• Previous call tries 1 | • 75.43 of 350.00 AH used of 24V (78.45% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -68.2 deg, depth 0.98 m | • Intended pitch -17.6 deg, speed -10.000 cm/s | |
• VBD pumped to 525.01 (SM_CC=525) | ||
• GPS1 time: 30 s | ||
• GPS2 time: 2 s | • Transponder ping count: 41 | |
• 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 | ||||||||||||||||||||||||||||
21 | - | - | - | 109 | VBD | -0.91 | - | - | 168 | - | - | - | 2887 | - | -146.0 | -85.55 | - | 3504 | - | - | - | - | - | - | - | - | 14.70 | - | 14.74 |
111 | 7.2 | -10.8 | 3 | 130 | roll | -0.91 | 11.02 | 0.366 | 2552 | 216.3 | 2.50 | 2.045 | 1494 | -557.2 | -146.0 | -0.60 | - | 3551 | -78.3 | - | - | - | - | - | - | - | 14.14 | 13.50 | 14.34 |
254 | 53.2 | -22.8 | 24 | 262 | done | -0.65 | 0.38 | 0.250 | 2635 | 218.4 | 2.35 | 0.048 | 2872 | 586.4 | -146.0 | - | - | 3553 | - | - | - | - | - | - | - | - | 14.26 | 14.48 | 14.51 |
583 | 92.0 | -8.1 | 38 | 590 | roll | -0.65 | - | - | 2635 | - | 2.28 | 0.030 | 1498 | -602.6 | -146.0 | - | - | 3555 | - | - | - | - | - | - | - | - | 14.88 | 14.59 | 14.90 |
624 | 95.0 | -7.1 | 44 | 632 | done | -0.71 | - | - | 2627 | - | 2.35 | 0.047 | 2865 | 581.7 | -146.0 | - | - | 3555 | - | - | - | - | - | - | - | - | 14.66 | 14.59 | 14.68 |
947 | 121.4 | -8.6 | 53 | 955 | roll | -0.75 | - | - | 2620 | - | 1.65 | 0.076 | 3836 | 588.5 | -146.0 | - | - | 3557 | - | - | - | - | - | - | - | - | 14.92 | 14.62 | 14.95 |
1059 | 130.5 | -8.0 | 69 | 1069 | done | -0.80 | - | - | 2620 | - | 1.52 | 0.029 | 2811 | -674.3 | -146.0 | - | - | 3557 | - | - | - | - | - | - | - | - | 14.76 | 14.76 | 14.78 |
1396 | 157.4 | -7.9 | 82 | 1404 | roll | -0.88 | 0.12 | 0.129 | 2552 | -566.7 | 2.12 | 0.028 | 1489 | -623.6 | -146.0 | - | - | 3556 | - | - | - | - | - | - | - | - | 14.68 | 14.73 | 14.71 |
1472 | 165.6 | -11.1 | 93 | 1481 | done | -0.84 | 0.12 | 0.206 | 2577 | 208.3 | 2.40 | 0.048 | 2876 | 577.9 | -146.0 | - | - | 3556 | - | - | - | - | - | - | - | - | 14.41 | 14.63 | 14.55 |
1788 | 198.5 | -10.5 | 103 | 1791 | done | -0.84 | - | - | 2578 | - | - | - | 2875 | - | -146.0 | - | - | 3554 | - | - | - | - | - | - | - | - | 14.96 | 15.00 | 15.00 |
2124 | 231.6 | -9.8 | 109 | 2132 | roll | -0.84 | - | - | 2577 | - | 2.25 | 0.031 | 1499 | -611.6 | -146.0 | - | - | 3552 | - | - | - | - | - | - | - | - | 14.92 | 14.70 | 14.95 |
2228 | 241.8 | -9.6 | 124 | 2239 | done | -0.87 | - | - | 2569 | - | 2.35 | 0.049 | 2862 | 580.0 | -146.0 | - | - | 3551 | - | - | - | - | - | - | - | - | 14.68 | 14.64 | 14.73 |
