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| • Previous call tries 2 | • 215.30 of 350.00 AH used of 24V (38.48% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -64.8 deg, depth 0.79 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 16.6 m at 16.0 m depth, ceiling -0.6 m (m = 1.02, R^2 = 1.00) | |
| • GPS1 time: 36 s | • bottom range 11.2 m at 973.3 m, depth 984 m (990 m grid)(m = -0.83, R^2 = 0.98) | |
| • GPS2 time: 2 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 | |||||
| 10 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10 | begin dive | ||||||||||||||||||||||||||||
| 14 | - | - | - | 120 | done | -1.06 | - | - | 211 | - | - | - | 2318 | - | -107.1 | -105.30 | 0.002 | 2997 | - | - | - | - | - | - | - | - | 14.96 | 12.77 | 14.99 |
| 124 | 1.4 | -1.0 | 3 | 140 | roll | -1.06 | 11.50 | 0.418 | 2523 | 201.0 | 2.60 | 0.068 | 888 | -550.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.09 | 14.56 | 14.53 |
| 363 | 42.5 | -15.2 | 38 | 370 | done | -1.06 | - | - | 2514 | - | 2.55 | 0.067 | 2299 | 553.3 | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 14.64 | 14.49 | 14.69 |
| 709 | 94.4 | -15.2 | 51 | 709 | done | -1.06 | - | - | 2514 | - | - | - | 2299 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.99 | 15.02 | 15.02 |
| 1042 | 145.8 | -15.0 | 63 | 1043 | done | -1.06 | - | - | 2514 | - | - | - | 2299 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.98 | 15.01 | 15.01 |
| 1378 | 195.0 | -14.4 | 75 | 1379 | done | -1.06 | - | - | 2514 | - | - | - | 2299 | - | -107.1 | - | - | 2997 | - | - | - | - | - | - | - | - | 15.00 | 15.03 | 15.02 |
| 1715 | 244.9 | -15.0 | 82 | 1720 | roll | -1.06 | - | - | 2514 | - | 2.55 | 0.069 | 893 | -551.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.00 | 14.31 | 15.02 |
| 1755 | 251.2 | -15.1 | 88 | 1762 | done | -1.06 | - | - | 2503 | - | 2.60 | 0.065 | 2306 | 543.5 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.36 | 14.28 | 14.42 |
| 2105 | 302.3 | -14.5 | 96 | 2112 | roll | -1.06 | - | - | 2503 | - | 2.60 | 0.067 | 894 | -543.1 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.25 | 14.19 | 15.28 |
| 2162 | 310.5 | -14.7 | 104 | 2168 | done | -1.06 | 0.12 | 0.265 | 2523 | 166.7 | 2.60 | 0.064 | 2305 | 542.7 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.79 | 14.26 | 14.00 |
| 2556 | 364.1 | -13.8 | 118 | 2557 | done | -1.06 | - | - | 2523 | - | - | - | 2305 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.23 | 15.26 | 15.25 |
| 2889 | 408.5 | -13.1 | 124 | 2890 | done | -1.06 | - | - | 2523 | - | - | - | 2305 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.26 | 15.28 | 15.28 |
| 3225 | 451.7 | -12.8 | 130 | 3226 | done | -1.06 | - | - | 2523 | - | - | - | 2305 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.26 | 15.28 | 15.28 |
| 3561 | 493.1 | -12.3 | 136 | 3568 | roll | -1.06 | - | - | 2523 | - | 2.60 | 0.068 | 902 | -539.6 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.26 | 14.12 | 15.28 |
| 3610 | 499.3 | -12.7 | 143 | 3618 | done | -1.06 | - | - | 2515 | - | 2.60 | 0.066 | 2307 | 540.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.27 | 14.19 | 14.34 |
| 3953 | 541.8 | -12.3 | 150 | 3954 | done | -1.06 | - | - | 2514 | - | - | - | 2307 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.25 | 15.28 | 15.28 |
| 4289 | 582.8 | -12.2 | 156 | 4296 | roll | -1.06 | - | - | 2515 | - | 2.60 | 0.065 | 901 | -540.8 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.26 | 14.11 | 15.28 |
| 4352 | 590.6 | -12.5 | 165 | 4359 | done | -1.06 | - | - | 2504 | - | 2.60 | 0.063 | 2307 | 540.8 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.26 | 14.19 | 14.33 |
