NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 351 * Raw log
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• Previous call tries 1 • 114.92 of 350.00 AH used of 24V (67.17% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.3 deg, depth 0.81 m • Intended pitch -16.0 deg, speed -8.462 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 31 s
• GPS2 time: 15 s • Transponder ping count: 9
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
8 - - - 74 VBD -0.65 - - 234 - - - 2319 - -146.0 -63.55 0.003 3684 - - - - - - - - 14.84 - 14.87
77 4.4 -12.2 11 99 roll -0.65 11.65 0.413 2541 198.0 1.65 0.076 1402 -555.8 -146.0 -3.55 0.025 3905 -62.3 2.067 - - - - - - 14.15 13.25 14.55
197 29.2 -14.7 33 205 done -0.65 - - 2541 - 1.60 0.050 2299 560.6 -146.0 - - 3908 - - - - - - - - 14.62 14.52 14.66
507 79.1 -15.7 77 512 roll -0.65 - - 2541 - 1.45 0.069 3176 604.8 -146.0 - - 3909 - - - - - - - - 14.98 14.45 15.00
518 80.6 -14.4 79 522 done -0.65 - - 2541 - 1.42 0.034 2261 -644.4 -146.0 - - 3909 - - - - - - - - 14.63 14.60 14.64
830 107.7 -9.1 111 834 roll -0.65 - - 2541 - 1.45 0.037 1425 -576.6 -146.0 - - 3912 - - - - - - - - 15.02 14.59 15.04
885 113.0 -9.5 122 891 done -0.65 - - 2541 - 1.55 0.047 2304 567.1 -146.0 - - 3912 - - - - - - - - 14.71 14.62 14.75
1191 140.6 -10.3 153 1196 roll -0.65 - - 2541 - 1.45 0.067 3180 604.1 -146.0 - - 3913 - - - - - - - - 15.06 14.51 15.08
1224 144.3 -12.1 159 1228 done -0.65 - - 2541 - 1.38 0.034 2287 -647.1 -146.0 - - 3913 - - - - - - - - 14.69 14.66 14.71
1535 180.9 -9.7 191 1539 roll -0.65 - - 2541 - 1.48 0.037 1434 -576.4 -146.0 - - 3914 - - - - - - - - 15.07 14.62 15.09
1631 189.2 -8.1 210 1637 done -0.65 - - 2541 - 1.52 0.047 2302 571.1 -146.0 - - 3914 - - - - - - - - 14.73 14.64 14.78
1937 208.1 -5.9 241 1941 roll -0.65 - - 2541 - 1.42 0.068 3170 611.3 -146.0 - - 3914 - - - - - - - - 15.09 14.52 15.11
1983 210.9 -6.0 250 1989 done -0.65 - - 2541 - 1.35 0.033 2291 -651.1 -146.0 - - 3914 - - - - - - - - 14.71 14.68 14.72
2289 236.1 -10.3 281 2293 roll -0.65 - - 2541 - 1.48 0.034 1427 -583.8 -146.0 - - 3914 - - - - - - - - 15.09 14.63 15.11
2394 248.4 -11.7 302 2401 done -0.65 - - 2541 - 1.55 0.047 2306 567.1 -146.0 - - 3913 - - - - - - - - 14.73 14.64 14.77
2712 282.2 -10.1 314 2715 roll -0.65 - - 2541 - 1.50 0.036 1418 -592.0 -146.0 - - 3913 - - - - - - - - 15.10 14.67 15.12
2743 285.4 -9.9 320 2747 done -0.65 - - 2541 - 1.58 0.048 2306 562.0 -146.0 - - 3912 - - - - - - - - 14.74 14.64 14.78
3075 316.5 -9.1 336 3078 roll -0.65 - - 2541 - 1.42 0.070 3169 607.7 -146.0 - - 3911 - - - - - - - - 15.11 14.51 15.13