2573 | 274.7 | -9.6 | 131 | 2575 | done | -0.87 | - | - | 2569 | - | - | - | 2862 | - | -146.0 | - | - | 3549 | - | - | - | - | - | - | - | - | 14.96 | 15.00 | 15.00 |
2908 | 307.2 | -9.7 | 137 | 2916 | roll | -0.87 | - | - | 2569 | - | 2.28 | 0.031 | 1498 | -598.2 | -146.0 | - | - | 3546 | - | - | - | - | - | - | - | - | 14.98 | 14.69 | 15.01 |
2970 | 313.5 | -9.8 | 146 | 2978 | done | -0.87 | - | - | 2560 | - | 2.38 | 0.050 | 2866 | 574.8 | -146.0 | - | - | 3545 | - | - | - | - | - | - | - | - | 14.70 | 14.63 | 14.73 |
3300 | 347.4 | -10.3 | 158 | 3307 | roll | -0.87 | - | - | 2559 | - | 2.28 | 0.031 | 1499 | -599.6 | -146.0 | - | - | 3542 | - | - | - | - | - | - | - | - | 14.97 | 14.68 | 15.01 |
3348 | 352.6 | -10.5 | 165 | 3358 | done | -0.87 | - | - | 2550 | - | 2.40 | 0.051 | 2867 | 570.0 | -146.0 | - | - | 3542 | - | - | - | - | - | - | - | - | 14.66 | 14.60 | 14.70 |
3692 | 390.7 | -11.3 | 172 | 3699 | roll | -0.84 | - | - | 2550 | - | 2.25 | 0.032 | 1503 | -606.2 | -146.0 | - | - | 3540 | - | - | - | - | - | - | - | - | 14.98 | 14.71 | 15.01 |
3726 | 394.8 | -11.7 | 177 | 3735 | done | -0.84 | 0.12 | 0.210 | 2575 | 208.3 | 2.40 | 0.050 | 2868 | 568.8 | -146.0 | - | - | 3540 | - | - | - | - | - | - | - | - | 14.38 | 14.62 | 14.52 |
4084 | 432.4 | -10.5 | 186 | 4091 | roll | -0.84 | - | - | 2575 | - | 2.30 | 0.031 | 1498 | -595.7 | -146.0 | - | - | 3537 | - | - | - | - | - | - | - | - | 14.98 | 14.67 | 15.01 |
4132 | 437.6 | -10.5 | 193 | 4142 | done | -0.89 | - | - | 2567 | - | 2.40 | 0.050 | 2863 | 568.8 | -146.0 | - | - | 3537 | - | - | - | - | - | - | - | - | 14.66 | 14.61 | 14.71 |
4476 | 473.4 | -10.4 | 200 | 4479 | done | -0.89 | - | - | 2567 | - | - | - | 2863 | - | -146.0 | - | - | 3535 | - | - | - | - | - | - | - | - | 14.98 | 15.02 | 15.01 |
4812 | 506.4 | -9.8 | 206 | 4819 | roll | -0.89 | - | - | 2567 | - | 2.28 | 0.032 | 1508 | -594.3 | -146.0 | - | - | 3533 | - | - | - | - | - | - | - | - | 14.98 | 14.64 | 15.01 |
4903 | 515.4 | -9.8 | 219 | 4910 | done | -0.93 | - | - | 2557 | - | 2.42 | 0.052 | 2873 | 564.0 | -146.0 | - | - | 3533 | - | - | - | - | - | - | - | - | 14.64 | 14.57 | 14.68 |
5260 | 552.0 | -10.3 | 228 | 5267 | roll | -0.93 | - | - | 2549 | - | 1.70 | 0.083 | 3826 | 560.6 | -146.0 | - | - | 3531 | - | - | - | - | - | - | - | - | 15.00 | 14.54 | 15.07 |
5294 | 555.8 | -10.9 | 233 | 5303 | done | -0.93 | - | - | 2550 | - | 1.52 | 0.033 | 2850 | -642.1 | -146.0 | - | - | 3531 | - | - | - | - | - | - | - | - | 14.81 | 14.76 | 14.82 |
