OKMC Apr12 * SG169 * Dive index * Mission links * Dive 501 * Raw log
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• Previous call tries 1 • 111.04 of 147.52 AH used of 24V (24.73% remains)
• Previous NAKs 0, Timeouts 0 • 71.38 of 108.53 AH used of 10V (34.23% remains)
• Surface angle -74.4 deg, depth 0.79 m • Intended pitch -18.1 deg, speed -11.786 cm/s
• No surface pump (final VBD was 624.04, SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 14 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 111 VBD -0.69 - - 116 - - - 2455 - -194.6 -91.22 - 3028 - - - - - - - - - - -
114 3.3 -7.6 16 144 roll -0.69 7.85 0.226 2014 241.8 2.67 0.032 916 -576.4 -194.6 -14.75 - 3775 -50.6 - - - - - - - 24.73 26.01 26.52
215 30.7 -20.3 33 222 done -0.65 - - 2002 - 2.58 0.030 2419 582.6 -194.6 - - 3777 - - - - - - - - - 25.90 -
352 65.9 -27.1 58 359 done -0.56 0.15 0.167 2047 300.0 - - 2418 - -194.6 - - 3776 - - - - - - - - 25.85 - -
486 91.6 -16.5 83 495 roll -0.52 - - 2036 - 2.25 0.039 3830 627.6 -194.6 - - 3777 - - - - - - - - - 25.87 -
579 106.7 -14.9 100 587 done -0.50 0.10 0.155 2068 320.0 2.30 0.018 2337 -649.1 -194.6 - - 3777 - - - - - - - - 25.89 26.18 -
717 124.4 -13.2 125 723 roll -0.48 - - 2069 - 2.33 0.023 910 -612.4 -194.6 - - 3777 - - - - - - - - - 26.09 -
793 134.6 -12.0 139 802 done -0.48 - - 2056 - 2.45 0.028 2368 595.1 -194.6 - - 3776 - - - - - - - - - 26.02 -
932 152.4 -13.5 164 940 roll -0.46 0.10 0.161 2072 160.0 2.38 0.035 3848 621.8 -194.6 - - 3776 - - - - - - - - 26.26 25.91 -
953 155.5 -12.6 167 962 done -0.44 - - 2076 - 2.40 0.018 2290 -649.2 -194.6 - - 3777 - - - - - - - - - 26.24 -
1091 171.4 -12.0 192 1097 done -0.43 - - 2076 - - - 2289 - -194.6 - - 3777 - - - - - - - - - - -
1227 188.1 -12.4 217 1234 roll -0.42 - - 2063 - 2.60 0.036 3846 598.8 -194.6 - - 3777 - - - - - - - - - 25.91 -
1262 193.0 -12.9 223 1272 done -0.42 0.12 0.137 2098 291.7 2.33 0.019 2330 -650.6 -194.6 - - 3777 - - - - - - - - 25.89 26.23 -
1404 208.0 -9.6 248 1413 roll -0.46 - - 2087 - 2.50 0.037 3847 606.8 -194.6 - - 3777 - - - - - - - - - 25.92 -
1457 214.4 -11.6 257 1465 done -0.47 - - 2087 - 2.08 0.018 2429 -681.7 -194.6 - - 3777 - - - - - - - - - 26.31 -
1596 228.0 -9.3 282 1602 roll -0.50 - - 2078 - 2.25 0.035 3851 632.0 -194.6 - - 3776 - - - - - - - - - 25.95 -
1672 236.0 -10.3 296 1678 done -0.50 - - 2078 - 1.83 0.017 2506 -735.0 -194.6 - - 3776 - - - - - - - - - 26.36 -
1807 247.8 -8.0 321 1816 roll -0.53 - - 2078 - 2.72 0.022 925 -581.2 -194.6 - - 3777 - - - - - - - - - 26.09 -
1830 250.0 -8.5 324 1837 done -0.55 - - 2064 - 3.08 0.027 2643 557.8 -194.6 - - 3776 - - - - - - - - - 26.01 -
