• Previous call tries 1 | • 3.96 of 150.00 AH used of 24V (97.36% remains) | |
• Previous NAKs 0, Timeouts 0 | • 2.38 of 110.00 AH used of 10V (97.83% remains) | |
• Surface angle -75.0 deg, depth -0.25 m | • Intended pitch -13.9 deg, speed -10.000 cm/s | |
• No surface pump (final VBD was 610.06, SM_CC=450) | ||
• GPS1 time: 27 s | ||
• GPS2 time: 11 s | • Transponder ping count: 1 | |
• 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 | - | - | - | 121 | VBD | -0.70 | - | - | 169 | - | - | - | 2512 | - | -243.3 | -100.07 | - | 2960 | - | - | - | - | - | - | - | - | - | - | - |
125 | 3.3 | -10.9 | 18 | 157 | roll | -0.70 | 9.80 | 0.243 | 2674 | 255.6 | 2.25 | 0.056 | 1107 | -624.4 | -243.3 | -16.60 | - | 3960 | -60.2 | - | - | - | - | - | - | - | 25.89 | 26.11 | 26.32 |
361 | 92.4 | -33.3 | 37 | 368 | done | -0.55 | 0.20 | 0.173 | 2720 | 230.0 | 2.17 | 0.047 | 2489 | 636.9 | -243.3 | - | - | 3960 | - | - | - | - | - | - | - | - | 26.12 | 26.25 | - |
665 | 174.7 | -21.2 | 53 | 667 | done | -0.46 | 0.10 | 0.187 | 2746 | 260.0 | - | - | 2489 | - | -243.3 | - | - | 3963 | - | - | - | - | - | - | - | - | 26.29 | - | - |
968 | 225.6 | -15.4 | 68 | 973 | roll | -0.42 | - | - | 2740 | - | 1.85 | 0.057 | 3699 | 654.1 | -243.3 | - | - | 3962 | - | - | - | - | - | - | - | - | - | 26.43 | - |
1067 | 237.7 | -14.1 | 72 | 1075 | done | -0.40 | - | - | 2740 | - | 1.77 | 0.034 | 2501 | -676.8 | -243.3 | - | - | 3960 | - | - | - | - | - | - | - | - | - | 26.48 | - |
1372 | 279.7 | -12.7 | 88 | 1379 | roll | -0.38 | 0.12 | 0.153 | 2779 | 325.0 | 2.10 | 0.041 | 1102 | -666.2 | -243.3 | - | - | 3961 | - | - | - | - | - | - | - | - | 26.45 | 26.51 | - |
1410 | 282.4 | -12.2 | 89 | 1417 | done | -0.38 | - | - | 2779 | - | 2.17 | 0.047 | 2500 | 644.2 | -243.3 | - | - | 3961 | - | - | - | - | - | - | - | - | - | 26.51 | - |
1717 | 304.1 | -6.7 | 105 | 1722 | roll | -0.44 | - | - | 2779 | - | 1.85 | 0.059 | 3691 | 643.8 | -243.3 | - | - | 3961 | - | - | - | - | - | - | - | - | - | 26.53 | - |
1776 | 307.0 | -6.8 | 107 | 1783 | done | -0.51 | 0.15 | 0.075 | 2687 | -613.3 | 1.77 | 0.034 | 2489 | -679.1 | -243.3 | - | - | 3960 | - | - | - | - | - | - | - | - | 26.59 | 26.58 | - |
2080 | 353.3 | -14.5 | 123 | 2086 | roll | -0.45 | 0.20 | 0.151 | 2750 | 315.0 | 2.10 | 0.040 | 1099 | -661.9 | -243.3 | - | - | 3961 | - | - | - | - | - | - | - | - | 26.50 | 26.59 | - |
2170 | 360.8 | -8.8 | 127 | 2175 | done | -0.47 | - | - | 2750 | - | 2.20 | 0.048 | 2507 | 640.0 | -243.3 | - | - | 3961 | - | - | - | - | - | - | - | - | - | 26.59 | - |
