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| • Previous call tries 5 | • 61.03 of 310.00 AH used of 24V (80.31% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -67.6 deg, depth 0.81 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 8 s | • bottom range 36.8 m at 417.1 m, depth 454 m (500 m grid) | |
| • GPS2 time: 7 s | • Transponder ping count: 8 | |
| • 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 | |||||
| 18 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 18 | begin dive | ||||||||||||||||||||||||||||
| 20 | - | - | - | 113 | VBD | -0.88 | - | - | 53 | - | - | - | 1804 | - | -92.5 | -90.03 | - | 3025 | - | - | - | - | - | - | - | - | 15.11 | - | 15.12 |
| 116 | 3.9 | -9.4 | 16 | 142 | roll | -0.88 | 13.88 | 0.295 | 2457 | 173.2 | 2.35 | 0.064 | 3221 | 603.0 | -92.5 | -0.93 | - | 3079 | -58.1 | - | - | - | - | - | - | - | 14.74 | 13.94 | 14.96 |
| 175 | 25.0 | -23.6 | 26 | 182 | done | -0.88 | 0.08 | 0.277 | 2471 | 175.0 | 2.33 | 0.044 | 1809 | -606.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.78 | 14.88 | 14.92 |
| 244 | 38.4 | -20.7 | 39 | 251 | done | -0.88 | - | - | 2472 | - | - | - | 1809 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 313 | 52.2 | -17.5 | 52 | 320 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.054 | 3220 | 600.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.15 | 14.95 | 15.15 |
| 372 | 62.3 | -16.6 | 63 | 380 | done | -0.88 | - | - | 2463 | - | 2.33 | 0.044 | 1806 | -606.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.05 | 14.97 | 15.07 |
| 443 | 72.5 | -14.9 | 76 | 449 | done | -0.88 | - | - | 2463 | - | - | - | 1805 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.16 | 15.17 | 15.16 |
| 510 | 82.6 | -15.7 | 89 | 517 | roll | -0.88 | - | - | 2457 | - | 2.35 | 0.053 | 3217 | 600.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.17 | 14.95 | 15.18 |
| 544 | 88.1 | -15.0 | 95 | 552 | done | -0.88 | 0.08 | 0.268 | 2470 | 162.5 | 2.30 | 0.044 | 1813 | -610.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.83 | 14.92 | 14.97 |
| 614 | 99.6 | -18.1 | 108 | 620 | done | -0.88 | - | - | 2472 | - | - | - | 1813 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.18 | 15.19 | 15.19 |
| 684 | 112.3 | -17.3 | 121 | 690 | roll | -0.88 | - | - | 2465 | - | 2.33 | 0.053 | 3215 | 601.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 14.98 | 15.19 |
| 778 | 127.7 | -15.1 | 139 | 785 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.044 | 1812 | -610.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.09 |
| 850 | 138.3 | -14.6 | 152 | 856 | done | -0.88 | - | - | 2465 | - | - | - | 1812 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 15.21 | 15.20 |
| 918 | 149.9 | -16.6 | 165 | 925 | roll | -0.88 | - | - | 2456 | - | 2.33 | 0.051 | 3216 | 602.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 15.00 | 15.20 |
| 941 | 154.0 | -17.4 | 169 | 949 | done | -0.88 | 0.08 | 0.265 | 2472 | 200.0 | 2.30 | 0.043 | 1811 | -610.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.90 | 15.00 | 15.04 |