| 4739 | 638.4 | -12.4 | 178 | 4739 | done | -1.06 | - | - | 2504 | - | - | - | 2307 | - | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.96 | 14.98 | 14.98 |
| 5074 | 680.0 | -12.4 | 184 | 5080 | roll | -1.06 | - | - | 2504 | - | 2.58 | 0.065 | 895 | -547.3 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.95 | 14.18 | 14.97 |
| 5122 | 686.3 | -12.9 | 191 | 5130 | done | -1.06 | 0.12 | 0.269 | 2523 | 158.3 | 2.58 | 0.063 | 2299 | 544.2 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 13.66 | 14.16 | 13.86 |
| 5466 | 726.4 | -11.7 | 198 | 5472 | roll | -1.06 | - | - | 2523 | - | 2.55 | 0.065 | 899 | -549.0 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 15.25 | 14.10 | 15.27 |
| 5501 | 730.6 | -11.8 | 203 | 5507 | done | -1.06 | - | - | 2517 | - | 2.58 | 0.063 | 2312 | 547.7 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.40 | 14.22 | 14.46 |
| 5858 | 771.1 | -11.3 | 212 | 5859 | done | -1.06 | - | - | 2516 | - | - | - | 2311 | - | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.95 | 14.97 | 14.97 |
| 6195 | 809.7 | -11.5 | 218 | 6200 | roll | -1.06 | - | - | 2516 | - | 2.58 | 0.066 | 898 | -547.7 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.95 | 14.16 | 14.97 |
| 6263 | 817.8 | -11.7 | 228 | 6270 | done | -1.06 | - | - | 2506 | - | 2.58 | 0.061 | 2300 | 543.4 | -107.1 | - | - | 2998 | - | - | - | - | - | - | - | - | 14.23 | 14.14 | 14.29 |
| 6643 | 861.6 | -11.6 | 240 | 6648 | roll | -1.06 | - | - | 2506 | - | 2.55 | 0.064 | 899 | -549.4 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.95 | 14.18 | 14.97 |
| 6690 | 868.1 | -12.0 | 247 | 6698 | done | -1.06 | - | - | 2503 | - | 2.60 | 0.066 | 2300 | 538.8 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 14.21 | 14.12 | 14.28 |
| 7033 | 908.2 | -11.9 | 254 | 7040 | roll | -1.06 | - | - | 2503 | - | 2.58 | 0.065 | 903 | -541.5 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 15.25 | 14.06 | 15.28 |
| 7110 | 917.6 | -11.3 | 265 | 7118 | done | -1.06 | 0.12 | 0.269 | 2523 | 166.7 | 2.58 | 0.062 | 2302 | 542.2 | -107.1 | - | - | 2999 | - | - | - | - | - | - | - | - | 13.63 | 14.14 | 13.83 |
| 7484 | 956.2 | -10.7 | 276 | 7484 | done | -1.06 | - | - | 2523 | - | - | - | 2302 | - | -107.1 | - | - | 3000 | - | - | - | - | - | - | - | - | 15.23 | 15.26 | 15.26 |
| 7702 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 7702 | begin apogee | ||||||||||||||||||||||||||||
| 7710 | 978.6 | -10.0 | 280 | 7844 | done | -0.23 | 0.93 | 0.151 | 2795 | 292.5 | 0.12 | 0.140 | 2129 | -1441.7 | - | 131.30 | 3.094 | 2558 | -3.4 | 0.237 | - | - | - | - | - | - | 14.02 | 13.35 | 11.93 |
| 7844 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7844 | begin climb | ||||||||||||||||||||||||||||
| 7848 | 979.4 | - | 282 | 8009 | roll | 1.06 | 1.42 | 0.138 | 3214 | 295.1 | 2.95 | 0.077 | 744 | -469.5 | 107.1 | 151.50 | 3.099 | 2124 | -2.9 | 0.202 | - | - | - | - | - | - | 13.41 | 12.17 | 11.00 |
| 8093 | 958.0 | 10.8 | 321 | 8100 | done | 1.06 | - | - | 3214 | - | 2.62 | 0.052 | 2098 | 516.8 | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 13.35 | 13.24 | 13.38 |
| 8436 | 920.4 | 10.8 | 328 | 8441 | roll | 1.06 | - | - | 3214 | - | 2.62 | 0.103 | 3515 | 540.8 | 107.1 | - | - | 2110 | - | - | - | - | - | - | - | - | 14.85 | 14.44 | 14.88 |
| 8484 | 914.3 | 14.1 | 335 | 8491 | done | 1.06 | - | - | 3223 | - | 2.40 | 0.045 | 2138 | -573.8 | 107.1 | - | - | 2111 | - | - | - | - | - | - | - | - | 14.64 | 14.59 | 14.69 |
| 8827 | 874.8 | 11.5 | 342 | 8833 | roll | 1.06 | - | - | 3232 | - | 2.65 | 0.083 | 700 | -542.6 | 107.1 | - | - | 2109 | - | - | - | - | - | - | - | - | 15.10 | 14.51 | 15.13 |
| 8869 | 869.9 | 11.8 | 348 | 8875 | done | 1.06 | - | - | 3233 | - | 2.50 | 0.058 | 2107 | 562.8 | 107.1 | - | - | 2108 | - | - | - | - | - | - | - | - | 14.66 | 14.60 | 14.72 |