2489 | 382.6 | -6.9 | 143 | 2494 | roll | -0.50 | - | - | 2750 | - | 1.83 | 0.057 | 3701 | 652.5 | -243.3 | - | - | 3960 | - | - | - | - | - | - | - | - | - | 26.59 | - |
2562 | 387.3 | -7.3 | 146 | 2567 | done | -0.55 | - | - | 2750 | - | 1.77 | 0.033 | 2510 | -672.9 | -243.3 | - | - | 3959 | - | - | - | - | - | - | - | - | - | 26.65 | - |
2875 | 411.1 | -7.5 | 162 | 2877 | done | -0.59 | 0.12 | 0.088 | 2680 | -583.3 | - | - | 2510 | - | -243.3 | - | - | 3957 | - | - | - | - | - | - | - | - | 26.67 | - | - |
3177 | 454.3 | -15.1 | 177 | 3183 | roll | -0.55 | 0.12 | 0.154 | 2719 | 325.0 | 2.15 | 0.040 | 1088 | -661.4 | -243.3 | - | - | 3954 | - | - | - | - | - | - | - | - | 26.57 | 26.65 | - |
3225 | 460.2 | -14.1 | 179 | 3232 | done | -0.53 | - | - | 2715 | - | 2.22 | 0.049 | 2509 | 640.1 | -243.3 | - | - | 3953 | - | - | - | - | - | - | - | - | - | 26.64 | - |
3544 | 493.6 | -10.2 | 195 | 3549 | roll | -0.53 | - | - | 2712 | - | 1.85 | 0.060 | 3698 | 642.7 | -243.3 | - | - | 3951 | - | - | - | - | - | - | - | - | - | 26.63 | - |
3570 | 495.8 | -9.9 | 196 | 3576 | done | -0.53 | - | - | 2713 | - | 1.80 | 0.034 | 2487 | -672.8 | -243.3 | - | - | 3950 | - | - | - | - | - | - | - | - | - | 26.67 | - |
3890 | 526.9 | -9.9 | 212 | 3895 | roll | -0.53 | - | - | 2712 | - | 1.90 | 0.059 | 3692 | 634.2 | -243.3 | - | - | 3948 | - | - | - | - | - | - | - | - | - | 26.64 | - |
3928 | 529.4 | -9.9 | 213 | 3935 | done | -0.53 | - | - | 2712 | - | 1.77 | 0.034 | 2502 | -672.3 | -243.3 | - | - | 3947 | - | - | - | - | - | - | - | - | - | 26.68 | - |
4234 | 561.0 | -9.9 | 229 | 4240 | roll | -0.53 | - | - | 2709 | - | 2.15 | 0.043 | 1086 | -658.6 | -243.3 | - | - | 3946 | - | - | - | - | - | - | - | - | - | 26.67 | - |
4272 | 563.5 | -9.9 | 230 | 4279 | done | -0.53 | - | - | 2712 | - | 2.22 | 0.050 | 2505 | 639.2 | -243.3 | - | - | 3945 | - | - | - | - | - | - | - | - | - | 26.65 | - |
4578 | 592.2 | -8.6 | 246 | 4583 | roll | -0.53 | - | - | 2712 | - | 1.83 | 0.061 | 3690 | 647.5 | -243.3 | - | - | 3943 | - | - | - | - | - | - | - | - | - | 26.65 | - |
4643 | 597.3 | -8.2 | 249 | 4648 | done | -0.55 | - | - | 2711 | - | 1.77 | 0.034 | 2494 | -675.7 | -243.3 | - | - | 3942 | - | - | - | - | - | - | - | - | - | 26.71 | - |
4959 | 622.9 | -8.2 | 260 | 4964 | roll | -0.55 | - | - | 2711 | - | 2.10 | 0.043 | 1101 | -663.3 | -243.3 | - | - | 3940 | - | - | - | - | - | - | - | - | - | 26.68 | - |
4987 | 622.9 | -8.2 | 260 | 4994 | done | -0.55 | - | - | 2711 | - | 2.20 | 0.049 | 2506 | 638.6 | -243.3 | - | - | 3940 | - | - | - | - | - | - | - | - | - | 26.67 | - |