| 1013 | 166.5 | -17.9 | 182 | 1018 | done | -0.88 | - | - | 2472 | - | - | - | 1812 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 1083 | 178.3 | -17.1 | 195 | 1090 | roll | -0.88 | - | - | 2472 | - | 2.35 | 0.063 | 408 | -597.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 14.99 | 15.21 |
| 1148 | 188.2 | -14.7 | 207 | 1155 | done | -0.88 | - | - | 2471 | - | 2.28 | 0.037 | 1814 | 616.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.10 | 15.02 | 15.11 |
| 1219 | 197.9 | -13.9 | 220 | 1225 | roll | -0.88 | - | - | 2471 | - | 2.38 | 0.062 | 406 | -591.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 14.94 | 15.21 |
| 1278 | 206.3 | -14.6 | 231 | 1285 | done | -0.88 | - | - | 2463 | - | 2.28 | 0.037 | 1813 | 617.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.11 |
| 1349 | 215.3 | -12.4 | 244 | 1356 | roll | -0.88 | - | - | 2454 | - | 2.30 | 0.053 | 3216 | 610.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.21 | 15.01 | 15.21 |
| 1398 | 221.5 | -12.3 | 253 | 1405 | done | -0.88 | 0.08 | 0.264 | 2470 | 200.0 | 2.30 | 0.045 | 1812 | -610.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.92 | 15.02 | 15.07 |
| 1468 | 230.5 | -12.7 | 266 | 1474 | roll | -0.88 | - | - | 2463 | - | 2.33 | 0.054 | 3221 | 604.7 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.22 | 15.02 | 15.23 |
| 1495 | 234.3 | -12.9 | 271 | 1503 | done | -0.88 | - | - | 2462 | - | 2.33 | 0.045 | 1806 | -607.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.10 |
| 1566 | 244.2 | -14.9 | 284 | 1574 | roll | -0.88 | - | - | 2457 | - | 2.35 | 0.053 | 3221 | 602.1 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.24 | 15.02 | 15.24 |
| 1621 | 252.7 | -15.1 | 294 | 1628 | done | -0.88 | 0.08 | 0.265 | 2471 | 175.0 | 2.33 | 0.045 | 1804 | -608.2 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.93 | 15.03 | 15.07 |
| 1691 | 263.6 | -15.7 | 307 | 1698 | done | -0.88 | - | - | 2472 | - | - | - | 1804 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.24 | 15.25 | 15.24 |
| 1761 | 273.9 | -15.5 | 320 | 1767 | done | -0.88 | - | - | 2472 | - | - | - | 1804 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.24 | 15.24 | 15.24 |
| 1829 | 284.4 | -15.2 | 333 | 1836 | done | -0.88 | - | - | 2472 | - | - | - | 1804 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.24 | 15.24 | 15.24 |
| 1901 | 295.1 | -15.2 | 346 | 1907 | done | -0.88 | - | - | 2472 | - | - | - | 1803 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.24 | 15.25 | 15.25 |
| 1976 | 306.2 | -15.0 | 354 | 1977 | done | -0.88 | - | - | 2472 | - | - | - | 1804 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.26 | 15.27 | 15.26 |
| 2094 | 323.8 | -14.4 | 360 | 2099 | roll | -0.88 | - | - | 2465 | - | 2.35 | 0.054 | 3221 | 603.0 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.28 | 15.06 | 15.28 |
