033 941.0 -6.7 540 12039 roll -0.58 - - 2012 - 2.70 0.096 3693 538.1 -116.8 - - 3177 - - - - - - - - 14.86 14.16 14.88
12075 943.7 -6.6 546 12080 done -0.58 - - 2012 - 2.55 0.053 2232 -572.9 -116.8 - - 3177 - - - - - - - - 14.47 14.38 14.50
12426 965.2 -6.1 554 12431 roll -0.58 - - 2012 - 2.42 0.064 881 -558.3 -116.8 - - 3177 - - - - - - - - 14.84 14.25 14.86
12474 968.3 -3.1 561 12480 done -0.58 - - 2012 - 2.53 0.069 2242 537.9 -116.8 - - 3177 - - - - - - - - 14.37 14.21 14.42
12818 988.2 -5.9 568 12823 roll -0.58 - - 2012 - 2.70 0.097 3702 540.7 -116.8 - - 3176 - - - - - - - - 14.84 14.15 14.85
12834 end dive: TARGET_DEPTH_EXCEEDED
12834 begin apogee
12845 990.2 -5.5 571 13042 roll -0.19 0.43 0.203 2130 274.4 - - 2182 - - 195.12 1.623 2740 -2.2 0.261 - - - - - - 14.05 13.92 13.19
13044 end apogee: CONTROL_FINISHED_OK
13044 begin climb
13048 992.9 - 574 13212 roll 0.68 0.93 0.145 2411 302.2 2.58 0.062 792 -538.8 116.8 151.85 1.893 2260 -3.2 0.317 - - - - - - 13.88 13.94 12.83
13309 973.4 9.6 617 13315 done 0.68 - - 2411 - 2.67 0.069 2196 525.8 116.8 - - 2236 - - - - - - - - 14.04 13.97 14.07
13625 941.2 10.2 627 13635 roll 0.63 - - 2421 - 2.55 0.076 803 -546.3 116.8 - - 2232 - - - - - - - - 14.68 14.31 14.70
13761 927.8 9.5 646 13766 done 0.63 - - 2421 - 2.58 0.069 2214 546.9 116.8 - - 2230 - - - - - - - - 14.47 14.35 14.52
14077 895.6 10.1 656 14083 roll 0.56 0.12 0.287 2387 -283.3 2.55 0.093 3612 548.2 116.8 - - 2229 - - - - - - - - 14.10 14.33 14.26
14147 888.6 8.6 666 14151 done 0.56 - - 2396 - 2.45 0.060 2215 -570.2 116.8 - - 2228 - - - - - - - - 14.54 14.45 14.58
14469 859.7 9.0 677 14473 roll 0.56 - - 2407 - 2.58 0.078 797 -549.6 116.8 - - 2228 - - - - - - - - 14.81 14.34 14.83
14525 854.7 9.0 685 14529 done 0.56 - - 2406 - 2.58 0.069 2215 549.6 116.8 - - 2224 - - - - - - - - 14.52 14.39 14.57
14862 824.3 9.1 698 14867 roll 0.51 0.15 0.272 2368 -253.3 2.55 0.093 3613 548.2 116.8 - - 2226 - - - - - - - - 14.07 14.32 14.23
14923 818.4 8.6 707 14928 done 0.51 - - 2378 - 2.50 0.060 2211 -560.8 116.8 - - 2226 - - - - - - - - 14.54 14.37 14.58
15254 793.3 7.6 719 15258 roll 0.51 - - 2388 - 2.58 0.076 789 -551.2 116.8 - - 2225 - - - - - - - - 14.82 14.33 14.83
15301 789.7 7.4 726 15308 done 0.51 - - 2388 - 2.62 0.069 2208 541.6 116.8 - - 2226 - - - - - - - - 14.32 14.24 14.35
15645 765.0 7.2 733 15650 roll 0.51 - - 2388 - 2.60 0.094 3617 541.9 120.9 - - 2224 - - - - - - - - 14.85 14.28 14.87
15729 758.2 7.1 745 15734 done 0.51 0.12 0.276 2371 -141.7 2.50 0.063 2208 -563.6 125.7 - - 2222 - - - - - - - - 14.08 14.40 14.34
16093 736.3 5.9 755 16153 roll 0.53 - - 2381 - 2.67 0.079 789 -531.5 159.4 53.05 1.645 2080 -2.7 0.229 - - - - - - 14.83 14.26 13.53