5293 | 650.8 | -8.4 | 271 | 5298 | roll | -0.55 | - | - | 2711 | - | 1.83 | 0.060 | 3690 | 647.0 | -243.3 | - | - | 3937 | - | - | - | - | - | - | - | - | - | 26.66 | - |
5341 | 653.4 | -8.3 | 272 | 5346 | done | -0.56 | - | - | 2712 | - | 1.77 | 0.034 | 2500 | -672.3 | -243.3 | - | - | 3937 | - | - | - | - | - | - | - | - | - | 26.72 | - |
5661 | 681.4 | -8.4 | 283 | 5662 | done | -0.57 | - | - | 2711 | - | - | - | 2493 | - | -243.3 | - | - | 3934 | - | - | - | - | - | - | - | - | - | - | - |
5961 | 707.5 | -8.7 | 293 | 5966 | roll | -0.59 | - | - | 2711 | - | 1.90 | 0.061 | 3696 | 633.2 | -243.3 | - | - | 3933 | - | - | - | - | - | - | - | - | - | 26.66 | - |
6009 | 710.4 | -8.7 | 294 | 6014 | done | -0.61 | - | - | 2712 | - | 1.80 | 0.034 | 2488 | -671.1 | -243.3 | - | - | 3933 | - | - | - | - | - | - | - | - | - | 26.72 | - |
6330 | 738.1 | -8.2 | 305 | 6331 | done | -0.62 | - | - | 2711 | - | - | - | 2488 | - | -243.3 | - | - | 3931 | - | - | - | - | - | - | - | - | - | - | - |
6628 | 761.8 | -7.5 | 315 | 6633 | roll | -0.64 | - | - | 2711 | - | 1.92 | 0.061 | 3699 | 630.7 | -243.3 | - | - | 3929 | - | - | - | - | - | - | - | - | - | 26.67 | - |
6692 | 766.2 | -7.2 | 317 | 6698 | done | -0.67 | - | - | 2711 | - | 1.80 | 0.036 | 2496 | -668.3 | -243.3 | - | - | 3929 | - | - | - | - | - | - | - | - | - | 26.72 | - |
7029 | 788.5 | -6.5 | 328 | 7034 | roll | -0.69 | - | - | 2711 | - | 1.90 | 0.060 | 3690 | 628.4 | -243.3 | - | - | 3927 | - | - | - | - | - | - | - | - | - | 26.67 | - |
7073 | 790.9 | -6.4 | 329 | 7079 | done | -0.71 | 0.12 | 0.093 | 2649 | -516.7 | 1.77 | 0.035 | 2499 | -672.9 | -243.3 | - | - | 3927 | - | - | - | - | - | - | - | - | 26.70 | 26.73 | - |
7400 | 829.3 | -12.0 | 340 | 7402 | done | -0.66 | 0.15 | 0.153 | 2690 | 273.3 | - | - | 2494 | - | -243.3 | - | - | 3925 | - | - | - | - | - | - | - | - | 26.60 | - | - |
7697 | 854.0 | -7.9 | 350 | 7698 | done | -0.66 | - | - | 2690 | - | - | - | 2494 | - | -243.3 | - | - | 3924 | - | - | - | - | - | - | - | - | - | - | - |
7998 | 877.8 | -8.1 | 360 | 8003 | roll | -0.66 | - | - | 2687 | - | 1.90 | 0.063 | 3690 | 629.5 | -243.3 | - | - | 3922 | - | - | - | - | - | - | - | - | - | 26.67 | - |
8035 | 880.5 | -8.2 | 361 | 8040 | done | -0.66 | - | - | 2687 | - | 1.80 | 0.034 | 2491 | -666.1 | -243.3 | - | - | 3922 | - | - | - | - | - | - | - | - | - | 26.72 | - |
8366 | 910.1 | -8.9 | 372 | 8367 | done | -0.66 | - | - | 2687 | - | - | - | 2491 | - | -243.3 | - | - | 3921 | - | - | - | - | - | - | - | - | - | - | - |
8663 | 938.4 | -9.5 | 382 | 8664 | done | -0.66 | - | - | 2687 | - | - | - | 2491 | - | -243.3 | - | - | 3920 | - | - | - | - | - | - | - | - | - | - | - |