5652 | 591.9 | -10.1 | 242 | 5659 | roll | -0.93 | - | - | 2550 | - | 2.22 | 0.033 | 1514 | -601.8 | -146.0 | - | - | 3529 | - | - | - | - | - | - | - | - | 14.98 | 14.64 | 15.01 |
5742 | 601.0 | -9.8 | 255 | 5750 | done | -0.93 | - | - | 2540 | - | 2.40 | 0.051 | 2869 | 564.6 | -146.0 | - | - | 3529 | - | - | - | - | - | - | - | - | 14.63 | 14.57 | 14.68 |
6100 | 637.7 | -10.4 | 264 | 6107 | roll | -0.93 | - | - | 2540 | - | 2.28 | 0.031 | 1515 | -593.9 | -146.0 | - | - | 3527 | - | - | - | - | - | - | - | - | 14.97 | 14.63 | 15.01 |
6134 | 641.4 | -10.8 | 269 | 6143 | done | -0.93 | - | - | 2530 | - | 2.40 | 0.051 | 2867 | 563.3 | -146.0 | - | - | 3527 | - | - | - | - | - | - | - | - | 14.58 | 14.50 | 14.61 |
6492 | 679.5 | -10.7 | 278 | 6499 | roll | -0.89 | 0.12 | 0.259 | 2556 | 216.7 | 2.25 | 0.031 | 1506 | -604.9 | -146.0 | - | - | 3524 | - | - | - | - | - | - | - | - | 14.40 | 14.65 | 14.61 |
6526 | 682.9 | -9.6 | 283 | 6534 | done | -0.89 | - | - | 2548 | - | 2.42 | 0.051 | 2872 | 564.5 | -146.0 | - | - | 3524 | - | - | - | - | - | - | - | - | 14.62 | 14.55 | 14.66 |
6884 | 716.2 | -9.2 | 292 | 6891 | roll | -0.89 | - | - | 2548 | - | 2.25 | 0.032 | 1515 | -603.1 | -146.0 | - | - | 3523 | - | - | - | - | - | - | - | - | 14.97 | 14.59 | 15.00 |
6953 | 722.5 | -9.0 | 302 | 6961 | done | -0.89 | - | - | 2539 | - | 2.42 | 0.052 | 2880 | 564.0 | -146.0 | - | - | 3522 | - | - | - | - | - | - | - | - | 14.62 | 14.54 | 14.66 |
7276 | 752.9 | -9.5 | 313 | 7284 | roll | -0.89 | - | - | 2539 | - | 2.25 | 0.031 | 1519 | -604.9 | -146.0 | - | - | 3521 | - | - | - | - | - | - | - | - | 14.96 | 14.63 | 15.00 |
7317 | 757.0 | -9.7 | 319 | 7326 | done | -0.89 | - | - | 2529 | - | 2.40 | 0.051 | 2870 | 562.9 | -146.0 | - | - | 3521 | - | - | - | - | - | - | - | - | 14.61 | 14.54 | 14.66 |
7668 | 792.0 | -10.2 | 327 | 7671 | done | -0.89 | 0.15 | 0.246 | 2562 | 220.0 | - | - | 2871 | - | -146.0 | - | - | 3519 | - | - | - | - | - | - | - | - | 14.33 | 14.64 | 14.57 |
8005 | 822.4 | -9.1 | 333 | 8012 | roll | -0.94 | - | - | 2563 | - | 2.25 | 0.033 | 1516 | -602.2 | -146.0 | - | - | 3519 | - | - | - | - | - | - | - | - | 14.98 | 14.66 | 15.01 |
8061 | 827.6 | -9.1 | 341 | 8068 | done | -1.00 | - | - | 2554 | - | 2.35 | 0.050 | 2876 | 578.7 | -146.0 | - | - | 3516 | - | - | - | - | - | - | - | - | 14.68 | 14.54 | 14.71 |
8226 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8226 | begin apogee | ||||||||||||||||||||||||||||
8231 | 843.7 | -9.7 | 351 | 8447 | done | -0.21 | 0.80 | 0.190 | 2776 | 277.5 | - | - | 2654 | - | - | 211.85 | 1.502 | 2968 | -2.6 | 0.276 | - | - | - | - | - | - | 14.34 | 14.04 | 13.40 |
