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| • Previous call tries 1 | • 10.13 of 150.00 AH used of 24V (93.25% remains) | |
| • Previous NAKs 0, Timeouts 0 | • 11.85 of 100.00 AH used of 10V (88.15% remains) | |
| • Surface angle -74.8 deg, depth 2.32 m | • Intended pitch -16.3 deg, speed -9.167 cm/s | |
| • VBD pumped to 400.08 (SM_CC=400) | • surface range 18.6 m at 19.8 m depth, ceiling 1.2 m | |
| • GPS1 time: 36 s | ||
| • GPS2 time: 15 s | • Transponder ping count: 0 | |
| • 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 | |||||
| 15 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 15 | begin dive | ||||||||||||||||||||||||||||
| 18 | - | - | - | 106 | VBD | -0.72 | - | - | 342 | - | - | - | 2095 | - | -146.6 | -84.97 | - | 3323 | - | - | - | - | - | - | - | - | - | - | - |
| 109 | 3.2 | -2.0 | 15 | 136 | roll | -0.72 | 9.90 | 0.254 | 2885 | 256.9 | 2.20 | 0.076 | 3513 | 644.5 | -146.6 | -7.93 | - | 3631 | -38.8 | - | - | - | - | - | - | - | 26.29 | 26.49 | 26.79 |
| 366 | 42.9 | -15.0 | 64 | 373 | done | -0.72 | - | - | 2888 | - | 2.12 | 0.041 | 2103 | -665.1 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.57 | - |
| 677 | 77.7 | -11.2 | 125 | 685 | roll | -0.72 | - | - | 2880 | - | 2.22 | 0.057 | 3517 | 636.9 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.55 | - |
| 783 | 90.3 | -12.1 | 145 | 791 | done | -0.72 | - | - | 2886 | - | 2.15 | 0.041 | 2088 | -664.7 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 1099 | 126.7 | -11.3 | 184 | 1107 | roll | -0.72 | - | - | 2878 | - | 2.22 | 0.056 | 3517 | 643.7 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 1191 | 137.7 | -12.2 | 193 | 1200 | done | -0.72 | - | - | 2877 | - | 2.10 | 0.041 | 2103 | -673.3 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.64 | - |
| 1501 | 172.6 | -11.0 | 224 | 1509 | roll | -0.72 | - | - | 2867 | - | 2.20 | 0.058 | 3511 | 640.0 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 1583 | 182.4 | -12.1 | 232 | 1588 | done | -0.72 | - | - | 2867 | - | 2.10 | 0.042 | 2103 | -670.5 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.65 | - |
| 1896 | 216.5 | -10.6 | 263 | 1905 | roll | -0.72 | - | - | 2856 | - | 2.20 | 0.058 | 3509 | 639.1 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 1971 | 224.5 | -11.4 | 270 | 1979 | done | -0.72 | 0.15 | 0.176 | 2895 | 260.0 | 2.12 | 0.041 | 2097 | -666.0 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | 26.51 | 26.66 | - |
| 2279 | 250.8 | -8.6 | 301 | 2288 | roll | -0.72 | - | - | 2887 | - | 2.17 | 0.057 | 3507 | 649.8 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 2394 | 261.3 | -9.4 | 312 | 2401 | done | -0.72 | - | - | 2887 | - | 2.12 | 0.041 | 2092 | -667.5 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 2702 | 288.6 | -8.9 | 343 | 2711 | roll | -0.72 | - | - | 2876 | - | 2.17 | 0.057 | 3503 | 650.2 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.65 | - |
| 2826 | 300.3 | -9.7 | 355 | 2835 | done | -0.72 | - | - | 2876 | - | 2.08 | 0.041 | 2100 | -674.5 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 3134 | 328.2 | -8.4 | 386 | 3143 | roll | -0.72 | - | - | 2866 | - | 2.15 | 0.057 | 3505 | 653.5 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.66 | - |
| 3236 | 337.5 | -9.0 | 396 | 3246 | done | -0.72 | 0.12 | 0.177 | 2897 | 258.3 | 2.10 | 0.041 | 2096 | -671.0 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | 26.55 | 26.70 | - |
| 3547 | 360.0 | -7.1 | 427 | 3555 | roll | -0.72 | - | - | 2889 | - | 2.17 | 0.055 | 3512 | 652.5 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 3601 | 364.0 | -7.9 | 432 | 3608 | done | -0.72 | - | - | 2888 | - | 2.12 | 0.039 | 2087 | -672.2 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.71 | - |