1966 262.8 -10.5 349 1975 roll -0.54 - - 2064 - 3.03 0.021 925 -567.0 -194.6 - - 3776 - - - - - - - - - 26.08 -
2003 267.0 -10.7 355 2010 done -0.56 - - 2050 - 2.90 0.028 2549 560.0 -194.6 - - 3776 - - - - - - - - - 26.02 -
2141 281.3 -10.5 380 2148 roll -0.54 - - 2040 - 1.88 0.038 3844 688.8 -194.6 - - 3776 - - - - - - - - - 25.95 -
2157 283.1 -10.6 382 2164 done -0.52 - - 2041 - 1.92 0.018 2483 -708.9 -194.6 - - 3776 - - - - - - - - - 26.28 -
2294 298.7 -11.8 407 2301 roll -0.51 - - 2041 - 2.65 0.023 934 -584.5 -194.6 - - 3776 - - - - - - - - - 26.08 -
2361 307.1 -12.0 419 2369 done -0.51 0.15 0.124 2075 226.7 2.78 0.028 2506 565.5 -194.6 - - 3776 - - - - - - - - 25.75 26.01 -
2498 319.3 -8.8 444 2505 roll -0.54 - - 2075 - 2.72 0.021 918 -583.8 -194.6 - - 3776 - - - - - - - - - 26.11 -
2557 325.1 -10.2 454 2564 done -0.56 - - 2063 - 2.55 0.027 2428 592.2 -194.6 - - 3776 - - - - - - - - - 26.05 -
2691 337.7 -9.0 479 2698 roll -0.59 - - 2053 - 2.20 0.037 3834 639.1 -194.6 - - 3775 - - - - - - - - - 25.93 -
2708 339.0 -8.7 481 2717 done -0.62 - - 2053 - 2.03 0.016 2428 -692.6 -194.6 - - 3775 - - - - - - - - - 26.34 -
2844 352.9 -9.9 506 2851 roll -0.62 - - 2042 - 2.25 0.036 3843 628.9 -194.6 - - 3774 - - - - - - - - - 25.94 -
2936 362.1 -9.9 523 2943 done -0.62 - - 2042 - 2.10 0.019 2423 -676.2 -194.6 - - 3774 - - - - - - - - - 26.27 -
3071 374.6 -9.2 548 3078 roll -0.62 - - 2031 - 2.28 0.038 3841 621.9 -194.6 - - 3773 - - - - - - - - - 25.91 -
3102 377.5 -9.9 553 3110 done -0.62 - - 2031 - 1.90 0.018 2484 -714.2 -194.6 - - 3773 - - - - - - - - - 26.29 -
3241 391.0 -10.8 578 3248 roll -0.61 - - 2031 - 2.67 0.024 929 -582.4 -194.6 - - 3773 - - - - - - - - - 26.06 -
3281 396.1 -10.6 585 3291 done -0.61 - - 2017 - 2.88 0.028 2537 558.3 -194.6 - - 3772 - - - - - - - - - 26.00 -
3421 412.3 -12.9 610 3428 roll -0.59 - - 2018 - 2.85 0.024 917 -568.4 -194.6 - - 3772 - - - - - - - - - 26.05 -
3462 417.9 -11.8 617 3472 done -0.59 0.12 0.132 2043 208.3 2.78 0.028 2493 566.9 -194.6 - - 3771 - - - - - - - - 25.77 25.99 -
3602 432.9 -10.4 642 3609 roll -0.59 - - 2033 - 2.05 0.039 3839 656.6 -194.6 - - 3770 - - - - - - - - - 25.90 -
3629 436.3 -11.1 646 3635 done -0.59 - - 2033 - 2.10 0.018 2420 -675.7 -194.6 - - 3769 - - - - - - - - - 26.27 -
3763 451.0 -10.7 671 3769 done -0.59 - - 2033 - - - 2420 - -194.6 - - 3768 - - - - - - - - - - -
3900 465.9 -10.9 696 3907 roll -0.60 - - 2021 - 2.30 0.038 3836 615.7 -194.6 - - 3767 - - - - - - - - - 25.88 -
3915 467.7 -10.5 698 3922 done -0.60 - - 2021 - 2.00 0.018 2453 -691.5 -194.6 - - 3767 - - - - - - - - - 26.29 -