8449 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8449 | begin climb | ||||||||||||||||||||||||||||
8451 | 849.5 | - | 354 | 8627 | roll | 0.91 | 1.15 | 0.109 | 3148 | 323.5 | 2.47 | 0.037 | 1289 | -552.6 | 146.0 | 159.30 | 1.709 | 2377 | -3.7 | 0.350 | - | - | - | - | - | - | 14.05 | 13.91 | 13.24 |
8722 | 832.2 | 11.9 | 400 | 8730 | done | 0.74 | 0.20 | 0.231 | 3096 | -260.0 | 2.47 | 0.046 | 2657 | 553.8 | 146.0 | - | - | 2360 | - | - | - | - | - | - | - | - | 13.99 | 14.19 | 14.14 |
9073 | 795.3 | 10.6 | 408 | 9081 | roll | 0.64 | 0.15 | 0.252 | 3069 | -180.0 | 2.38 | 0.037 | 1282 | -577.7 | 146.0 | - | - | 2355 | - | - | - | - | - | - | - | - | 14.27 | 14.50 | 14.50 |
9142 | 788.7 | 9.1 | 418 | 9164 | done | 0.66 | - | - | 3068 | - | 2.38 | 0.044 | 2637 | 569.3 | 164.8 | 13.23 | 1.809 | 2310 | -3.4 | 0.281 | - | - | - | - | - | - | 14.54 | 14.50 | 13.76 |
9521 | 751.6 | 10.0 | 430 | 9529 | roll | 0.62 | - | - | 3078 | - | 2.30 | 0.038 | 1281 | -589.6 | 164.8 | - | - | 2299 | - | - | - | - | - | - | - | - | 14.79 | 14.57 | 14.83 |
9590 | 745.0 | 9.5 | 440 | 9599 | done | 0.60 | 0.10 | 0.188 | 3050 | -280.0 | 2.40 | 0.045 | 2643 | 567.5 | 174.5 | 3.38 | 1.144 | 2271 | -8.3 | 1.024 | - | - | - | - | - | - | 14.36 | 14.55 | 13.47 |
9906 | 716.9 | 8.8 | 450 | 9948 | done | 0.63 | - | - | 3050 | - | - | - | 2643 | - | 199.9 | 39.30 | 1.648 | 2173 | -2.5 | 0.206 | - | - | - | - | - | - | 14.85 | 14.43 | 13.75 |
10242 | 685.6 | 9.3 | 456 | 10257 | roll | 0.65 | - | - | 3059 | - | 2.38 | 0.039 | 1281 | -572.3 | 214.1 | 5.07 | 1.639 | 2119 | -10.7 | 0.845 | - | - | - | - | - | - | 14.77 | 14.57 | 13.51 |
10332 | 677.4 | 8.9 | 469 | 10377 | done | 0.72 | - | - | 3058 | - | 2.42 | 0.045 | 2646 | 564.0 | 238.3 | 38.88 | 1.659 | 2021 | -2.5 | 0.195 | - | - | - | - | - | - | 14.54 | 14.50 | 13.69 |
10683 | 641.7 | 10.3 | 484 | 10690 | roll | 0.72 | - | - | 3068 | - | 2.35 | 0.038 | 1291 | -576.6 | 238.3 | - | - | 2000 | - | - | - | - | - | - | - | - | 14.75 | 14.50 | 14.78 |
10753 | 634.6 | 10.2 | 494 | 10760 | done | 0.76 | - | - | 3068 | - | 2.38 | 0.045 | 2637 | 565.5 | 238.3 | - | - | 1997 | - | - | - | - | - | - | - | - | 14.55 | 14.50 | 14.59 |
11075 | 598.8 | 11.2 | 505 | 11083 | roll | 0.76 | - | - | 3078 | - | 2.33 | 0.039 | 1290 | -578.1 | 238.3 | - | - | 1996 | - | - | - | - | - | - | - | - | 14.83 | 14.56 | 14.87 |
11123 | 593.4 | 11.0 | 512 | 11133 | done | 0.76 | - | - | 3078 | - | 2.38 | 0.046 | 2640 | 567.2 | 238.3 | - | - | 1991 | - | - | - | - | - | - | - | - | 14.61 | 14.56 | 14.65 |