| 3908 | 386.9 | -7.1 | 463 | 3917 | roll | -0.72 | - | - | 2878 | - | 2.17 | 0.055 | 3503 | 652.5 | -146.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 26.67 | - |
| 3990 | 393.4 | -8.0 | 471 | 3999 | done | -0.72 | - | - | 2878 | - | 2.10 | 0.039 | 2092 | -671.9 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 4301 | 417.9 | -8.3 | 502 | 4309 | roll | -0.72 | - | - | 2868 | - | 2.17 | 0.054 | 3509 | 653.0 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.68 | - |
| 4373 | 424.5 | -9.1 | 509 | 4383 | done | -0.72 | - | - | 2868 | - | 2.08 | 0.038 | 2095 | -679.8 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.73 | - |
| 4683 | 451.9 | -9.2 | 540 | 4692 | roll | -0.72 | - | - | 2857 | - | 2.17 | 0.055 | 3517 | 655.3 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | - | 26.68 | - |
| 4715 | 454.9 | -9.7 | 543 | 4724 | done | -0.72 | 0.15 | 0.167 | 2896 | 260.0 | 2.12 | 0.039 | 2090 | -673.1 | -146.6 | - | - | 3635 | - | - | - | - | - | - | - | - | 26.57 | 26.72 | - |
| 5026 | 479.7 | -7.7 | 574 | 5034 | roll | -0.72 | - | - | 2888 | - | 2.17 | 0.055 | 3503 | 651.2 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.69 | - |
| 5108 | 486.8 | -8.5 | 582 | 5117 | done | -0.72 | - | - | 2888 | - | 2.08 | 0.039 | 2093 | -677.9 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.73 | - |
| 5418 | 511.8 | -7.9 | 613 | 5427 | roll | -0.72 | - | - | 2877 | - | 2.17 | 0.054 | 3513 | 654.4 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 5471 | 516.4 | -9.0 | 618 | 5480 | done | -0.72 | - | - | 2877 | - | 2.10 | 0.039 | 2091 | -677.1 | -146.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.74 | - |
| 5781 | 540.7 | -7.3 | 649 | 5790 | roll | -0.72 | - | - | 2867 | - | 2.17 | 0.054 | 3509 | 653.5 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 5854 | 546.8 | -8.5 | 656 | 5862 | done | -0.72 | - | - | 2867 | - | 2.10 | 0.039 | 2094 | -673.8 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.74 | - |
| 6164 | 571.2 | -8.2 | 687 | 6172 | roll | -0.72 | - | - | 2856 | - | 2.17 | 0.054 | 3515 | 654.8 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.70 | - |
| 6278 | 580.8 | -8.7 | 698 | 6286 | done | -0.72 | 0.15 | 0.163 | 2897 | 273.3 | 2.10 | 0.038 | 2098 | -674.8 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | 26.59 | 26.74 | - |
| 6596 | 602.3 | -6.7 | 728 | 6601 | roll | -0.72 | - | - | 2888 | - | 2.15 | 0.054 | 3516 | 659.5 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.71 | - |
| 6674 | 606.6 | -7.0 | 730 | 6678 | done | -0.72 | - | - | 2888 | - | 2.10 | 0.037 | 2101 | -673.8 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.75 | - |
| 6981 | 630.1 | -7.2 | 740 | 6986 | roll | -0.72 | - | - | 2877 | - | 2.15 | 0.054 | 3501 | 651.2 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 7084 | 637.1 | -7.7 | 743 | 7088 | done | -0.72 | - | - | 2877 | - | 2.10 | 0.037 | 2088 | -672.9 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.75 | - |
| 7399 | 661.3 | -7.2 | 754 | 7404 | roll | -0.72 | - | - | 2867 | - | 2.17 | 0.054 | 3506 | 653.5 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 7451 | 663.6 | -7.3 | 755 | 7458 | done | -0.72 | - | - | 2867 | - | 2.10 | 0.037 | 2090 | -674.3 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.76 | - |
| 7759 | 689.5 | -7.7 | 766 | 7764 | roll | -0.72 | - | - | 2856 | - | 2.17 | 0.054 | 3509 | 653.9 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 7831 | 694.5 | -8.0 | 768 | 7836 | done | -0.72 | 0.15 | 0.163 | 2896 | 266.7 | 2.10 | 0.037 | 2094 | -673.8 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | 26.60 | 26.76 | - |