4050 483.4 -12.1 723 4057 roll -0.59 - - 2021 - 2.60 0.023 918 -590.4 -194.6 - - 3766 - - - - - - - - - 26.06 -
4134 492.9 -11.2 738 4141 done -0.59 0.12 0.130 2048 225.0 2.92 0.029 2542 556.2 -194.6 - - 3766 - - - - - - - - 25.76 25.97 -
4276 505.3 -8.5 758 4285 roll -0.61 - - 2048 - 2.83 0.021 918 -573.9 -194.6 - - 3765 - - - - - - - - - 26.06 -
4341 511.5 -9.1 764 4348 done -0.63 - - 2037 - 2.62 0.028 2445 582.8 -194.6 - - 3764 - - - - - - - - - 25.98 -
4649 540.2 -9.1 795 4658 roll -0.65 - - 2026 - 2.17 0.040 3823 635.0 -194.6 - - 3761 - - - - - - - - - 25.83 -
4743 550.1 -10.8 804 4751 done -0.65 - - 2026 - 2.03 0.018 2441 -680.8 -194.6 - - 3760 - - - - - - - - - 26.25 -
5053 583.0 -10.2 835 5062 roll -0.65 - - 2026 - 2.58 0.024 927 -586.8 -194.6 - - 3757 - - - - - - - - - 26.02 -
5068 583.9 -10.2 836 5075 done -0.64 - - 2015 - 2.78 0.030 2494 563.7 -194.6 - - 3757 - - - - - - - - - 25.91 -
5377 615.7 -9.6 867 5386 roll -0.63 - - 2015 - 2.72 0.025 944 -569.9 -194.6 - - 3755 - - - - - - - - - 25.97 -
5404 618.2 -9.7 869 5414 done -0.62 0.12 0.132 2041 216.7 2.72 0.030 2480 564.7 -194.6 - - 3755 - - - - - - - - 25.70 25.90 -
5712 643.9 -8.1 900 5716 roll -0.64 - - 2031 - 2.12 0.044 3830 636.8 -194.6 - - 3753 - - - - - - - - - 25.76 -
5745 646.6 -8.4 903 5749 done -0.66 - - 2031 - 1.85 0.018 2524 -705.9 -194.6 - - 3752 - - - - - - - - - 26.28 -
6059 676.2 -9.4 934 6067 roll -0.66 - - 2031 - 2.83 0.025 927 -564.3 -194.6 - - 3749 - - - - - - - - - 25.95 -
6135 683.6 -10.4 941 6144 done -0.67 - - 2018 - 3.03 0.031 2581 545.9 -194.6 - - 3749 - - - - - - - - - 25.85 -
6442 715.2 -9.9 972 6451 roll -0.66 - - 2018 - 2.97 0.026 933 -554.9 -194.6 - - 3746 - - - - - - - - - 25.91 -
6508 721.6 -10.1 978 6515 done -0.67 - - 2006 - 2.95 0.032 2543 545.8 -194.6 - - 3746 - - - - - - - - - 25.82 -
6816 754.6 -10.5 1009 6826 roll -0.65 - - 2005 - 2.88 0.025 942 -555.9 -194.6 - - 3743 - - - - - - - - - 25.91 -
6860 759.2 -10.4 1013 6871 done -0.65 0.08 0.110 2022 212.5 2.83 0.033 2508 553.4 -194.6 - - 3743 - - - - - - - - 25.57 25.79 -
7170 787.7 -8.8 1044 7171 done -0.65 - - 2022 - - - 2506 - -194.6 - - 3741 - - - - - - - - - - -
7475 815.5 -9.4 1074 7484 roll -0.64 - - 2023 - 2.80 0.027 942 -558.6 -194.6 - - 3738 - - - - - - - - - 25.85 -
7530 820.8 -9.2 1079 7537 done -0.65 - - 2010 - 2.78 0.033 2488 556.1 -194.6 - - 3737 - - - - - - - - - 25.75 -
7841 850.8 -9.6 1110 7850 roll -0.64 - - 2000 - 2.12 0.044 3831 633.5 -194.6 - - 3736 - - - - - - - - - 25.63 -
