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| • Previous call tries 1 | • 99.19 of 350.00 AH used of 24V (71.66% remains) | |
| • Surface angle -69.3 deg, depth 1.05 m | • Intended pitch -21.5 deg, speed -10.000 cm/s | |
| • VBD pumped to 578.59 (SM_CC=578.71997) | ||
| • GPS1 time: 18 s | ||
| • GPS2 time: 22 s | • Transponder ping count: 24 | |
| • Time spent turning 0 s |
| 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 | pit | roll | vbd | flags | |||||
| 17 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 17 | begin dive | ||||||||||||||||||||||||||||
| 17.80 | - | - | - | 115.95 | VBD | -0.88 | - | - | 112.75 | - | - | - | 2720.75 | - | -116.79 | 92.11 | 0.005 | 3235.62 | - | - | - | - | - | - | - | - | - | - | 15.14 |
| 116.21 | 4.74 | -7.08 | 9 | 139.32 | -0.88 | 10.40 | 0.422 | 2134.00 | 194.4 | 2.06 | 0.015 | 1375.69 | -652.9 | -116.79 | 4.12 | 0.009 | 3476.03 | 58.4 | -5.287 | - | - | - | - | - | - | 15.09 | 15.31 | 15.44 | |
| 181.65 | 33.40 | -30.95 | 22 | 188.91 | roll | -0.88 | - | - | 2123.31 | - | 2.51 | 0.041 | 2880.25 | 599.4 | -116.79 | - | - | 3481.88 | - | - | - | - | - | - | - | - | - | 14.92 | - |
| 377.06 | 110.39 | -38.13 | 42 | 383.72 | roll | -0.88 | - | - | 2126.00 | - | 2.36 | 0.014 | 1391.44 | -630.9 | -116.79 | - | - | 3481.38 | - | - | - | - | - | - | - | - | - | 15.25 | - |
| 391.70 | 115.82 | -35.35 | 45 | 398.94 | roll | -0.88 | - | - | 2115.00 | - | 2.45 | 0.036 | 2876.31 | 606.1 | -116.79 | - | - | 3481.59 | - | - | - | - | - | - | - | - | - | 15.27 | - |
| 587.09 | 174.66 | -22.02 | 65 | 593.57 | roll | -0.88 | - | - | 2106.75 | - | 1.80 | 0.044 | 3984.81 | 615.8 | -116.79 | - | - | 3480.88 | - | - | - | - | - | - | - | - | - | 15.57 | - |
| 687.05 | 196.37 | -18.71 | 85 | 693.52 | roll | -0.88 | - | - | 2107.00 | - | 1.85 | 0.009 | 2771.06 | -656.1 | -116.79 | - | - | 3481.62 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 877.15 | 230.49 | -20.43 | 105 | 883.67 | roll | -0.88 | - | - | 2106.88 | - | 2.11 | 0.014 | 1388.25 | -655.4 | -116.79 | - | - | 3484.66 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 931.81 | 239.31 | -14.55 | 116 | 939.09 | roll | -0.88 | - | - | 2094.94 | - | 2.45 | 0.036 | 2888.94 | 612.5 | -116.79 | - | - | 3486.06 | - | - | - | - | - | - | - | - | - | 15.27 | - |
| 1127.18 | 274.09 | -19.19 | 130 | 1133.33 | pitch | -0.88 | 0.13 | 0.270 | 2126.94 | 246.2 | - | - | 2889.12 | - | -116.79 | - | - | 3483.78 | - | - | - | - | - | - | - | - | 15.53 | - | - |
| 1447.20 | 318.44 | -13.50 | 146 | 1453.74 | roll | -0.88 | - | - | 2128.00 | - | 2.35 | 0.014 | 1388.62 | -638.5 | -116.79 | - | - | 3486.62 | - | - | - | - | - | - | - | - | - | 15.84 | - |
| 1491.87 | 324.62 | -13.47 | 155 | 1498.72 | roll | -0.88 | - | - | 2117.88 | - | 2.47 | 0.036 | 2890.94 | 608.2 | -116.79 | - | - | 3486.12 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 1807.23 | 372.18 | -15.87 | 173 | 1813.62 | roll | -0.88 | - | - | 2108.94 | - | 1.75 | 0.042 | 3984.69 | 625.0 | -116.79 | - | - | 3486.91 | - | - | - | - | - | - | - | - | - | 15.81 | - |