| 8144 | 715.8 | -6.2 | 779 | 8150 | roll | -0.72 | - | - | 2888 | - | 2.15 | 0.054 | 3510 | 658.6 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 8193 | 717.8 | -6.3 | 780 | 8197 | done | -0.72 | - | - | 2888 | - | 2.10 | 0.037 | 2097 | -672.9 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.76 | - |
| 8500 | 739.6 | -6.6 | 790 | 8505 | roll | -0.72 | - | - | 2877 | - | 2.17 | 0.054 | 3516 | 653.9 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 8560 | 743.9 | -6.8 | 792 | 8564 | done | -0.72 | - | - | 2877 | - | 2.10 | 0.037 | 2096 | -676.2 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 8892 | 766.3 | -6.6 | 803 | 8898 | roll | -0.72 | - | - | 2868 | - | 2.17 | 0.054 | 3517 | 654.8 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 8970 | 770.7 | -7.1 | 805 | 8974 | done | -0.72 | - | - | 2868 | - | 2.12 | 0.038 | 2088 | -674.1 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 9277 | 794.5 | -7.5 | 815 | 9283 | roll | -0.72 | - | - | 2857 | - | 2.17 | 0.055 | 3505 | 653.0 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.73 | - |
| 9352 | 799.3 | -7.7 | 817 | 9358 | done | -0.72 | 0.15 | 0.164 | 2896 | 260.0 | 2.10 | 0.037 | 2092 | -672.9 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | 26.61 | 26.77 | - |
| 9668 | 820.7 | -6.4 | 828 | 9673 | roll | -0.72 | - | - | 2888 | - | 2.17 | 0.054 | 3510 | 653.5 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.72 | - |
| 9757 | 827.1 | -7.0 | 831 | 9763 | done | -0.72 | - | - | 2888 | - | 2.10 | 0.039 | 2092 | -675.2 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 10089 | 849.2 | -6.6 | 842 | 10095 | roll | -0.72 | - | - | 2878 | - | 2.17 | 0.054 | 3512 | 654.4 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.73 | - |
| 10175 | 853.8 | -6.8 | 844 | 10182 | done | -0.72 | - | - | 2877 | - | 2.10 | 0.038 | 2096 | -674.3 | -146.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | 26.77 | - |
| 10358 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 10359 | begin apogee | ||||||||||||||||||||||||||||
| 10365 | 869.7 | -7.6 | 851 | 10498 | done | -0.17 | 0.60 | 0.145 | 3070 | 321.7 | - | - | 1897 | - | - | 126.47 | 1.418 | 3029 | -4.8 | 0.312 | - | - | - | - | - | - | 26.62 | - | 23.61 |
| 10501 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10501 | begin climb | ||||||||||||||||||||||||||||
| 10504 | 872.2 | - | 855 | 10644 | roll | 0.72 | 0.88 | 0.091 | 3371 | 342.0 | 2.47 | 0.046 | 511 | -561.1 | 146.6 | 128.88 | 1.340 | 2429 | -4.7 | 0.320 | - | - | - | - | - | - | 24.69 | 24.03 | 23.18 |
| 10702 | 850.1 | 13.9 | 862 | 10708 | done | 0.72 | - | - | 3371 | - | 2.35 | 0.039 | 1900 | 591.1 | 146.6 | - | - | 2423 | - | - | - | - | - | - | - | - | - | 24.68 | - |
| 11023 | 797.3 | 15.7 | 873 | 11024 | done | 0.72 | - | - | 3371 | - | - | - | 1899 | - | 146.6 | - | - | 2416 | - | - | - | - | - | - | - | - | - | - | - |
| 11323 | 748.8 | 16.2 | 883 | 11324 | done | 0.72 | - | - | 3371 | - | - | - | 1900 | - | 146.6 | - | - | 2415 | - | - | - | - | - | - | - | - | - | - | - |
| 11623 | 702.2 | 15.4 | 893 | 11628 | roll | 0.72 | - | - | 3371 | - | 2.20 | 0.054 | 3311 | 641.4 | 146.6 | - | - | 2413 | - | - | - | - | - | - | - | - | - | 26.02 | - |
| 11646 | 702.2 | 15.4 | 893 | 11653 | done | 0.72 | - | - | 3381 | - | 2.17 | 0.040 | 1908 | -646.5 | 146.6 | - | - | 2413 | - | - | - | - | - | - | - | - | - | 26.06 | - |
| 11953 | 648.5 | 16.0 | 904 | 11958 | roll | 0.72 | - | - | 3391 | - | 2.20 | 0.049 | 501 | -639.5 | 146.6 | - | - | 2413 | - | - | - | - | - | - | - | - | - | 26.17 | - |
| 12073 | 628.8 | 16.3 | 908 | 12079 | done | 0.72 | - | - | 3390 | - | 2.20 | 0.041 | 1897 | 634.5 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.23 | - |
| 12383 | 577.3 | 16.1 | 927 | 12384 | done | 0.72 | - | - | 3391 | - | - | - | 1897 | - | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | - | - |
| 12685 | 528.1 | 16.1 | 957 | 12692 | done | 0.72 | - | - | 3390 | - | - | - | 1897 | - | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | - | - |
| 12995 | 476.5 | 16.6 | 988 | 13003 | roll | 0.72 | - | - | 3398 | - | 2.20 | 0.048 | 504 | -633.2 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.41 | - |
| 13047 | 467.5 | 16.5 | 993 | 13057 | done | 0.72 | 0.15 | 0.168 | 3359 | -260.0 | 2.17 | 0.041 | 1907 | 646.5 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | 26.30 | 26.44 | - |
| 13356 | 423.2 | 14.6 | 1024 | 13365 | roll | 0.72 | - | - | 3367 | - | 2.25 | 0.048 | 489 | -630.2 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.46 | - |
| 13389 | 418.5 | 14.6 | 1027 | 13397 | done | 0.72 | - | - | 3367 | - | 2.20 | 0.040 | 1904 | 643.2 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.48 | - |
| 13699 | 371.7 | 15.5 | 1058 | 13700 | done | 0.72 | - | - | 3367 | - | - | - | 1904 | - | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | - | - |
| 14001 | 326.0 | 15.5 | 1088 | 14007 | done | 0.72 | - | - | 3367 | - | - | - | 1904 | - | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | - | - |
| 14310 | 280.2 | 14.3 | 1119 | 14316 | done | 0.72 | - | - | 3367 | - | - | - | 1904 | - | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | - | - |
| 14621 | 239.3 | 12.8 | 1150 | 14630 | roll | 0.72 | - | - | 3376 | - | 2.20 | 0.050 | 506 | -635.5 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.57 | - |
| 14673 | 232.0 | 13.0 | 1155 | 14677 | done | 0.72 | - | - | 3377 | - | 2.20 | 0.041 | 1913 | 639.5 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.58 | - |
| 14986 | 189.3 | 13.1 | 1186 | 14994 | roll | 0.72 | - | - | 3385 | - | 2.22 | 0.048 | 498 | -637.4 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.59 | - |
| 15000 | 188.1 | 13.4 | 1187 | 15007 | done | 0.72 | - | - | 3385 | - | 2.20 | 0.040 | 1912 | 642.7 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 15308 | 147.8 | 12.5 | 1218 | 15312 | roll | 0.72 | - | - | 3395 | - | 2.22 | 0.048 | 499 | -636.5 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.60 | - |
| 15362 | 141.0 | 13.2 | 1223 | 15370 | done | 0.72 | 0.12 | 0.169 | 3364 | -258.3 | 2.20 | 0.041 | 1916 | 644.1 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | 26.51 | 26.62 | - |
| 15670 | 105.6 | 11.3 | 1254 | 15679 | roll | 0.72 | - | - | 3364 | - | 2.10 | 0.052 | 3294 | 656.2 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.61 | - |
| 15715 | 100.4 | 12.0 | 1258 | 15722 | done | 0.72 | - | - | 3371 | - | 2.12 | 0.040 | 1885 | -664.6 | 146.6 | - | - | 2411 | - | - | - | - | - | - | - | - | - | 26.64 | - |
| 16029 | 66.7 | 9.8 | 1319 | 16036 | roll | 0.72 | - | - | 3381 | - | 2.15 | 0.050 | 499 | -644.7 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.63 | - |
| 16114 | 58.2 | 9.9 | 1335 | 16120 | done | 0.72 | - | - | 3381 | - | 2.17 | 0.041 | 1897 | 644.2 | 146.6 | - | - | 2412 | - | - | - | - | - | - | - | - | - | 26.65 | - |
| 16429 | 27.4 | 8.8 | 1396 | 16443 | roll | 0.74 | - | - | 3390 | - | 2.25 | 0.049 | 498 | -621.8 | 155.5 | 3.65 | 0.601 | 2394 | -4.9 | 0.024 | - | - | - | - | - | - | - | 26.60 | 25.74 |
| 16540 | 16.6 | 9.3 | 1416 | 16547 | done | 0.74 | - | - | 3390 | - | 2.20 | 0.041 | 1911 | 642.3 | 155.5 | - | - | 2393 | - | - | - | - | - | - | - | - | - | 26.62 | - |
| 16681 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16681 | begin surface coast | ||||||||||||||||||||||||||||
| 16731 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16731 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.30 | - | - | - | - | -8.64 | 8.02 | 0.050 | 346 | -379.6 | 0.28 | 0.070 | 2106 | 696.4 | 400.08 | 108.00 | 0.073 | 1396 | -9.2 | 0.030 | - | - | - | - | - | - | |||