11467 | 553.4 | 11.7 | 519 | 11475 | roll | 0.76 | - | - | 3088 | - | 2.33 | 0.038 | 1286 | -581.1 | 238.3 | - | - | 1995 | - | - | - | - | - | - | - | - | 14.83 | 14.57 | 14.86 |
11537 | 545.2 | 11.5 | 529 | 11545 | done | 0.76 | - | - | 3089 | - | 2.40 | 0.045 | 2651 | 568.8 | 238.3 | - | - | 1994 | - | - | - | - | - | - | - | - | 14.62 | 14.58 | 14.66 |
11859 | 505.8 | 12.4 | 540 | 11866 | roll | 0.76 | - | - | 3097 | - | 2.35 | 0.038 | 1280 | -583.4 | 238.3 | - | - | 1994 | - | - | - | - | - | - | - | - | 14.85 | 14.60 | 14.89 |
11900 | 500.9 | 11.7 | 546 | 11908 | done | 0.76 | - | - | 3097 | - | 2.38 | 0.046 | 2640 | 571.4 | 238.3 | - | - | 1998 | - | - | - | - | - | - | - | - | 14.63 | 14.59 | 14.69 |
12252 | 460.3 | 11.4 | 554 | 12259 | roll | 0.73 | - | - | 3106 | - | 2.30 | 0.038 | 1274 | -593.9 | 238.3 | - | - | 1994 | - | - | - | - | - | - | - | - | 14.89 | 14.62 | 14.92 |
12327 | 452.3 | 10.3 | 565 | 12336 | done | 0.73 | - | - | 3106 | - | 2.38 | 0.045 | 2642 | 574.8 | 238.3 | - | - | 1993 | - | - | - | - | - | - | - | - | 14.63 | 14.57 | 14.66 |
12644 | 418.4 | 10.9 | 575 | 12651 | roll | 0.68 | 0.15 | 0.223 | 3080 | -173.3 | 2.28 | 0.037 | 1287 | -594.3 | 238.3 | - | - | 1994 | - | - | - | - | - | - | - | - | 14.35 | 14.63 | 14.59 |
12706 | 412.6 | 8.9 | 584 | 12736 | done | 0.75 | - | - | 3080 | - | 2.38 | 0.045 | 2650 | 572.7 | 263.0 | 24.60 | 1.417 | 1921 | -3.0 | 0.164 | - | - | - | - | - | - | 14.62 | 14.57 | 13.97 |
13084 | 373.1 | 10.8 | 596 | 13091 | roll | 0.75 | - | - | 3090 | - | 2.35 | 0.038 | 1281 | -582.6 | 263.0 | - | - | 1902 | - | - | - | - | - | - | - | - | 14.84 | 14.52 | 14.87 |
13175 | 363.2 | 10.9 | 609 | 13184 | done | 0.78 | - | - | 3089 | - | 2.38 | 0.044 | 2637 | 569.7 | 263.0 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.58 | 14.52 | 14.62 |
13532 | 321.5 | 11.8 | 618 | 13540 | roll | 0.78 | - | - | 3099 | - | 2.33 | 0.038 | 1288 | -579.0 | 263.0 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.88 | 14.56 | 14.91 |
13588 | 315.0 | 11.5 | 626 | 13596 | done | 0.78 | - | - | 3093 | - | 2.35 | 0.044 | 2635 | 573.2 | 263.0 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.61 | 14.55 | 14.64 |
13924 | 273.0 | 12.7 | 639 | 13932 | roll | 0.78 | - | - | 3108 | - | 2.33 | 0.037 | 1284 | -579.8 | 263.0 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.90 | 14.54 | 14.93 |
13993 | 264.1 | 12.5 | 649 | 14002 | done | 0.78 | - | - | 3108 | - | 2.40 | 0.045 | 2650 | 569.2 | 263.0 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.61 | 14.56 | 14.65 |