| 9220 | 830.1 | 11.3 | 356 | 9225 | roll | 1.06 | - | - | 3233 | - | 2.60 | 0.105 | 3515 | 541.5 | 107.1 | - | - | 2107 | - | - | - | - | - | - | - | - | 15.04 | 14.51 | 15.07 |
| 9282 | 821.7 | 13.6 | 365 | 9289 | done | 1.06 | 0.12 | 0.256 | 3211 | -183.3 | 2.47 | 0.045 | 2092 | -576.1 | 107.1 | - | - | 2107 | - | - | - | - | - | - | - | - | 14.23 | 14.63 | 14.43 |
| 9671 | 781.9 | 10.0 | 378 | 9671 | done | 1.06 | - | - | 3211 | - | - | - | 2091 | - | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.05 | 15.08 | 15.07 |
| 10004 | 748.0 | 10.0 | 384 | 10009 | roll | 1.06 | - | - | 3211 | - | 2.65 | 0.103 | 3508 | 534.7 | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 15.04 | 14.47 | 15.07 |
| 10045 | 743.5 | 11.0 | 390 | 10051 | done | 1.06 | - | - | 3219 | - | 2.45 | 0.044 | 2100 | -574.7 | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 14.67 | 14.61 | 14.71 |
| 10395 | 707.7 | 10.3 | 398 | 10396 | done | 1.06 | - | - | 3219 | - | - | - | 2099 | - | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.14 | 15.17 | 15.16 |
| 10731 | 673.8 | 10.1 | 404 | 10737 | roll | 1.06 | - | - | 3219 | - | 2.70 | 0.102 | 3514 | 524.1 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.14 | 14.34 | 15.16 |
| 10766 | 669.9 | 11.4 | 409 | 10774 | done | 1.06 | - | - | 3228 | - | 2.47 | 0.044 | 2092 | -575.7 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.64 | 14.58 | 14.68 |
| 11124 | 632.1 | 10.6 | 418 | 11129 | roll | 1.06 | - | - | 3228 | - | 2.67 | 0.101 | 3518 | 534.1 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.00 | 14.39 | 15.02 |
| 11144 | 629.7 | 10.8 | 421 | 11152 | done | 1.06 | 0.10 | 0.259 | 3213 | -150.0 | 2.50 | 0.045 | 2094 | -569.6 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.12 | 14.56 | 14.31 |
| 11517 | 591.9 | 10.2 | 432 | 11522 | roll | 1.06 | - | - | 3213 | - | 2.65 | 0.099 | 3508 | 533.6 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.09 | 14.40 | 15.11 |
| 11558 | 587.2 | 11.4 | 438 | 11563 | done | 1.06 | - | - | 3220 | - | 2.42 | 0.044 | 2098 | -582.6 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.71 | 14.60 | 14.76 |
| 11908 | 549.5 | 10.7 | 446 | 11914 | roll | 1.06 | - | - | 3220 | - | 2.65 | 0.102 | 3508 | 532.1 | 107.1 | - | - | 2107 | - | - | - | - | - | - | - | - | 15.00 | 14.38 | 15.02 |
| 11942 | 545.4 | 11.8 | 451 | 11948 | done | 1.06 | - | - | 3228 | - | 2.47 | 0.045 | 2097 | -571.3 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 14.58 | 14.52 | 14.61 |
| 12299 | 505.8 | 11.0 | 460 | 12306 | roll | 1.06 | - | - | 3228 | - | 2.70 | 0.101 | 3516 | 525.6 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.12 | 14.29 | 15.15 |
| 12341 | 500.8 | 12.2 | 466 | 12348 | done | 1.06 | - | - | 3239 | - | 2.47 | 0.044 | 2101 | -572.9 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.50 | 14.45 | 14.54 |
| 12692 | 461.0 | 11.4 | 474 | 12697 | roll | 1.06 | - | - | 3238 | - | 2.67 | 0.101 | 3519 | 531.1 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.00 | 14.35 | 15.03 |
| 12740 | 455.1 | 12.3 | 481 | 12749 | done | 1.06 | 0.15 | 0.253 | 3210 | -186.7 | 2.50 | 0.044 | 2092 | -570.8 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.02 | 14.52 | 14.21 |
| 13083 | 421.5 | 9.6 | 488 | 13089 | roll | 1.06 | - | - | 3210 | - | 2.70 | 0.100 | 3505 | 523.3 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.11 | 14.28 | 15.15 |
| 13125 | 417.1 | 10.4 | 494 | 13132 | done | 1.06 | - | - | 3217 | - | 2.47 | 0.044 | 2087 | -574.1 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.57 | 14.54 | 14.62 |
| 13476 | 383.4 | 9.6 | 502 | 13481 | roll | 1.06 | - | - | 3217 | - | 2.67 | 0.099 | 3516 | 535.2 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.99 | 14.34 | 15.01 |