| 2194 | 334.9 | -12.9 | 364 | 2202 | done | -0.88 | - | - | 2466 | - | 2.30 | 0.047 | 1812 | -612.6 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.16 | 15.07 | 15.16 |
| 2319 | 352.8 | -12.8 | 371 | 2320 | done | -0.88 | - | - | 2466 | - | - | - | 1812 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.29 | 15.30 | 15.30 |
| 2440 | 367.7 | -12.5 | 377 | 2445 | roll | -0.88 | - | - | 2464 | - | 2.33 | 0.057 | 3212 | 600.9 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.30 | 15.07 | 15.30 |
| 2513 | 375.7 | -12.8 | 380 | 2519 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.047 | 1806 | -611.3 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.18 | 15.09 | 15.19 |
| 2646 | 394.3 | -13.4 | 387 | 2647 | done | -0.88 | - | - | 2464 | - | - | - | 1806 | - | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.30 | 15.31 | 15.31 |
| 2767 | 410.6 | -13.7 | 393 | 2772 | roll | -0.88 | - | - | 2460 | - | 2.35 | 0.057 | 3219 | 601.3 | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.30 | 15.09 | 15.31 |
| 2789 | 413.8 | -13.6 | 394 | 2796 | done | -0.88 | 0.03 | 0.478 | 2469 | 300.0 | 2.33 | 0.048 | 1813 | -603.4 | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 14.95 | 15.09 | 15.13 |
| 2933 | 433.2 | -13.6 | 401 | 2939 | roll | -0.88 | - | - | 2463 | - | 2.33 | 0.057 | 3213 | 600.9 | -92.5 | - | - | 3070 | - | - | - | - | - | - | - | - | 15.31 | 15.08 | 15.31 |
| 2975 | 438.7 | -13.6 | 403 | 2981 | done | -0.88 | - | - | 2463 | - | 2.33 | 0.049 | 1802 | -605.6 | -92.5 | - | - | 3070 | - | - | - | - | - | - | - | - | 15.19 | 15.09 | 15.19 |
| 3016 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 3016 | begin apogee | ||||||||||||||||||||||||||||
| 3020 | 444.6 | -13.4 | 405 | 3098 | done | -0.17 | 1.20 | 0.174 | 2698 | 195.8 | - | - | 1802 | - | - | 70.62 | 1.328 | 2699 | -5.3 | 0.309 | - | - | - | - | - | - | 14.98 | 14.57 | 14.17 |
| 3100 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3100 | begin climb | ||||||||||||||||||||||||||||
| 3101 | 447.8 | - | 409 | 3188 | roll | 0.88 | 1.58 | 0.076 | 3040 | 216.5 | 2.50 | 0.069 | 399 | -561.2 | 92.5 | 76.60 | 1.328 | 2320 | -4.9 | 0.294 | - | - | - | - | - | - | 14.69 | 14.45 | 13.94 |
| 3235 | 443.3 | 4.5 | 415 | 3304 | done | 0.97 | 0.05 | 0.265 | 3060 | 400.0 | 2.33 | 0.039 | 1806 | 603.9 | 168.0 | 62.03 | 1.297 | 2015 | -4.9 | 0.296 | - | - | - | - | - | - | 14.59 | 14.66 | 13.98 |
| 3421 | 413.6 | 17.7 | 425 | 3422 | done | 0.97 | - | - | 3060 | - | - | - | 1806 | - | 168.0 | - | - | 2006 | - | - | - | - | - | - | - | - | 14.94 | 14.95 | 14.94 |
| 3542 | 392.3 | 17.6 | 431 | 3543 | done | 0.97 | - | - | 3060 | - | - | - | 1806 | - | 168.0 | - | - | 2005 | - | - | - | - | - | - | - | - | 15.06 | 15.06 | 15.07 |
| 3661 | 371.3 | 17.5 | 437 | 3662 | done | 0.97 | - | - | 3060 | - | - | - | 1806 | - | 168.0 | - | - | 2003 | - | - | - | - | - | - | - | - | 15.12 | 15.13 | 15.13 |
| 3782 | 350.6 | 17.4 | 443 | 3783 | done | 0.97 | - | - | 3060 | - | - | - | 1806 | - | 168.0 | - | - | 2002 | - | - | - | - | - | - | - | - | 15.17 | 15.17 | 15.17 |