| 1887.23 | 385.28 | -15.95 | 189 | 1893.64 | roll | -0.88 | - | - | 2108.56 | - | 1.85 | 0.010 | 2778.88 | -651.8 | -116.79 | - | - | 3486.97 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 2207.28 | 439.73 | -16.74 | 208 | 2213.00 | roll | -0.88 | - | - | 2099.25 | - | 2.03 | 0.044 | 3983.38 | 593.3 | -116.79 | - | - | 3486.12 | - | - | - | - | - | - | - | - | - | 15.68 | - |
| 2227.28 | 443.01 | -16.03 | 212 | 2233.13 | roll back | -0.88 | 0.10 | 0.236 | 2128.19 | 289.4 | 1.84 | 0.011 | 2770.25 | -659.3 | -116.79 | - | - | 3483.56 | - | - | - | - | - | - | - | - | 15.56 | 15.88 | - |
| 2547.22 | 483.52 | -12.14 | 231 | 2549.98 | no move | -0.88 | - | - | 2128.69 | - | - | - | 2754.44 | - | -116.79 | - | - | 3482.50 | - | - | - | - | - | - | - | - | - | - | - |
| 2867.30 | 518.40 | -10.07 | 247 | 2872.99 | roll | -0.88 | - | - | 2120.44 | - | 2.05 | 0.047 | 3981.94 | 598.8 | -116.79 | - | - | 3480.50 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 2967.28 | 529.22 | -10.72 | 267 | 2973.04 | roll | -0.88 | - | - | 2120.69 | - | 1.84 | 0.012 | 2782.50 | -651.9 | -116.79 | - | - | 3478.75 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 3287.33 | 562.65 | -10.60 | 286 | 3293.09 | roll | -0.88 | - | - | 2111.69 | - | 2.03 | 0.048 | 3980.31 | 590.1 | -116.79 | - | - | 3475.56 | - | - | - | - | - | - | - | - | - | 15.67 | - |
| 3311.98 | 565.49 | -10.63 | 291 | 3318.06 | roll | -0.88 | - | - | 2111.56 | - | 1.84 | 0.013 | 2787.06 | -648.5 | -116.79 | - | - | 3474.31 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 3627.29 | 602.23 | -11.66 | 309 | 3633.11 | roll | -0.88 | - | - | 2102.38 | - | 2.00 | 0.048 | 3981.12 | 597.0 | -116.79 | - | - | 3470.09 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 3762.04 | 618.88 | -12.72 | 336 | 3768.56 | roll back | -0.88 | 0.09 | 0.233 | 2129.44 | 300.7 | 1.84 | 0.013 | 2781.50 | -652.0 | -116.79 | - | - | 3467.84 | - | - | - | - | - | - | - | - | 15.58 | 15.89 | - |
| 4087.40 | 653.85 | -10.61 | 353 | 4093.16 | roll | -0.88 | - | - | 2120.88 | - | 2.03 | 0.048 | 3981.69 | 591.2 | -116.79 | - | - | 3465.88 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 4117.06 | 657.23 | -10.82 | 359 | 4123.13 | roll | -0.88 | - | - | 2121.44 | - | 1.84 | 0.014 | 2795.06 | -644.9 | -116.79 | - | - | 3465.59 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 4427.43 | 693.95 | -11.93 | 376 | 4432.59 | no move | -0.88 | - | - | 2121.56 | - | - | - | 2781.00 | - | -116.79 | - | - | 3461.69 | - | - | - | - | - | - | - | - | - | - | - |
| 4747.43 | 734.53 | -13.11 | 392 | 4753.19 | roll | -0.88 | - | - | 2113.75 | - | 2.02 | 0.050 | 3978.12 | 592.6 | -116.79 | - | - | 3459.38 | - | - | - | - | - | - | - | - | - | 15.76 | - |
| 4857.11 | 750.38 | -14.35 | 414 | 4863.18 | roll | -0.88 | - | - | 2113.12 | - | 1.84 | 0.014 | 2798.31 | -641.2 | -116.79 | - | - | 3458.47 | - | - | - | - | - | - | - | - | - | 15.82 | - |
| 5167.47 | 793.64 | -13.83 | 431 | 5170.23 | no move | -0.88 | - | - | 2112.88 | - | - | - | 2784.38 | - | -116.79 | - | - | 3455.22 | - | - | - | - | - | - | - | - | - | - | - |