7863 853.2 -9.4 1112 7872 done -0.62 0.08 0.112 2029 362.5 2.05 0.020 2446 -675.6 -194.6 - - 3736 - - - - - - - - 25.82 26.13 -
8175 879.9 -8.5 1143 8183 roll -0.62 - - 2030 - 2.60 0.027 939 -579.6 -194.6 - - 3733 - - - - - - - - - 25.84 -
8210 882.8 -8.7 1146 8217 done -0.63 - - 2016 - 2.75 0.031 2479 560.0 -194.6 - - 3734 - - - - - - - - - 25.74 -
8519 911.8 -9.6 1177 8530 roll -0.63 - - 2007 - 2.12 0.044 3824 634.4 -194.6 - - 3731 - - - - - - - - - 25.60 -
8566 916.4 -10.1 1181 8575 done -0.63 - - 2006 - 2.08 0.021 2444 -663.5 -194.6 - - 3731 - - - - - - - - - 26.10 -
8875 947.7 -10.1 1212 8884 roll -0.61 - - 2007 - 2.60 0.027 940 -578.5 -194.6 - - 3730 - - - - - - - - - 25.81 -
8922 952.5 -10.6 1216 8930 done -0.61 0.15 0.122 2041 226.7 2.78 0.034 2481 554.3 -194.6 - - 3729 - - - - - - - - 25.44 25.68 -
9231 979.4 -8.7 1247 9240 roll -0.62 - - 2030 - 2.15 0.046 3829 627.0 -194.6 - - 3727 - - - - - - - - - 25.51 -
9285 984.3 -9.1 1252 9294 done -0.63 - - 2030 - 2.08 0.021 2443 -666.3 -194.6 - - 3727 - - - - - - - - - 26.09 -
9351 end dive: TARGET_DEPTH_EXCEEDED
9351 begin apogee
9357 991.0 -9.9 1259 9557 roll -0.20 0.40 0.098 2168 345.0 0.17 0.064 2431 -70.6 - 186.12 1.100 2966 -4.1 0.385 - - - - - - 25.52 24.81 23.51
9558 end apogee: CONTROL_FINISHED_OK
9558 begin climb
9560 1001.9 - 1279 9774 roll 0.69 0.80 0.063 2461 366.2 2.38 0.044 3842 592.9 194.6 203.50 1.119 2178 -3.9 0.362 - - - - - - 25.06 25.14 23.47
9798 978.5 14.0 1303 9807 done 0.65 - - 2472 - 2.35 0.021 2375 -624.3 194.6 - - 2154 - - - - - - - - - 25.41 -
10109 937.4 13.5 1334 10119 roll 0.61 0.12 0.182 2448 -200.0 2.42 0.027 946 -590.5 194.6 - - 2144 - - - - - - - - 25.73 25.83 -
10172 930.3 10.2 1340 10223 done 0.66 - - 2449 - 2.62 0.030 2439 569.8 233.9 42.70 1.017 2018 -3.0 0.282 - - - - - - - 25.84 23.83
10523 887.9 12.9 1375 10531 roll 0.65 - - 2448 - 2.22 0.041 3830 626.6 233.9 - - 1992 - - - - - - - - - 25.76 -
10578 880.5 14.3 1380 10585 done 0.64 - - 2459 - 2.20 0.022 2415 -643.2 233.9 - - 1991 - - - - - - - - - 25.98 -
10885 839.1 12.7 1411 10894 roll 0.62 - - 2460 - 2.33 0.041 3834 609.0 233.9 - - 1990 - - - - - - - - - 25.76 -
10910 836.1 13.0 1413 10919 done 0.61 0.15 0.158 2429 -206.7 2.15 0.021 2430 -653.0 233.9 - - 1990 - - - - - - - - 25.55 26.01 -
11218 802.7 10.5 1444 11260 roll 0.65 - - 2430 - 2.38 0.040 3830 588.2 266.8 36.05 1.011 1882 -3.0 0.248 - - - - - - - 25.52 24.00
11281 795.9 11.3 1450 11298 done 0.66 - - 2441 - 2.15 0.021 2438 -647.4 278.0 11.38 1.013 1841 -3.6 0.295 - - - - - - - 25.75 23.87
11600 759.6 11.6 1482 11606 done 0.67 - - 2441 - - - 2438 - 283.8 - - 1821 - - - - - - - - - - -