3136 321.9 -8.8 348 3140 done -0.65 - - 2541 - 1.33 0.034 2302 -651.9 -146.0 - - 3910 - - - - - - - - 14.71 14.68 14.73
3468 350.3 -8.3 364 3471 roll -0.65 - - 2541 - 1.48 0.069 3200 606.8 -146.0 - - 3908 - - - - - - - - 15.11 14.54 15.13
3492 352.4 -7.9 369 3500 done -0.65 - - 2541 - 1.40 0.035 2300 -642.9 -146.0 - - 3908 - - - - - - - - 14.71 14.68 14.72
3799 375.8 -7.6 380 3803 roll -0.65 - - 2541 - 1.50 0.069 3209 606.0 -146.0 - - 3907 - - - - - - - - 15.11 14.54 15.14
3824 377.8 -7.9 385 3832 done -0.65 - - 2541 - 1.42 0.036 2300 -640.1 -146.0 - - 3906 - - - - - - - - 14.69 14.66 14.71
4130 403.2 -8.7 396 4134 roll -0.65 - - 2541 - 1.50 0.037 1406 -596.0 -146.0 - - 3905 - - - - - - - - 15.12 14.66 15.14
4222 411.6 -9.3 414 4226 done -0.65 - - 2541 - 1.58 0.048 2300 565.8 -146.0 - - 3904 - - - - - - - - 14.73 14.63 14.77
4554 440.9 -8.5 430 4558 roll -0.65 - - 2541 - 1.50 0.036 1417 -588.7 -146.0 - - 3902 - - - - - - - - 15.11 14.65 15.13
4574 442.7 -8.5 434 4578 done -0.65 - - 2542 - 1.58 0.049 2306 562.7 -146.0 - - 3902 - - - - - - - - 14.73 14.62 14.76
4886 463.8 -6.2 446 4890 roll -0.65 - - 2541 - 1.45 0.071 3172 597.2 -146.0 - - 3899 - - - - - - - - 15.11 14.46 15.14
4993 470.5 -6.2 467 4996 done -0.65 - - 2541 - 1.38 0.035 2287 -641.3 -146.0 - - 3898 - - - - - - - - 14.67 14.64 14.69
5309 491.7 -7.0 480 5313 roll -0.65 - - 2541 - 1.50 0.070 3184 598.0 -146.0 - - 3897 - - - - - - - - 15.11 14.50 15.14
5364 495.8 -7.1 491 5371 done -0.65 - - 2541 - 1.40 0.037 2296 -634.3 -146.0 - - 3897 - - - - - - - - 14.66 14.63 14.68
5671 519.0 -7.7 502 5675 roll -0.65 - - 2541 - 1.50 0.073 3190 596.0 -146.0 - - 3896 - - - - - - - - 15.11 14.47 15.14
5715 522.6 -7.7 511 5719 done -0.65 - - 2541 - 1.40 0.037 2302 -634.3 -146.0 - - 3895 - - - - - - - - 14.66 14.63 14.68
6032 546.5 -7.5 524 6036 roll -0.65 - - 2541 - 1.50 0.071 3194 594.7 -146.0 - - 3894 - - - - - - - - 15.11 14.47 15.13
6066 549.3 -7.6 531 6071 done -0.65 - - 2541 - 1.40 0.037 2298 -640.0 -146.0 - - 3894 - - - - - - - - 14.66 14.64 14.68
6394 574.2 -7.9 546 6398 roll -0.65 - - 2541 - 1.50 0.039 1412 -590.7 -146.0 - - 3893 - - - - - - - - 15.11 14.60 15.13
6429 577.3 -8.3 553 6434 done -0.65 - - 2541 - 1.60 0.050 2308 560.0 -146.0 - - 3893 - - - - - - - - 14.69 14.58 14.73
6757 604.8 -8.6 568 6760 roll -0.65 - - 2542 - 1.48 0.074 3176 586.5 -146.0 - - 3891 - - - - - - - - 15.11 14.40 15.14
6831 611.4 -8.6 583 6835 done -0.65 - - 2541 - 1.38 0.037 2304 -631.9 -146.0 - - 3891 - - - - - - - - 14.63 14.60 14.65
7149 637.6 -8.2 596 7150 done -0.65 - - 2541 - - - 2301 - -146.0 - - 3889 - - - - - - - - 15.11 15.12 15.12