| 3901 | 329.8 | 17.1 | 449 | 3906 | roll | 0.97 | - | - | 3060 | - | 2.30 | 0.054 | 3204 | 607.8 | 168.0 | - | - | 2001 | - | - | - | - | - | - | - | - | 15.20 | 14.99 | 15.19 |
| 3927 | 326.0 | 17.0 | 450 | 3933 | done | 0.97 | - | - | 3069 | - | 2.33 | 0.052 | 1801 | -602.1 | 168.0 | - | - | 2000 | - | - | - | - | - | - | - | - | 15.02 | 14.94 | 15.04 |
| 4065 | 301.5 | 17.7 | 457 | 4071 | roll | 0.97 | - | - | 3070 | - | 2.33 | 0.054 | 3199 | 600.0 | 168.0 | - | - | 1999 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
| 4093 | 296.3 | 18.2 | 459 | 4099 | done | 0.97 | - | - | 3074 | - | 2.33 | 0.054 | 1803 | -599.1 | 168.0 | - | - | 1999 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.13 |
| 4162 | 283.7 | 19.0 | 472 | 4168 | roll | 0.97 | - | - | 3074 | - | 2.40 | 0.074 | 389 | -589.2 | 168.0 | - | - | 1999 | - | - | - | - | - | - | - | - | 15.22 | 14.99 | 15.23 |
| 4185 | 279.3 | 17.8 | 476 | 4192 | done | 0.97 | - | - | 3074 | - | 2.30 | 0.037 | 1804 | 615.2 | 168.0 | - | - | 1997 | - | - | - | - | - | - | - | - | 15.11 | 15.03 | 15.13 |
| 4255 | 266.0 | 19.0 | 489 | 4262 | roll | 0.97 | - | - | 3074 | - | 2.40 | 0.073 | 395 | -587.1 | 168.0 | - | - | 1997 | - | - | - | - | - | - | - | - | 15.22 | 15.00 | 15.21 |
| 4288 | 259.4 | 19.4 | 495 | 4295 | done | 0.97 | - | - | 3072 | - | 2.28 | 0.040 | 1795 | 614.0 | 168.0 | - | - | 1997 | - | - | - | - | - | - | - | - | 15.09 | 15.02 | 15.10 |
| 4358 | 246.5 | 18.6 | 508 | 4364 | roll | 0.97 | - | - | 3073 | - | 2.40 | 0.073 | 394 | -583.8 | 168.0 | - | - | 1996 | - | - | - | - | - | - | - | - | 15.23 | 14.97 | 15.23 |
| 4381 | 241.7 | 19.8 | 512 | 4388 | done | 0.97 | - | - | 3074 | - | 2.30 | 0.039 | 1805 | 613.5 | 168.0 | - | - | 1996 | - | - | - | - | - | - | - | - | 15.11 | 15.04 | 15.12 |
| 4451 | 228.7 | 18.6 | 525 | 4458 | roll | 0.97 | - | - | 3074 | - | 2.30 | 0.054 | 3207 | 609.6 | 168.0 | - | - | 1996 | - | - | - | - | - | - | - | - | 15.22 | 15.01 | 15.22 |
| 4504 | 219.1 | 17.4 | 535 | 4511 | done | 0.97 | - | - | 3077 | - | 2.35 | 0.054 | 1794 | -601.3 | 168.0 | - | - | 1996 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.13 |
| 4574 | 206.6 | 18.1 | 548 | 4579 | done | 0.97 | - | - | 3077 | - | - | - | 1799 | - | 168.0 | - | - | 1996 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 4641 | 194.8 | 16.3 | 561 | 4649 | roll | 0.97 | - | - | 3077 | - | 2.33 | 0.053 | 3205 | 603.4 | 168.0 | - | - | 1996 | - | - | - | - | - | - | - | - | 15.22 | 15.02 | 15.22 |
| 4661 | 191.6 | 16.4 | 564 | 4668 | done | 0.97 | - | - | 3084 | - | 2.35 | 0.053 | 1796 | -599.6 | 168.0 | - | - | 1995 | - | - | - | - | - | - | - | - | 15.11 | 15.01 | 15.12 |
| 4730 | 180.3 | 16.3 | 577 | 4736 | done | 0.97 | - | - | 3084 | - | - | - | 1796 | - | 168.0 | - | - | 1996 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4799 | 169.3 | 14.4 | 590 | 4805 | roll | 0.97 | - | - | 3084 | - | 2.42 | 0.078 | 388 | -581.8 | 168.0 | - | - | 1995 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.22 |