16222 728.3 6.5 773 16251 done 0.55 - - 2381 - 2.60 0.068 2208 545.8 178.2 22.48 1.645 2008 -3.2 0.271 - - - - - - 14.37 14.26 13.51
16597 700.2 7.6 785 16602 roll 0.55 - - 2381 - 2.60 0.095 3612 540.0 178.2 - - 1992 - - - - - - - - 14.69 14.28 14.71
16674 693.5 8.6 796 16680 done 0.55 - - 2393 - 2.47 0.060 2211 -567.2 178.2 - - 1990 - - - - - - - - 14.48 14.38 14.52
16990 666.7 8.6 806 16994 roll 0.55 - - 2400 - 2.58 0.076 795 -548.8 178.2 - - 1990 - - - - - - - - 14.76 14.31 14.78
17037 662.5 8.5 813 17044 done 0.55 - - 2400 - 2.62 0.067 2215 542.0 178.2 - - 1991 - - - - - - - - 14.37 14.30 14.42
17381 630.0 9.6 820 17386 roll 0.55 - - 2401 - 2.58 0.093 3616 543.0 178.2 - - 1989 - - - - - - - - 14.78 14.30 14.82
17450 622.6 10.5 830 17456 done 0.55 0.12 0.259 2381 -166.7 2.47 0.062 2215 -567.2 178.2 - - 1989 - - - - - - - - 14.13 14.41 14.41
17773 595.5 8.3 841 17777 roll 0.55 - - 2391 - 2.60 0.077 787 -549.2 178.2 - - 1988 - - - - - - - - 14.81 14.30 14.83
17835 590.5 7.8 850 17840 done 0.55 - - 2391 - 2.62 0.066 2234 552.3 178.2 - - 1988 - - - - - - - - 14.49 14.35 14.54
18166 563.1 8.4 862 18171 roll 0.55 - - 2391 - 2.53 0.093 3615 545.8 178.2 - - 1988 - - - - - - - - 14.81 14.28 14.83
18221 557.9 9.4 870 18226 done 0.55 - - 2398 - 2.47 0.061 2214 -567.2 178.2 - - 1988 - - - - - - - - 14.50 14.42 14.54
18558 529.1 8.5 883 18563 roll 0.55 - - 2408 - 2.58 0.076 796 -549.6 178.2 - - 1987 - - - - - - - - 14.82 14.29 14.83
18605 525.0 8.4 890 18612 done 0.55 0.08 0.225 2385 -287.5 2.62 0.065 2219 543.1 178.2 - - 1987 - - - - - - - - 14.04 14.28 14.18
18949 499.1 7.5 897 18954 roll 0.55 - - 2385 - 2.58 0.093 3616 541.5 178.2 - - 1986 - - - - - - - - 14.83 14.26 14.84
19033 491.9 8.6 909 19037 done 0.55 - - 2392 - 2.47 0.060 2219 -565.6 178.2 - - 1988 - - - - - - - - 14.47 14.37 14.52
19397 462.6 8.1 919 19402 roll 0.55 - - 2402 - 2.60 0.076 794 -548.1 178.2 - - 1987 - - - - - - - - 14.83 14.26 14.85
19453 458.3 7.6 927 19458 done 0.55 - - 2402 - 2.62 0.066 2236 550.4 178.2 - - 1987 - - - - - - - - 14.45 14.32 14.52
19790 431.2 8.1 940 19795 roll 0.55 - - 2402 - 2.53 0.093 3608 542.3 178.2 - - 1987 - - - - - - - - 14.82 14.24 14.84
19872 423.7 8.8 952 19878 done 0.55 0.08 0.229 2375 -337.5 2.45 0.058 2238 -559.2 178.2 - - 1987 - - - - - - - - 14.02 14.30 14.33
20237 399.5 6.6 962 20262 roll 0.56 - - 2382 - 2.67 0.076 788 -543.1 194.8 19.10 1.327 1941 -2.4 0.139 - - - - - - 14.83 14.49 13.80
20321 394.0 6.6 974 20349 done 0.63 - - 2382 - 2.62 0.066 2238 553.4 211.8 23.80 1.327 1877 -2.7 0.153 - - - - - - 14.45 14.33 13.71
20681 369.9 6.7 990 20705 roll 0.64 - - 2382 - 2.50 0.090 3613 550.0 228.0 19.40 1.315 1806 -3.7 0.197 - - - - - - 14.70 14.26 13.74