7448 660.4 -7.4 606 7452 roll -0.65 - - 2541 - 1.50 0.072 3190 592.7 -146.0 - - 3888 - - - - - - - - 15.11 14.43 15.13
7529 666.3 -7.3 622 7533 done -0.65 - - 2541 - 1.42 0.038 2298 -628.2 -146.0 - - 3887 - - - - - - - - 14.62 14.59 14.63
7841 688.0 -7.1 634 7845 roll -0.65 - - 2541 - 1.50 0.041 1414 -589.3 -146.0 - - 3886 - - - - - - - - 15.11 14.56 15.13
7890 691.8 -7.3 644 7894 done -0.65 - - 2541 - 1.60 0.052 2304 556.2 -146.0 - - 3886 - - - - - - - - 14.66 14.54 14.70
8203 714.6 -7.6 656 8204 done -0.65 - - 2541 - - - 2304 - -146.0 - - 3885 - - - - - - - - 15.10 15.13 15.12
8502 737.5 -7.6 666 8507 roll -0.65 - - 2541 - 1.48 0.074 3171 585.8 -146.0 - - 3883 - - - - - - - - 15.11 14.34 15.12
8567 742.7 -7.9 679 8571 done -0.65 - - 2541 - 1.40 0.037 2289 -630.0 -146.0 - - 3884 - - - - - - - - 14.60 14.57 14.62
8896 768.9 -8.4 694 8899 roll -0.65 - - 2541 - 1.50 0.042 1413 -584.0 -146.0 - - 3882 - - - - - - - - 15.10 14.53 15.11
8920 771.3 -8.7 699 8927 done -0.65 - - 2541 - 1.62 0.053 2309 553.1 -146.0 - - 3882 - - - - - - - - 14.65 14.53 14.69
9228 798.7 -9.2 710 9232 roll -0.65 - - 2541 - 1.48 0.076 3173 583.8 -146.0 - - 3881 - - - - - - - - 15.10 14.33 15.12
9283 803.9 -8.9 721 9290 done -0.65 - - 2541 - 1.40 0.039 2297 -625.7 -146.0 - - 3880 - - - - - - - - 14.59 14.55 14.61
9589 830.4 -8.5 732 9593 roll -0.65 - - 2542 - 1.50 0.041 1419 -585.3 -146.0 - - 3880 - - - - - - - - 15.10 14.52 15.12
9624 833.4 -8.1 739 9628 done -0.65 - - 2541 - 1.60 0.054 2304 553.1 -146.0 - - 3880 - - - - - - - - 14.64 14.52 14.68
9952 858.0 -7.3 754 9956 roll -0.65 - - 2541 - 1.48 0.075 3169 584.5 -146.0 - - 3879 - - - - - - - - 15.09 14.31 15.11
10046 864.9 -7.0 773 10052 done -0.65 - - 2541 - 1.38 0.038 2300 -629.7 -146.0 - - 3879 - - - - - - - - 14.57 14.54 14.59
10375 888.1 -7.3 788 10379 roll -0.65 - - 2541 - 1.50 0.041 1421 -586.0 -146.0 - - 3878 - - - - - - - - 15.09 14.51 15.11
10439 893.2 -7.4 801 10444 done -0.65 - - 2541 - 1.60 0.053 2303 551.2 -146.0 - - 3878 - - - - - - - - 14.62 14.49 14.66
10767 919.1 -8.3 816 10771 roll -0.65 - - 2541 - 1.50 0.076 3178 583.3 -146.0 - - 3877 - - - - - - - - 15.10 14.31 15.12
10842 925.6 -8.6 831 10846 done -0.65 - - 2541 - 1.40 0.040 2300 -627.1 -146.0 - - 3877 - - - - - - - - 14.56 14.52 14.58
11159 952.7 -8.6 844 11160 done -0.65 - - 2541 - - - 2298 - -146.0 - - 3876 - - - - - - - - 15.10 15.12 15.11
11459 978.0 -8.4 854 11463 roll -0.65 - - 2541 - 1.50 0.076 3174 584.0 -146.0 - - 3875 - - - - - - - - 15.09 14.33 15.11
11522 983.2 -8.3 866 11526 done -0.65 - - 2541 - 1.40 0.040 2300 -624.3 -146.0 - - 3876 - - - - - - - - 14.55 14.52 14.57