14316 | 223.4 | 12.6 | 660 | 14324 | roll | 0.78 | - | - | 3117 | - | 2.35 | 0.037 | 1284 | -581.3 | 263.0 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.85 | 14.57 | 14.88 |
14364 | 217.6 | 11.9 | 667 | 14374 | done | 0.78 | - | - | 3116 | - | 2.38 | 0.044 | 2640 | 569.7 | 263.0 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.62 | 14.57 | 14.66 |
14709 | 175.3 | 12.3 | 674 | 14716 | roll | 0.74 | - | - | 3126 | - | 2.28 | 0.037 | 1286 | -593.9 | 263.0 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.84 | 14.57 | 14.88 |
14791 | 165.4 | 11.6 | 686 | 14800 | done | 0.74 | 0.10 | 0.177 | 3096 | -300.0 | 2.38 | 0.045 | 2644 | 570.6 | 263.0 | - | - | 1900 | - | - | - | - | - | - | - | - | 14.35 | 14.57 | 14.48 |
15156 | 124.8 | 11.0 | 696 | 15164 | roll | 0.74 | - | - | 3104 | - | 2.33 | 0.037 | 1287 | -582.4 | 263.0 | - | - | 1898 | - | - | - | - | - | - | - | - | 14.92 | 14.56 | 14.95 |
15226 | 117.2 | 10.9 | 706 | 15233 | done | 0.78 | - | - | 3105 | - | 2.35 | 0.044 | 2646 | 578.3 | 263.0 | - | - | 1901 | - | - | - | - | - | - | - | - | 14.61 | 14.55 | 14.64 |
15549 | 85.8 | 9.6 | 719 | 15556 | roll | 0.84 | - | - | 3105 | - | 2.08 | 0.076 | 3825 | 566.8 | 270.7 | 1.42 | 0.224 | 1888 | -9.2 | 0.665 | - | - | - | - | - | - | 14.91 | 14.44 | 14.29 |
15577 | 83.6 | 7.9 | 723 | 15607 | done | 0.93 | 0.08 | 0.082 | 3165 | 750.0 | 1.92 | 0.029 | 2614 | -630.7 | 316.6 | 24.60 | 0.402 | 1707 | -7.4 | 0.290 | - | - | - | - | - | - | 14.52 | 14.66 | 14.28 |
15914 | 64.4 | 4.8 | 738 | 15977 | done | 1.11 | 0.12 | 0.125 | 3225 | 500.0 | - | - | 2613 | - | 428.5 | 59.38 | 0.351 | 1260 | -7.5 | 0.262 | - | - | - | - | - | - | 14.57 | 14.57 | 14.26 |
16278 | 32.9 | 8.6 | 757 | 16305 | roll | 1.19 | - | - | 3235 | - | 2.25 | 0.038 | 1299 | -584.0 | 459.2 | 16.83 | 0.253 | 1142 | -7.0 | 0.173 | - | - | - | - | - | - | 14.82 | 14.57 | 14.28 |
16367 | 24.2 | 10.0 | 770 | 16375 | done | 1.24 | - | - | 3235 | - | 2.35 | 0.044 | 2645 | 572.8 | 459.2 | 1.60 | 0.193 | 1138 | -2.5 | 0.059 | - | - | - | - | - | - | 14.59 | 14.54 | 14.36 |
16583 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16583 | begin surface coast | ||||||||||||||||||||||||||||
16611 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16611 | begin surface | ||||||||||||||||||||||||||||
SM | 0.98 | - | - | - | - | -8.24 | 8.85 | 0.064 | 188 | 21.2 | 0.40 | 0.080 | 2877 | -16182.5 | 525.01 | 32.08 | 0.164 | 877 | 27.3 | -0.017 | - | - | - | - | - | - |