| 13524 | 378.2 | 10.6 | 509 | 13532 | done | 1.06 | - | - | 3226 | - | 2.47 | 0.044 | 2098 | -574.1 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.55 | 14.50 | 14.60 |
| 13867 | 346.1 | 9.2 | 516 | 13873 | roll | 1.07 | - | - | 3226 | - | 2.70 | 0.100 | 3512 | 523.7 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.12 | 14.23 | 15.14 |
| 13909 | 342.0 | 10.0 | 522 | 13915 | done | 1.07 | - | - | 3232 | - | 2.47 | 0.044 | 2092 | -574.9 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.54 | 14.50 | 14.59 |
| 14259 | 310.0 | 9.0 | 530 | 14269 | roll | 1.09 | - | - | 3234 | - | 2.67 | 0.100 | 3515 | 533.0 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 14.31 | 15.13 |
| 14309 | 305.2 | 9.8 | 537 | 14318 | done | 1.09 | - | - | 3244 | - | 2.47 | 0.045 | 2100 | -572.9 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.54 | 14.47 | 14.59 |
| 14652 | 272.8 | 9.3 | 544 | 14653 | done | 1.10 | - | - | 3244 | - | - | - | 2100 | - | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 14989 | 241.6 | 9.2 | 550 | 14994 | roll | 1.12 | - | - | 3244 | - | 2.67 | 0.103 | 3519 | 531.5 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.09 | 14.26 | 15.11 |
| 15037 | 236.8 | 10.0 | 557 | 15047 | done | 1.12 | - | - | 3255 | - | 2.50 | 0.043 | 2090 | -571.6 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.52 | 14.47 | 14.57 |
| 15381 | 204.8 | 9.3 | 564 | 15387 | roll | 1.13 | - | - | 3265 | - | 2.55 | 0.086 | 701 | -544.7 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.97 | 14.30 | 15.00 |
| 15436 | 199.4 | 9.7 | 572 | 15443 | done | 1.13 | 0.12 | 0.251 | 3234 | -258.3 | 2.53 | 0.058 | 2105 | 554.9 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 13.95 | 14.37 | 14.14 |
| 15800 | 168.8 | 8.5 | 588 | 15806 | roll | 1.16 | - | - | 3234 | - | 2.67 | 0.102 | 3499 | 522.1 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 15.09 | 14.12 | 15.12 |
| 15877 | 161.6 | 9.2 | 599 | 15886 | done | 1.18 | - | - | 3241 | - | 2.47 | 0.044 | 2094 | -568.8 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.49 | 14.44 | 14.54 |
| 16223 | 131.5 | 8.5 | 612 | 16224 | done | 1.21 | - | - | 3242 | - | - | - | 2094 | - | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 15.07 | 15.10 | 15.10 |
| 16558 | 104.0 | 8.2 | 624 | 16563 | roll | 1.24 | - | - | 3242 | - | 2.67 | 0.100 | 3506 | 528.8 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.96 | 14.27 | 14.99 |
| 16675 | 93.0 | 9.9 | 641 | 16682 | done | 1.24 | - | - | 3252 | - | 2.47 | 0.042 | 2098 | -570.0 | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.50 | 14.44 | 14.53 |
| 17036 | 61.5 | 8.5 | 656 | 17041 | roll | 1.28 | - | - | 3262 | - | 2.60 | 0.086 | 695 | -539.6 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.95 | 14.26 | 14.97 |
| 17082 | 57.1 | 9.0 | 663 | 17089 | done | 1.30 | - | - | 3262 | - | 2.53 | 0.060 | 2097 | 554.2 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.40 | 14.32 | 14.46 |
| 17427 | 27.3 | 8.8 | 676 | 17435 | roll | 1.32 | 0.12 | 0.148 | 3314 | 433.3 | 2.65 | 0.101 | 3509 | 532.8 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.62 | 14.20 | 14.64 |
| 17559 | 11.6 | 12.9 | 695 | 17567 | done | 1.32 | 0.10 | 0.288 | 3301 | -130.0 | 2.50 | 0.042 | 2088 | -568.4 | 107.1 | - | - | 2099 | - | - | - | - | - | - | - | - | 13.88 | 14.42 | 14.08 |
| 17648 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17648 | begin surface coast | ||||||||||||||||||||||||||||
| 17676 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17676 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.80 | - | - | - | - | -8.23 | 9.27 | 0.077 | 213 | 23.0 | 0.43 | 0.083 | 2320 | -6525.6 | 350.04 | 168.57 | 0.229 | 1128 | 6.7 | -0.002 | - | - | - | - | - | - | |||