11612 end dive: TARGET_DEPTH_EXCEEDED
11612 begin apogee
11617 990.8 -8.2 874 11757 done -0.15 0.60 0.198 2710 281.7 - - 2297 - - 136.88 1.936 3344 -3.9 0.375 - - - - - - 14.22 14.02 13.13
11758 end apogee: CONTROL_FINISHED_OK
11758 begin climb
11761 997.9 - 878 11917 roll 0.65 0.82 0.140 2962 307.3 1.55 0.071 3131 538.1 146.0 147.35 1.935 2742 -4.1 0.398 - - - - - - 14.02 13.86 13.00
11995 990.4 6.9 929 12000 done 0.68 - - 2964 - 1.45 0.041 2264 -597.9 146.0 - - 2734 - - - - - - - - 14.21 14.18 14.29
12313 967.1 7.7 942 12317 roll 0.69 - - 2970 - 1.58 0.049 1362 -570.9 146.0 - - 2729 - - - - - - - - 14.83 14.47 14.85
12483 953.2 8.4 976 12488 done 0.69 - - 2970 - 1.60 0.049 2256 558.8 146.0 - - 2729 - - - - - - - - 14.62 14.53 14.65
12796 925.4 9.0 988 12799 roll 0.69 - - 2972 - 1.58 0.047 1376 -557.0 146.0 - - 2728 - - - - - - - - 14.96 14.58 14.98
12845 921.1 8.2 998 12849 done 0.69 - - 2972 - 1.58 0.050 2250 553.2 146.0 - - 2728 - - - - - - - - 14.66 14.57 14.70
13158 896.8 7.4 1010 13162 roll 0.71 - - 2974 - 1.55 0.048 1380 -561.3 146.0 - - 2726 - - - - - - - - 14.99 14.59 15.01
13243 891.1 6.1 1027 13315 done 0.79 0.12 0.163 3017 358.3 1.58 0.050 2252 551.9 204.9 65.93 1.703 2509 -3.3 0.325 - - - - - - 14.47 14.57 13.45
13638 859.6 7.9 1055 13642 roll 0.80 - - 3017 - 1.48 0.070 3119 585.8 204.9 - - 2496 - - - - - - - - 14.85 14.40 14.87
13693 854.8 8.3 1066 13700 done 0.80 - - 3021 - 1.42 0.042 2252 -610.6 204.9 - - 2495 - - - - - - - - 14.52 14.48 14.55
14000 829.7 8.4 1077 14005 roll 0.80 - - 3027 - 1.58 0.049 1375 -555.1 204.9 - - 2494 - - - - - - - - 14.95 14.52 14.96
14066 823.7 8.9 1090 14070 done 0.80 - - 3027 - 1.58 0.050 2256 557.6 204.9 - - 2494 - - - - - - - - 14.65 14.55 14.69
14392 794.9 8.9 1105 14397 roll 0.80 - - 3027 - 1.45 0.070 3113 591.0 204.9 - - 2492 - - - - - - - - 15.00 14.44 15.02
14419 792.4 9.6 1110 14426 done 0.80 - - 3031 - 1.42 0.041 2233 -619.7 204.9 - - 2492 - - - - - - - - 14.58 14.54 14.61
14725 764.8 9.0 1121 14726 done 0.80 - - 3032 - - - 2231 - 204.9 - - 2492 - - - - - - - - 15.02 15.05 15.04
15025 737.6 9.1 1131 15028 roll 0.80 - - 3037 - 1.52 0.048 1358 -574.3 204.9 - - 2491 - - - - - - - - 15.04 14.54 15.07
15075 733.0 9.0 1141 15079 done 0.80 - - 3038 - 1.60 0.048 2254 560.0 204.9 - - 2491 - - - - - - - - 14.68 14.59 14.72
15387 705.0 8.8 1153 15392 roll 0.80 - - 3037 - 1.48 0.070 3123 587.2 204.9 - - 2491 - - - - - - - - 15.05 14.42 15.07
15428 700.9 9.7 1161 15433 done 0.80 - - 3040 - 1.40 0.041 2259 -617.1 204.9 - - 2491 - - - - - - - - 14.57 14.53 14.61