| 4903 | 152.8 | 16.0 | 610 | 4909 | done | 0.97 | - | - | 3085 | - | 2.33 | 0.040 | 1808 | 609.4 | 168.0 | - | - | 1994 | - | - | - | - | - | - | - | - | 15.07 | 14.99 | 15.09 |
| 4971 | 142.3 | 15.1 | 623 | 4978 | roll | 0.97 | - | - | 3085 | - | 2.30 | 0.054 | 3211 | 610.0 | 168.0 | - | - | 1994 | - | - | - | - | - | - | - | - | 15.21 | 14.95 | 15.21 |
| 5065 | 128.4 | 15.6 | 641 | 5073 | done | 0.97 | 0.08 | 0.351 | 3079 | -75.0 | 2.38 | 0.054 | 1792 | -596.2 | 168.0 | - | - | 1994 | - | - | - | - | - | - | - | - | 14.84 | 14.99 | 15.05 |
| 5135 | 117.1 | 16.5 | 654 | 5142 | roll | 0.97 | - | - | 3078 | - | 2.35 | 0.051 | 3212 | 604.3 | 168.0 | - | - | 1994 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 5174 | 110.1 | 17.3 | 661 | 5181 | done | 0.97 | - | - | 3080 | - | 2.38 | 0.054 | 1797 | -594.5 | 168.0 | - | - | 1994 | - | - | - | - | - | - | - | - | 15.08 | 14.97 | 15.10 |
| 5244 | 97.3 | 19.3 | 674 | 5251 | roll | 0.97 | - | - | 3081 | - | 2.35 | 0.053 | 3212 | 602.1 | 168.0 | - | - | 1993 | - | - | - | - | - | - | - | - | 15.20 | 14.99 | 15.21 |
| 5282 | 89.5 | 19.5 | 681 | 5290 | done | 0.97 | 0.08 | 0.338 | 3076 | -62.5 | 2.38 | 0.053 | 1790 | -597.5 | 168.0 | - | - | 1993 | - | - | - | - | - | - | - | - | 14.78 | 14.92 | 14.98 |
| 5353 | 76.6 | 17.5 | 694 | 5359 | roll | 0.97 | - | - | 3076 | - | 2.35 | 0.053 | 3207 | 603.0 | 168.0 | - | - | 1993 | - | - | - | - | - | - | - | - | 15.19 | 14.96 | 15.19 |
| 5581 | 42.7 | 13.8 | 739 | 5588 | done | 0.97 | - | - | 3077 | - | 2.38 | 0.054 | 1796 | -592.9 | 168.0 | - | - | 1993 | - | - | - | - | - | - | - | - | 15.09 | 14.98 | 15.09 |
| 5651 | 35.7 | 8.6 | 752 | 5670 | roll | 1.00 | - | - | 3077 | - | 2.40 | 0.072 | 388 | -586.7 | 186.9 | 12.77 | 0.830 | 1936 | -4.5 | 0.034 | - | - | - | - | - | - | 15.19 | 14.83 | 14.48 |
| 5687 | 31.8 | 10.1 | 758 | 5694 | done | 1.00 | - | - | 3077 | - | 2.33 | 0.038 | 1809 | 609.9 | 186.9 | - | - | 1938 | - | - | - | - | - | - | - | - | 14.99 | 14.92 | 15.00 |
| 5756 | 24.5 | 10.2 | 771 | 5762 | done | 1.00 | - | - | 3077 | - | - | - | 1810 | - | 186.9 | - | - | 1935 | - | - | - | - | - | - | - | - | 15.14 | 15.16 | 15.15 |
| 5824 | 19.2 | 5.4 | 784 | 5872 | roll | 1.07 | - | - | 3078 | - | 2.38 | 0.051 | 3206 | 586.6 | 249.8 | 41.38 | 0.991 | 1678 | -6.2 | 0.021 | - | - | - | - | - | - | 15.17 | 14.77 | 14.34 |
| 5964 | 7.6 | 11.1 | 810 | 5971 | done | 1.07 | - | - | 3080 | - | 2.38 | 0.053 | 1801 | -590.3 | 249.8 | - | - | 1677 | - | - | - | - | - | - | - | - | 14.93 | 14.83 | 14.94 |
| 5996 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5996 | begin surface coast | ||||||||||||||||||||||||||||
| 6019 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6019 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.71 | - | - | - | - | -8.17 | 13.77 | 0.045 | 118 | 8.6 | - | - | 1801 | - | 515.37 | 167.88 | 0.800 | 599 | 3.6 | -0.000 | - | - | - | - | - | - | |||