20755 364.5 7.5 1001 20760 done 0.64 - - 2390 - 2.42 0.058 2239 -567.8 228.0 - - 1794 - - - - - - - - 14.45 14.35 14.48
21070 341.7 7.4 1011 21075 roll 0.64 - - 2391 - 2.67 0.076 781 -546.1 228.0 - - 1791 - - - - - - - - 14.75 14.29 14.76
21147 336.1 7.2 1022 21152 done 0.72 0.12 0.142 2440 408.3 2.65 0.065 2246 552.8 231.1 - - 1791 - - - - - - - - 14.33 14.33 14.45
21463 301.2 11.4 1032 21468 roll 0.72 - - 2440 - 2.50 0.093 3614 547.2 231.1 - - 1791 - - - - - - - - 14.78 14.27 14.79
21531 292.0 13.1 1042 21537 done 0.72 - - 2450 - 2.42 0.060 2237 -569.0 231.1 - - 1790 - - - - - - - - 14.48 14.36 14.52
21855 251.0 12.9 1053 21860 roll 0.72 - - 2461 - 2.60 0.073 793 -555.4 231.1 - - 1790 - - - - - - - - 14.80 14.31 14.81
21930 241.4 12.2 1064 21937 done 0.72 - - 2461 - 2.65 0.067 2251 550.2 231.1 - - 1790 - - - - - - - - 14.45 14.31 14.47
22246 200.0 13.2 1074 22251 roll 0.66 0.15 0.270 2422 -260.0 2.47 0.090 3610 550.2 231.1 - - 1790 - - - - - - - - 14.00 14.28 14.16
22309 192.5 11.2 1083 22314 done 0.66 - - 2430 - 2.40 0.056 2239 -571.2 231.1 - - 1789 - - - - - - - - 14.49 14.39 14.52
22639 157.4 10.7 1095 22643 roll 0.66 - - 2440 - 2.62 0.072 787 -554.2 231.1 - - 1790 - - - - - - - - 14.84 14.31 14.86
22722 148.9 9.8 1107 22727 done 0.66 - - 2439 - 2.65 0.064 2248 551.3 231.1 - - 1787 - - - - - - - - 14.46 14.33 14.52
23087 110.9 10.3 1117 23091 roll 0.66 - - 2440 - 2.50 0.091 3609 544.4 231.1 - - 1787 - - - - - - - - 14.82 14.25 14.83
23143 104.6 11.4 1125 23148 done 0.66 0.15 0.252 2414 -173.3 2.40 0.056 2243 -569.2 231.1 - - 1792 - - - - - - - - 14.05 14.38 14.35
23483 79.5 7.5 1142 23487 roll 0.71 - - 2414 - 2.53 0.087 3609 539.9 231.1 - - 1790 - - - - - - - - 14.78 14.24 14.80
23501 77.8 7.6 1145 23508 done 0.75 - - 2420 - 2.45 0.055 2238 -559.6 231.1 - - 1790 - - - - - - - - 14.33 14.27 14.38
23818 58.4 5.2 1157 23856 roll 0.86 0.12 0.132 2481 508.3 2.55 0.088 3609 537.6 282.3 32.08 0.300 1589 -6.3 0.233 - - - - - - 14.44 14.43 14.19
24004 43.4 7.5 1184 24013 done 0.86 - - 2489 - 2.45 0.053 2237 -560.0 282.3 1.88 0.162 1588 - - - - - - - - 14.39 14.33 14.21
24322 29.7 2.5 1196 24404 roll 1.02 0.12 0.132 2553 533.3 2.55 0.083 3612 539.2 397.0 73.35 0.219 1124 -6.3 0.164 - - - - - - 14.45 14.35 14.23
24480 20.3 8.2 1219 24488 done 1.02 - - 2559 - 2.40 0.053 2261 -562.9 397.0 1.98 0.152 1120 -2.0 0.052 - - - - - - 14.34 14.31 14.22
24737 end climb: SURFACE_DEPTH_REACHED
24737 begin surface coast
24765 end surface coast: CONTROL_FINISHED_OK
24765 begin surface
SM 0.92 - - - - -6.13 6.72 0.066 221 32.9 0.08 0.162 2288 -86675.0 500.17 64.97 0.132 699 10.8 -0.008 - - - - - -