8964 | 967.9 | -9.8 | 392 | 8965 | done | -0.66 | - | - | 2687 | - | - | - | 2491 | - | -243.3 | - | - | 3919 | - | - | - | - | - | - | - | - | - | - | - |
9201 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
9201 | begin apogee | ||||||||||||||||||||||||||||
9206 | 992.0 | -9.9 | 400 | 9406 | done | -0.14 | 0.47 | 0.128 | 2847 | 340.4 | - | - | 2484 | - | - | 194.05 | 1.467 | 2967 | -4.9 | 0.346 | - | - | - | - | - | - | 26.62 | - | 23.61 |
9408 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9408 | begin climb | ||||||||||||||||||||||||||||
9410 | 1000.2 | - | 406 | 9624 | done | 0.70 | 0.77 | 0.061 | 3130 | 367.5 | - | - | 2484 | - | 243.3 | 210.20 | 1.424 | 1975 | -4.7 | 0.346 | - | - | - | - | - | - | 24.60 | - | 23.51 |
9924 | 905.2 | 23.6 | 424 | 9930 | roll | 0.55 | 0.17 | 0.172 | 3080 | -294.1 | 1.95 | 0.058 | 3687 | 616.9 | 243.3 | - | - | 1967 | - | - | - | - | - | - | - | - | 25.67 | 25.75 | - |
10058 | 878.1 | 21.6 | 428 | 10064 | done | 0.44 | 0.17 | 0.173 | 3041 | -229.4 | 1.85 | 0.041 | 2514 | -634.1 | 243.3 | - | - | 1966 | - | - | - | - | - | - | - | - | 25.83 | 25.94 | - |
10385 | 826.5 | 14.5 | 439 | 10390 | roll | 0.38 | - | - | 3049 | - | 2.28 | 0.050 | 1088 | -625.4 | 243.3 | - | - | 1965 | - | - | - | - | - | - | - | - | - | 26.15 | - |
10407 | 826.5 | 14.5 | 439 | 10413 | done | 0.33 | 0.15 | 0.153 | 3009 | -266.7 | 2.28 | 0.049 | 2508 | 622.8 | 243.3 | - | - | 1965 | - | - | - | - | - | - | - | - | 26.08 | 26.17 | - |
10724 | 789.2 | 10.4 | 450 | 10729 | roll | 0.32 | - | - | 3008 | - | 1.90 | 0.059 | 3698 | 626.3 | 243.3 | - | - | 1964 | - | - | - | - | - | - | - | - | - | 26.27 | - |
10767 | 785.2 | 10.6 | 451 | 10772 | done | 0.30 | - | - | 3014 | - | 1.85 | 0.040 | 2485 | -655.7 | 243.3 | - | - | 1964 | - | - | - | - | - | - | - | - | - | 26.31 | - |
11093 | 749.7 | 10.4 | 462 | 11098 | roll | 0.29 | - | - | 3014 | - | 1.95 | 0.057 | 3691 | 618.5 | 243.3 | - | - | 1964 | - | - | - | - | - | - | - | - | - | 26.36 | - |
11129 | 745.9 | 10.4 | 463 | 11135 | done | 0.26 | 0.12 | 0.168 | 2990 | -200.0 | 1.85 | 0.041 | 2491 | -648.6 | 243.3 | - | - | 1963 | - | - | - | - | - | - | - | - | 26.30 | 26.39 | - |
11461 | 720.4 | 7.4 | 474 | 11548 | done | 0.39 | 0.12 | 0.093 | 3050 | 500.0 | - | - | 2483 | - | 337.5 | 81.88 | 1.291 | 1591 | -4.5 | 0.265 | - | - | - | - | - | - | 26.48 | - | 24.00 |
11850 | 664.7 | 15.1 | 487 | 11855 | roll | 0.36 | 0.12 | 0.160 | 3013 | -308.3 | 1.95 | 0.056 | 3694 | 621.0 | 337.5 | - | - | 1586 | - | - | - | - | - | - | - | - | 25.81 | 25.87 | - |