| 5487.46 | 840.20 | -14.22 | 447 | 5493.32 | roll | -0.88 | - | - | 2102.62 | - | 2.01 | 0.050 | 3979.38 | 594.5 | -116.79 | - | - | 3453.91 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 5557.15 | 849.99 | -13.81 | 461 | 5563.30 | roll | -0.88 | - | - | 2102.88 | - | 1.84 | 0.015 | 2800.31 | -640.8 | -116.79 | - | - | 3452.00 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 5867.51 | 888.64 | -11.61 | 478 | 5873.32 | roll | -0.88 | - | - | 2103.38 | - | 2.22 | 0.020 | 1397.38 | -632.0 | -116.79 | - | - | 3451.59 | - | - | - | - | - | - | - | - | - | 15.03 | - |
| 5922.18 | 894.45 | -10.22 | 489 | 5928.79 | roll | -0.88 | - | - | 2092.31 | - | 2.51 | 0.041 | 2906.19 | 601.1 | -116.79 | - | - | 3451.72 | - | - | - | - | - | - | - | - | - | 15.82 | - |
| 6247.54 | 930.04 | -10.63 | 506 | 6250.43 | pitch | -0.88 | 0.13 | 0.257 | 2124.75 | 249.5 | - | - | 2903.38 | - | -116.79 | - | - | 3449.16 | - | - | - | - | - | - | - | - | 15.44 | - | - |
| 6567.51 | 958.19 | -8.61 | 522 | 6573.44 | roll | -0.88 | - | - | 2125.19 | - | 2.44 | 0.020 | 1394.06 | -618.6 | -116.79 | - | - | 3448.50 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 6622.22 | 962.58 | -7.84 | 533 | 6628.97 | roll | -0.88 | - | - | 2115.56 | - | 2.53 | 0.041 | 2899.25 | 594.9 | -116.79 | - | - | 3449.00 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 6948 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 6948 | begin apogee | ||||||||||||||||||||||||||||
| 6948.80 | 991.50 | -9.33 | 550 | 7054.54 | -0.14 | 0.67 | 0.206 | 2307.12 | 285.9 | 0.19 | 0.108 | 2734.88 | -865.1 | - | 97.92 | 2.240 | 2997.62 | -4.6 | 0.351 | - | - | - | - | - | - | 15.34 | 15.05 | 10.93 | |
| 7056 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7056 | begin climb | ||||||||||||||||||||||||||||
| 7056.18 | 992.16 | - | 555 | 7167.53 | 0.88 | 0.68 | 0.028 | 2593.69 | 421.4 | 2.54 | 0.023 | 1221.31 | -595.9 | 116.79 | 102.39 | 2.193 | 2524.44 | -4.6 | 0.360 | - | - | - | - | - | - | 15.20 | 14.93 | 11.97 | |
| 7185.22 | 982.80 | 12.61 | 579 | 7191.20 | roll back | 0.88 | 0.19 | 0.284 | 2547.62 | -242.5 | 2.59 | 0.040 | 2728.94 | 582.1 | 116.79 | - | - | 2521.66 | - | - | - | - | - | - | - | - | 15.03 | 15.13 | - |
| 7505.19 | 937.25 | 13.96 | 598 | 7511.00 | done | 0.88 | - | - | 2543.69 | - | 2.07 | 0.049 | 3982.75 | 605.7 | 116.79 | - | - | 2514.28 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 7559.91 | 929.08 | 14.98 | 609 | 7566.25 | done | 0.88 | - | - | 2551.75 | - | 2.16 | 0.022 | 2665.88 | -609.7 | 116.79 | - | - | 2512.22 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 7885.27 | 884.78 | 13.06 | 626 | 7892.60 | done | 0.88 | - | - | 2563.69 | - | 2.27 | 0.029 | 1247.19 | -625.0 | 116.79 | - | - | 2511.97 | - | - | - | - | - | - | - | - | - | 15.68 | - |
| 7914.94 | 881.06 | 12.39 | 632 | 7922.49 | done | 0.88 | - | - | 2564.06 | - | 2.46 | 0.040 | 2725.56 | 601.0 | 116.79 | - | - | 2510.34 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 8225.24 | 840.82 | 13.02 | 649 | 8231.19 | done | 0.88 | - | - | 2573.56 | - | 2.41 | 0.028 | 1249.56 | -612.4 | 116.79 | - | - | 2510.88 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 8334.98 | 826.88 | 12.50 | 671 | 8342.56 | done | 0.88 | - | - | 2573.62 | - | 2.44 | 0.039 | 2721.69 | 603.3 | 116.79 | - | - | 2508.03 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 8645.28 | 781.13 | 15.25 | 688 | 8651.09 | done | 0.88 | - | - | 2574.25 | - | 2.07 | 0.047 | 3978.38 | 607.1 | 116.79 | - | - | 2508.47 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 8700.01 | 772.19 | 15.98 | 699 | 8706.35 | done | 0.88 | - | - | 2582.75 | - | 2.15 | 0.019 | 2655.38 | -615.3 | 116.79 | - | - | 2507.56 | - | - | - | - | - | - | - | - | - | 15.77 | - |