15751 672.8 8.6 1175 15754 roll 0.80 - - 3042 - 1.55 0.051 1374 -571.0 204.9 - - 2491 - - - - - - - - 15.05 14.54 15.07
15812 667.5 8.4 1187 15816 done 0.80 - - 3042 - 1.62 0.050 2254 543.2 204.9 - - 2491 - - - - - - - - 14.56 14.51 14.61
16144 639.5 8.5 1203 16148 roll 0.80 - - 3042 - 1.58 0.050 1375 -556.3 204.9 - - 2491 - - - - - - - - 15.06 14.54 15.08
16163 637.6 8.6 1207 16167 done 0.80 - - 3042 - 1.58 0.050 2249 553.2 204.9 - - 2490 - - - - - - - - 14.66 14.56 14.71
16475 611.6 8.3 1219 16479 roll 0.80 - - 3042 - 1.48 0.068 3120 588.5 204.9 - - 2490 - - - - - - - - 15.07 14.38 15.09
16507 608.9 9.0 1225 16511 done 0.80 - - 3042 - 1.42 0.042 2240 -619.7 204.9 - - 2490 - - - - - - - - 14.57 14.52 14.59
16840 580.6 8.5 1241 16844 roll 0.80 - - 3042 - 1.52 0.053 1383 -563.8 204.9 - - 2490 - - - - - - - - 15.07 14.49 15.09
16890 576.1 8.4 1251 16894 done 0.80 - - 3042 - 1.58 0.049 2256 552.5 204.9 - - 2489 - - - - - - - - 14.65 14.54 14.70
17203 551.5 7.8 1263 17204 done 0.81 - - 3043 - - - 2255 - 204.9 - - 2489 - - - - - - - - 15.07 15.09 15.09
17502 528.3 7.9 1273 17507 roll 0.82 - - 3043 - 1.58 0.049 1380 -553.8 204.9 - - 2490 - - - - - - - - 15.08 14.51 15.10
17536 525.4 8.2 1280 17541 done 0.82 - - 3044 - 1.62 0.049 2257 541.4 204.9 - - 2490 - - - - - - - - 14.50 14.45 14.54
17865 497.7 8.9 1295 17869 roll 0.82 - - 3043 - 1.48 0.069 3122 584.5 204.9 - - 2489 - - - - - - - - 15.07 14.35 15.09
17899 494.2 10.2 1302 17903 done 0.82 - - 3048 - 1.40 0.041 2263 -613.6 204.9 - - 2490 - - - - - - - - 14.54 14.50 14.57
18226 462.2 10.2 1317 18231 roll 0.82 - - 3054 - 1.58 0.050 1372 -563.9 204.9 - - 2489 - - - - - - - - 15.08 14.52 15.10
18292 455.5 10.0 1330 18297 done 0.82 0.08 0.217 3032 -275.0 1.62 0.048 2251 542.6 204.9 - - 2489 - - - - - - - - 14.15 14.47 14.31
18620 425.3 8.7 1345 18625 roll 0.82 - - 3032 - 1.48 0.070 3116 584.5 204.9 - - 2489 - - - - - - - - 15.08 14.33 15.09
18646 423.0 8.3 1350 18653 done 0.82 - - 3035 - 1.42 0.041 2244 -614.1 204.9 - - 2489 - - - - - - - - 14.54 14.50 14.57
18952 401.5 6.5 1361 18957 roll 0.86 - - 3041 - 1.58 0.048 1379 -547.5 204.9 - - 2489 - - - - - - - - 15.07 14.45 15.09
18988 399.1 6.7 1368 18992 done 0.90 - - 3041 - 1.62 0.048 2252 538.9 204.9 - - 2489 - - - - - - - - 14.50 14.45 14.66
19316 377.9 6.8 1383 19320 roll 0.93 - - 3041 - 1.48 0.069 3120 586.5 204.9 - - 2489 - - - - - - - - 15.07 14.33 15.09
19378 373.0 7.9 1395 19382 done 0.94 - - 3042 - 1.42 0.041 2237 -621.8 204.9 - - 2489 - - - - - - - - 14.52 14.47 14.54
19710 348.7 7.1 1411 19714 roll 0.97 - - 3042 - 1.50 0.051 1387 -566.7 204.9 - - 2489 - - - - - - - - 15.07 14.46 15.09