11903 | 659.7 | 15.0 | 488 | 11910 | done | 0.33 | - | - | 3018 | - | 1.85 | 0.040 | 2505 | -642.7 | 337.5 | - | - | 1585 | - | - | - | - | - | - | - | - | - | 25.96 | - |
12218 | 624.1 | 10.3 | 499 | 12224 | roll | 0.33 | - | - | 3028 | - | 2.20 | 0.047 | 1091 | -642.7 | 337.5 | - | - | 1585 | - | - | - | - | - | - | - | - | - | 26.17 | - |
12282 | 618.2 | 9.8 | 501 | 12297 | done | 0.36 | - | - | 3028 | - | 2.25 | 0.046 | 2502 | 627.1 | 344.7 | 6.85 | 1.001 | 1560 | -3.6 | 0.235 | - | - | - | - | - | - | - | 26.20 | 25.25 |
12604 | 583.0 | 11.3 | 514 | 12609 | roll | 0.36 | - | - | 3028 | - | 1.88 | 0.058 | 3685 | 629.3 | 344.7 | - | - | 1560 | - | - | - | - | - | - | - | - | - | 26.22 | - |
12642 | 580.2 | 11.5 | 515 | 12648 | done | 0.36 | - | - | 3035 | - | 1.85 | 0.040 | 2485 | -648.6 | 344.7 | - | - | 1559 | - | - | - | - | - | - | - | - | - | 26.25 | - |
12947 | 540.0 | 12.5 | 531 | 12953 | roll | 0.36 | - | - | 3045 | - | 2.17 | 0.047 | 1094 | -641.0 | 344.7 | - | - | 1559 | - | - | - | - | - | - | - | - | - | 26.33 | - |
12979 | 537.0 | 12.6 | 532 | 12984 | done | 0.36 | - | - | 3045 | - | 2.22 | 0.047 | 2501 | 633.8 | 344.7 | - | - | 1560 | - | - | - | - | - | - | - | - | - | 26.34 | - |
13292 | 492.9 | 13.9 | 548 | 13299 | roll | 0.35 | 0.12 | 0.164 | 3005 | -333.3 | 1.85 | 0.055 | 3693 | 644.3 | 344.7 | - | - | 1559 | - | - | - | - | - | - | - | - | 26.32 | 26.39 | - |
13330 | 489.6 | 13.5 | 549 | 13337 | done | 0.35 | - | - | 3010 | - | 1.83 | 0.038 | 2496 | -654.1 | 344.7 | - | - | 1559 | - | - | - | - | - | - | - | - | - | 26.42 | - |
13637 | 455.5 | 10.2 | 565 | 13642 | roll | 0.38 | - | - | 3019 | - | 2.17 | 0.047 | 1094 | -646.1 | 344.7 | - | - | 1559 | - | - | - | - | - | - | - | - | - | 26.45 | - |
13680 | 451.1 | 10.3 | 567 | 13686 | done | 0.43 | - | - | 3019 | - | 2.20 | 0.045 | 2504 | 640.9 | 344.7 | - | - | 1558 | - | - | - | - | - | - | - | - | - | 26.46 | - |
14004 | 419.1 | 9.2 | 583 | 14039 | roll | 0.49 | 0.12 | 0.094 | 3094 | 625.0 | 1.88 | 0.057 | 3684 | 627.7 | 374.7 | 27.02 | 1.085 | 1437 | -4.5 | 0.181 | - | - | - | - | - | - | 26.53 | 25.84 | 25.15 |
14078 | 408.9 | 14.2 | 586 | 14085 | done | 0.47 | 0.17 | 0.159 | 3055 | -229.4 | 1.85 | 0.041 | 2507 | -636.2 | 374.7 | - | - | 1437 | - | - | - | - | - | - | - | - | 25.84 | 25.94 | - |
14394 | 367.1 | 11.7 | 602 | 14399 | roll | 0.45 | - | - | 3060 | - | 2.20 | 0.047 | 1093 | -642.7 | 374.7 | - | - | 1435 | - | - | - | - | - | - | - | - | - | 26.18 | - |
14463 | 360.5 | 10.7 | 605 | 14468 | done | 0.45 | - | - | 3063 | - | 2.22 | 0.044 | 2499 | 633.3 | 374.7 | - | - | 1434 | - | - | - | - | - | - | - | - | - | 26.22 | - |