| 9025.36 | 726.25 | 13.89 | 716 | 9029.30 | 0.88 | 0.15 | 0.303 | 2548.75 | -226.7 | - | - | 2635.50 | - | 116.79 | - | - | 2505.88 | - | - | - | - | - | - | - | - | 15.39 | - | - | |
| 9345.37 | 686.04 | 12.49 | 732 | 9351.30 | done | 0.88 | - | - | 2546.75 | - | 2.24 | 0.047 | 3978.56 | 599.6 | 116.79 | - | - | 2505.47 | - | - | - | - | - | - | - | - | - | 15.81 | - |
| 9440.05 | 672.75 | 13.91 | 751 | 9446.62 | done | 0.88 | - | - | 2557.00 | - | 2.14 | 0.019 | 2653.31 | -619.3 | 116.79 | - | - | 2506.34 | - | - | - | - | - | - | - | - | - | 15.82 | - |
| 9765.41 | 630.29 | 13.14 | 768 | 9771.36 | done | 0.88 | - | - | 2569.06 | - | 2.22 | 0.026 | 1245.56 | -634.1 | 116.79 | - | - | 2506.38 | - | - | - | - | - | - | - | - | - | 15.82 | - |
| 9800.07 | 625.95 | 12.32 | 775 | 9806.66 | done | 0.88 | - | - | 2568.19 | - | 2.46 | 0.038 | 2729.25 | 603.1 | 116.79 | - | - | 2503.31 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 10125.44 | 584.66 | 12.34 | 792 | 10131.35 | done | 0.88 | - | - | 2578.12 | - | 2.40 | 0.025 | 1246.69 | -617.7 | 116.79 | - | - | 2505.09 | - | - | - | - | - | - | - | - | - | 15.82 | - |
| 10280.19 | 567.97 | 10.35 | 823 | 10286.71 | done | 0.88 | - | - | 2577.31 | - | 2.44 | 0.037 | 2724.44 | 605.6 | 116.79 | - | - | 2503.25 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 10605.48 | 527.94 | 13.57 | 840 | 10611.24 | done | 0.88 | - | - | 2580.25 | - | 2.06 | 0.046 | 3982.88 | 610.9 | 116.79 | - | - | 2505.53 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 10765.56 | 502.36 | 15.81 | 872 | 10772.48 | done | 0.88 | - | - | 2586.81 | - | 2.15 | 0.017 | 2648.19 | -620.8 | 116.79 | - | - | 2504.78 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 11085.54 | 460.54 | 12.73 | 891 | 11091.46 | 0.88 | 0.16 | 0.283 | 2547.50 | -245.7 | 2.25 | 0.045 | 3982.06 | 592.8 | 116.79 | - | - | 2504.25 | - | - | - | - | - | - | - | - | 15.34 | 15.41 | - | |
| 11235.28 | 441.47 | 12.06 | 921 | 11241.37 | done | 0.88 | - | - | 2557.69 | - | 2.13 | 0.017 | 2652.06 | -624.4 | 116.79 | - | - | 2502.97 | - | - | - | - | - | - | - | - | - | 15.77 | - |
| 11545.59 | 408.47 | 9.44 | 938 | 11552.67 | done | 0.89 | - | - | 2566.94 | - | 2.23 | 0.024 | 1243.00 | -631.9 | 116.79 | - | - | 2502.41 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 11605.60 | 403.59 | 8.08 | 950 | 11612.55 | done | 0.93 | - | - | 2566.50 | - | 2.47 | 0.036 | 2727.50 | 601.0 | 116.79 | - | - | 2502.97 | - | - | - | - | - | - | - | - | - | 15.02 | - |
| 11925.60 | 372.32 | 10.85 | 969 | 11932.22 | done | 0.93 | - | - | 2576.69 | - | 2.42 | 0.023 | 1242.12 | -613.8 | 116.79 | - | - | 2503.25 | - | - | - | - | - | - | - | - | - | 15.76 | - |
| 11980.26 | 366.40 | 10.61 | 980 | 11987.51 | done | 0.93 | - | - | 2576.94 | - | 2.48 | 0.035 | 2727.50 | 598.9 | 116.79 | - | - | 2502.69 | - | - | - | - | - | - | - | - | - | 14.98 | - |