19750 345.8 6.9 1419 19755 done 1.00 0.12 0.157 3083 341.7 1.55 0.047 2252 558.1 204.9 - - 2489 - - - - - - - - 14.43 14.53 14.59
20072 319.3 8.5 1433 20077 roll 1.00 - - 3084 - 1.58 0.048 1376 -554.4 204.9 - - 2489 - - - - - - - - 15.08 14.49 15.10
20108 316.0 9.2 1440 20112 done 1.00 - - 3084 - 1.58 0.047 2250 553.2 204.9 - - 2489 - - - - - - - - 14.64 14.53 14.68
20435 285.9 9.3 1455 20436 done 1.00 - - 3084 - - - 2249 - 204.9 - - 2489 - - - - - - - - 15.08 15.10 15.10
20735 256.8 10.0 1465 20740 roll 1.00 - - 3084 - 1.48 0.067 3117 586.5 204.9 - - 2489 - - - - - - - - 15.08 14.32 15.10
20801 250.1 10.1 1478 20805 done 1.00 - - 3086 - 1.40 0.040 2258 -613.6 204.9 - - 2490 - - - - - - - - 14.51 14.47 14.54
21108 219.1 10.2 1511 21109 done 1.00 - - 3086 - - - 2258 - 204.9 - - 2489 - - - - - - - - 15.07 15.09 15.09
21410 195.5 6.6 1541 21414 roll 1.03 - - 3086 - 1.50 0.066 3150 594.7 204.9 - - 2489 - - - - - - - - 15.05 14.37 15.07
21432 193.7 7.6 1545 21437 done 1.05 - - 3086 - 1.48 0.041 2243 -612.8 204.9 - - 2489 - - - - - - - - 14.64 14.48 14.69
21745 171.6 7.0 1577 21750 roll 1.08 - - 3086 - 1.52 0.066 3143 592.1 204.9 - - 2489 - - - - - - - - 15.06 14.36 15.08
21777 169.0 8.0 1583 21781 done 1.08 - - 3086 - 1.45 0.040 2250 -615.9 204.9 - - 2489 - - - - - - - - 14.54 14.48 14.66
22088 145.6 9.0 1615 22092 roll 1.08 - - 3086 - 1.50 0.065 3145 596.7 204.9 - - 2490 - - - - - - - - 15.05 14.37 15.07
22180 136.7 10.0 1633 22184 done 1.08 - - 3086 - 1.45 0.038 2249 -617.9 204.9 - - 2489 - - - - - - - - 14.50 14.47 14.65
22492 114.5 4.5 1665 22592 done 1.20 0.15 0.144 3142 373.3 - - 2243 - 304.5 96.03 0.965 2101 -4.0 0.090 - - - - - - 14.46 14.39 13.86
22892 72.8 11.9 1715 22896 roll 1.20 - - 3142 - 1.50 0.063 3145 601.3 304.5 - - 2092 - - - - - - - - 14.85 14.36 14.87
22933 68.0 11.2 1723 22937 done 1.20 - - 3145 - 1.45 0.037 2243 -622.1 304.5 - - 2092 - - - - - - - - 14.47 14.44 14.59
23239 48.3 5.1 1757 23322 roll 1.31 - - 3147 - 1.48 0.059 3125 595.9 390.6 73.68 0.875 1745 -4.7 0.049 - - - - - - 14.92 14.28 13.88
23396 38.7 7.2 1784 23404 done 1.33 0.08 0.125 3189 525.0 1.42 0.036 2237 -625.4 390.6 - - 1746 - - - - - - - - 14.31 14.40 14.45
23709 10.2 9.2 1845 23716 roll 1.33 - - 3188 - 1.50 0.059 3146 606.0 390.6 - - 1747 - - - - - - - - 14.85 14.43 14.88
23782 end climb: SURFACE_DEPTH_REACHED
23782 begin surface coast
23814 end surface coast: CONTROL_FINISHED_OK
23814 begin surface
SM 1.75 - - - - -7.81 8.90 0.099 247 27.8 1.35 0.035 2322 1527.4 400.08 3.03 0.081 1714 565.7 -1.249 - - - - - -