14781 | 319.0 | 13.7 | 621 | 14782 | done | 0.44 | - | - | 3064 | - | - | - | 2500 | - | 374.7 | - | - | 1434 | - | - | - | - | - | - | - | - | - | - | - |
15083 | 279.6 | 12.4 | 636 | 15088 | roll | 0.44 | - | - | 3063 | - | 1.85 | 0.056 | 3693 | 644.9 | 374.7 | - | - | 1434 | - | - | - | - | - | - | - | - | - | 26.39 | - |
15140 | 273.8 | 12.3 | 638 | 15146 | done | 0.44 | - | - | 3072 | - | 1.85 | 0.039 | 2481 | -655.1 | 374.7 | - | - | 1434 | - | - | - | - | - | - | - | - | - | 26.42 | - |
15446 | 238.3 | 10.7 | 654 | 15451 | roll | 0.44 | - | - | 3082 | - | 2.10 | 0.045 | 1102 | -656.7 | 374.7 | - | - | 1434 | - | - | - | - | - | - | - | - | - | 26.46 | - |
15503 | 234.1 | 10.3 | 656 | 15510 | done | 0.44 | 0.15 | 0.134 | 3038 | -293.3 | 2.17 | 0.043 | 2502 | 645.2 | 374.7 | - | - | 1434 | - | - | - | - | - | - | - | - | 26.39 | 26.47 | - |
15810 | 212.8 | 6.8 | 672 | 15911 | roll | 0.66 | 0.17 | 0.074 | 3140 | 600.0 | 2.00 | 0.054 | 3682 | 590.0 | 491.4 | 95.55 | 0.901 | 962 | -4.9 | 0.122 | - | - | - | - | - | - | 26.55 | 25.02 | 24.43 |
15936 | 189.7 | 21.1 | 678 | 15942 | done | 0.59 | 0.20 | 0.143 | 3091 | -245.0 | 1.88 | 0.038 | 2509 | -623.9 | 491.4 | - | - | 961 | - | - | - | - | - | - | - | - | 25.19 | 25.27 | - |
16260 | 150.8 | 9.2 | 694 | 16293 | roll | 0.65 | - | - | 3098 | - | 2.33 | 0.046 | 1091 | -608.6 | 520.7 | 24.30 | 0.819 | 843 | -4.9 | 0.093 | - | - | - | - | - | - | - | 25.57 | 25.00 |
16388 | 141.4 | 6.4 | 700 | 16483 | done | 0.89 | 0.25 | 0.054 | 3227 | 516.0 | 2.25 | 0.041 | 2507 | 629.3 | 651.0 | 87.07 | 0.814 | 485 | -4.1 | 0.075 | - | - | - | - | - | - | 25.84 | 25.81 | 24.32 |
16786 | 39.1 | 22.6 | 722 | 16792 | roll | 0.83 | 0.17 | 0.137 | 3170 | -335.3 | 1.85 | 0.050 | 3691 | 640.0 | 651.0 | - | - | 481 | - | - | - | - | - | - | - | - | 25.81 | 25.86 | - |
16865 | 27.5 | 10.8 | 729 | 16873 | done | 0.87 | - | - | 3173 | - | 1.85 | 0.034 | 2482 | -653.5 | 651.0 | - | - | 480 | - | - | - | - | - | - | - | - | - | 25.98 | - |
17024 | 15.9 | 7.6 | 758 | 17031 | roll | 1.06 | 0.15 | 0.076 | 3278 | 700.0 | 2.12 | 0.041 | 1098 | -652.8 | 737.2 | - | - | 481 | - | - | - | - | - | - | - | - | 26.14 | 26.09 | - |
17097 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
17098 | begin surface coast | ||||||||||||||||||||||||||||
17105 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17105 | begin surface | ||||||||||||||||||||||||||||
SM | -0.64 | - | - | - | - | -8.46 | 8.35 | 0.064 | 174 | -371.7 | 2.25 | 0.042 | 2499 | 622.7 | 610.06 | - | - | 480 | - | - | - | - | - | - | - | - |