| 12305.61 | 336.39 | 8.27 | 997 | 12312.08 | done | 0.97 | - | - | 2576.06 | - | 2.06 | 0.045 | 3982.00 | 609.0 | 116.79 | - | - | 2503.97 | - | - | - | - | - | - | - | - | - | 15.65 | - |
| 12435.31 | 324.61 | 8.78 | 1023 | 12442.11 | done | 0.99 | - | - | 2586.69 | - | 2.14 | 0.016 | 2647.31 | -623.7 | 116.79 | - | - | 2503.47 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 12745.66 | 298.87 | 8.07 | 1040 | 12753.22 | done | 1.03 | - | - | 2596.75 | - | 2.24 | 0.022 | 1241.06 | -627.8 | 116.79 | - | - | 2504.31 | - | - | - | - | - | - | - | - | - | 15.01 | - |
| 12810.58 | 293.96 | 7.42 | 1053 | 12853.17 | done | 1.13 | - | - | 2598.62 | - | 2.47 | 0.035 | 2729.06 | 602.4 | 161.56 | 34.58 | 1.323 | 2340.66 | -4.7 | 0.181 | - | - | - | - | - | - | - | 15.59 | 11.60 |
| 13165.94 | 257.87 | 11.51 | 1079 | 13172.73 | no move | 1.13 | - | - | 2598.94 | - | - | - | 2729.44 | - | 161.56 | - | - | 2333.78 | - | - | - | - | - | - | - | - | - | - | - |
| 13475.96 | 226.02 | 9.08 | 1106 | 13480.11 | no move | 1.15 | - | - | 2598.44 | - | - | - | 2728.94 | - | 161.56 | - | - | 2332.31 | - | - | - | - | - | - | - | - | - | - | - |
| 13666.05 | 212.72 | 5.16 | 1125 | 13739.32 | 1.35 | 0.19 | 0.063 | 2696.00 | 513.5 | 2.45 | 0.022 | 1242.50 | -606.7 | 245.65 | 65.54 | 1.198 | 1998.16 | -5.1 | 0.156 | - | - | - | - | - | - | 15.66 | 15.33 | 11.74 | |
| 13901.71 | 179.45 | 12.88 | 1172 | 13909.03 | 1.35 | 0.14 | 0.276 | 2660.88 | -250.9 | 2.49 | 0.033 | 2729.50 | 597.2 | 245.65 | - | - | 1989.62 | - | - | - | - | - | - | - | - | 15.23 | 15.08 | - | |
| 14097.09 | 157.45 | 9.76 | 1192 | 14103.58 | done | 1.35 | - | - | 2669.56 | - | 2.43 | 0.021 | 1244.38 | -611.2 | 245.65 | - | - | 1986.50 | - | - | - | - | - | - | - | - | - | 15.12 | - |
| 14331.83 | 140.55 | 5.85 | 1239 | 14394.96 | 1.51 | 0.10 | 0.082 | 2724.56 | 550.0 | 2.41 | 0.030 | 2709.25 | 607.8 | 317.80 | 53.90 | 1.020 | 1703.16 | -5.3 | 0.125 | - | - | - | - | - | - | 15.56 | 15.51 | 11.95 | |
| 14577.72 | 107.10 | 14.69 | 1270 | 14582.70 | no move | 1.51 | - | - | 2723.19 | - | - | - | 2708.31 | - | 317.80 | - | - | 1697.97 | - | - | - | - | - | - | - | - | - | - | - |
| 14767.61 | 75.58 | 15.55 | 1289 | 14774.27 | roll | 1.51 | - | - | 2733.94 | - | 2.37 | 0.020 | 1245.25 | -617.3 | 317.80 | - | - | 1698.84 | - | - | - | - | - | - | - | - | - | 15.59 | - |
| 14872.37 | 58.92 | 15.64 | 1310 | 14880.63 | roll back | 1.51 | 0.14 | 0.285 | 2701.25 | -233.5 | 2.40 | 0.030 | 2717.31 | 613.4 | 317.80 | - | - | 1697.16 | - | - | - | - | - | - | - | - | 15.15 | 15.57 | - |
| 15067.73 | 28.74 | 15.14 | 1330 | 15071.81 | no move | 1.51 | - | - | 2701.50 | - | - | - | 2717.25 | - | 317.80 | - | - | 1697.06 | - | - | - | - | - | - | - | - | - | - | - |
| 15259 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 15259 | begin surface coast | ||||||||||||||||||||||||||||
| 15278 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 15278 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.05 | - | - | - | - | 119.2 | 182.19 | 0.807 | 641.3 | 3.5 | 6.93 | 0.032 | 600.9 | 86.7 | - | 0.26 | 0.044 | 681.8 | 2622.3 | -6.396 | - | - | 11.65 | 15.70 | 15.75 | - | |||