11914 724.8 11.7 1513 11922 done 0.68 - - 2441 - - - 2438 - 286.3 2.10 0.275 1810 -5.2 1.441 - - - - - - - - 23.76
12221 690.7 10.7 1544 12263 done 0.72 - - 2441 - - - 2438 - 312.3 39.95 0.963 1703 -2.7 0.201 - - - - - - - - 24.00
12563 655.5 10.0 1578 12612 done 0.79 0.15 0.067 2520 526.7 - - 2438 - 355.1 46.92 0.953 1531 -3.7 0.263 - - - - - - 26.20 - 23.94
12911 602.3 15.3 1613 12923 roll 0.78 0.12 0.164 2482 -316.7 2.30 0.039 3835 607.4 355.1 - - 1500 - - - - - - - - 25.77 25.72 -
12928 600.9 15.4 1614 12935 done 0.76 - - 2493 - 2.10 0.021 2455 -657.1 355.1 - - 1500 - - - - - - - - - 25.95 -
13236 559.5 12.9 1645 13247 roll 0.76 - - 2506 - 2.65 0.031 945 -569.8 355.1 - - 1497 - - - - - - - - - 25.79 -
13280 553.6 13.3 1649 13291 done 0.78 - - 2507 - 2.70 0.027 2472 565.6 355.1 - - 1497 - - - - - - - - - 25.86 -
13590 509.7 13.4 1680 13599 roll 0.78 - - 2506 - 2.17 0.041 3829 625.3 355.1 - - 1496 - - - - - - - - - 25.71 -
13622 504.9 14.3 1683 13632 done 0.78 0.12 0.161 2485 -175.0 2.15 0.021 2433 -649.3 355.1 - - 1496 - - - - - - - - 25.60 26.01 -
13945 468.7 10.9 1741 13979 roll 0.81 - - 2497 - 2.67 0.031 942 -558.4 377.5 22.45 0.851 1424 -3.2 0.184 - - - - - - - 25.75 24.24
14034 459.4 9.5 1756 14105 done 0.91 - - 2497 - 2.62 0.027 2440 571.8 434.0 63.88 0.825 1202 -3.5 0.202 - - - - - - - 25.85 23.87
14234 440.6 7.8 1791 14348 roll 1.13 0.25 0.069 2596 396.0 2.40 0.042 3842 584.2 530.9 107.25 0.794 804 -3.7 0.215 - - - - - - 25.77 25.20 23.82
14359 426.4 11.8 1810 14366 done 1.17 - - 2608 - 2.35 0.019 2354 -633.2 530.9 - - 791 - - - - - - - - - 25.51 -
14493 405.6 16.1 1835 14502 roll 1.16 - - 2620 - 2.45 0.033 948 -573.9 530.9 - - 784 - - - - - - - - - 25.67 -
14531 399.2 15.7 1841 14538 done 1.16 - - 2620 - 2.58 0.028 2413 567.8 530.9 - - 782 - - - - - - - - - 25.75 -
14666 373.2 19.6 1866 14673 roll 1.13 - - 2620 - 2.33 0.037 3839 612.0 530.9 - - 782 - - - - - - - - - 25.72 -
14725 362.2 19.1 1876 14732 done 1.11 0.15 0.174 2594 -173.3 2.25 0.021 2401 -639.1 530.9 - - 781 - - - - - - - - 25.41 25.93 -
14862 338.8 16.0 1901 14868 roll 1.11 - - 2606 - 2.53 0.032 938 -578.3 530.9 - - 781 - - - - - - - - - 25.79 -
14905 332.4 15.6 1908 14912 done 1.13 - - 2606 - 2.58 0.028 2423 575.6 530.9 - - 780 - - - - - - - - - 25.86 -
15039 309.0 18.0 1933 15046 roll 1.12 - - 2606 - 2.25 0.038 3827 624.0 530.9 - - 780 - - - - - - - - - 25.74 -
15084 300.4 17.8 1941 15090 done 1.12 - - 2618 - 2.22 0.022 2397 -644.1 530.9 - - 780 - - - - - - - - - 25.98 -
15219 277.6 16.6 1966 15226 roll 1.11 - - 2630 - 2.53 0.032 945 -573.9 530.9 - - 780 - - - - - - - - - 25.79 -
15260 270.3 16.7 1973 15270 done 1.11 0.15 0.146 2590 -266.7 2.60 0.028 2429 570.8 530.9 - - 779 - - - - - - - - 25.46 25.84 -
15397 249.2 15.1 1998 15405 roll 1.11 - - 2590 - 2.25 0.039 3827 621.3 530.9 - - 779 - - - - - - - - - 25.73 -
15434 243.7 15.4 2004 15441 done 1.12 - - 2601 - 2.28 0.022 2375 -636.8 530.9 - - 779 - - - - - - - - - 25.98 -
15570 222.9 15.2 2029 15577 roll 1.12 - - 2614 - 2.50 0.031 931 -577.6 530.9 - - 779 - - - - - - - - - 25.79 -
15591 219.5 14.6 2032 15598 done 1.12 - - 2614 - 2.60 0.028 2421 573.1 530.9 - - 778 - - - - - - - - - 25.86 -
15724 199.2 15.5 2057 15731 roll 1.12 - - 2627 - 2.60 0.030 946 -567.3 530.9 - - 779 - - - - - - - - - 25.80 -
15747 196.1 14.2 2060 15754 done 1.12 0.12 0.139 2592 -291.7 2.50 0.026 2388 576.8 530.9 - - 778 - - - - - - - - 25.60 25.89 -
15880 177.9 12.5 2085 15887 roll 1.14 - - 2592 - 2.35 0.039 3839 617.4 530.9 - - 778 - - - - - - - - - 25.72 -
15912 173.8 13.3 2090 15919 done 1.16 - - 2604 - 2.33 0.019 2337 -644.6 530.9 - - 778 - - - - - - - - - 26.06 -
16047 156.8 11.9 2115 16056 roll 1.17 - - 2616 - 2.40 0.031 933 -585.0 530.9 - - 778 - - - - - - - - - 25.81 -
16103 150.6 11.4 2124 16112 done 1.20 - - 2616 - 2.45 0.026 2366 584.9 540.4 - - 778 - - - - - - - - - 25.90 -
16240 133.5 12.9 2149 16247 roll 1.21 - - 2616 - 2.40 0.037 3846 616.7 540.4 - - 778 - - - - - - - - - 25.73 -
16306 124.4 12.3 2161 16313 done 1.21 - - 2628 - 2.33 0.020 2342 -645.5 540.4 - - 778 - - - - - - - - - 26.05 -
16443 108.6 11.8 2186 16450 roll 1.21 - - 2641 - 2.40 0.030 946 -581.7 540.8 - - 778 - - - - - - - - - 25.82 -
16469 105.7 10.4 2190 16526 done 1.27 - - 2641 - 2.53 0.025 2410 578.7 573.8 51.40 0.319 641 -2.7 0.092 - - - - - - - 25.91 24.69
16654 83.8 11.2 2223 16684 roll 1.30 - - 2653 - 2.60 0.029 943 -564.2 587.9 22.40 0.280 582 -2.6 0.082 - - - - - - - 25.85 24.75
16707 78.1 10.9 2231 16747 done 1.36 - - 2653 - 2.47 0.024 2381 582.2 609.6 30.52 0.278 495 -2.9 0.084 - - - - - - - 25.91 24.80
16874 60.4 10.8 2261 16905 roll 1.50 0.15 0.078 2735 546.7 2.38 0.039 3824 606.3 633.3 21.67 0.232 435 -2.8 0.075 - - - - - - 26.15 25.80 24.83
17139 31.2 15.6 2311 17146 done 1.50 - - 2746 - 2.12 0.021 2413 -665.6 633.3 1.30 0.172 433 - - - - - - - - - 26.01 25.00
17278 6.0 17.5 2336 17286 roll 1.48 0.12 0.188 2724 -183.3 2.60 0.029 929 -570.8 633.3 0.82 0.168 434 - - - - - - - - 25.84 25.81 25.05
17292 end climb: SURFACE_DEPTH_REACHED
17292 begin surface coast
17308 end surface coast: CONTROL_FINISHED_OK
17308 begin surface
SM 0.48 - - - - -6.48 6.53 0.027 134 -396.6 2.62 0.022 2424 570.6 624.04 - - 435 - - - - - - - -