• Previous call tries 1 | • 46.36 of 150.00 AH used of 24V (69.10% remains) | |
• Previous NAKs 0, Timeouts 0 | • 29.15 of 100.00 AH used of 10V (70.85% remains) | |
• Surface angle -56.1 deg, depth 2.13 m | • Intended pitch -16.0 deg, speed -10.556 cm/s | |
• No surface pump (final VBD was 556.59, SM_CC=450) | ||
• GPS1 time: 32 s | ||
• GPS2 time: 13 s | • Transponder ping count: 17 | |
• 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 | |||||
17 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17 | begin dive | ||||||||||||||||||||||||||||
19 | - | - | - | 104 | VBD | -0.77 | - | - | 43 | - | - | - | 2499 | - | -194.6 | -82.70 | - | 1851 | - | - | - | - | - | - | - | - | - | - | - |
107 | 3.1 | -2.3 | 14 | 168 | roll | -0.77 | 8.98 | 0.256 | 2103 | 229.4 | 2.28 | 0.060 | 1080 | -622.4 | -194.6 | -46.20 | - | 3303 | -31.4 | - | - | - | - | - | - | - | 25.71 | 26.37 | 26.88 |
187 | 10.9 | -13.3 | 27 | 194 | done | -0.75 | - | - | 2103 | - | 2.22 | 0.043 | 2500 | 639.6 | -194.6 | - | - | 3303 | - | - | - | - | - | - | - | - | - | 26.36 | - |
497 | 69.7 | -19.2 | 61 | 503 | roll | -0.72 | - | - | 2102 | - | 2.12 | 0.058 | 3887 | 654.2 | -194.6 | - | - | 3303 | - | - | - | - | - | - | - | - | - | 26.38 | - |
570 | 79.1 | -15.7 | 64 | 575 | done | -0.72 | - | - | 2103 | - | 2.15 | 0.039 | 2482 | -653.5 | -194.6 | - | - | 3303 | - | - | - | - | - | - | - | - | - | 26.58 | - |
883 | 120.0 | -10.7 | 80 | 888 | roll | -0.75 | - | - | 2103 | - | 2.10 | 0.045 | 1096 | -660.0 | -194.6 | - | - | 3304 | - | - | - | - | - | - | - | - | - | 26.55 | - |
910 | 122.7 | -10.9 | 81 | 916 | done | -0.77 | - | - | 2103 | - | 2.17 | 0.043 | 2506 | 649.8 | -194.6 | - | - | 3304 | - | - | - | - | - | - | - | - | - | 26.56 | - |
1229 | 154.2 | -8.7 | 97 | 1234 | roll | -0.82 | - | - | 2103 | - | 2.12 | 0.056 | 3882 | 649.1 | -194.6 | - | - | 3305 | - | - | - | - | - | - | - | - | - | 26.51 | - |
1287 | 157.9 | -8.6 | 99 | 1294 | done | -0.87 | - | - | 2103 | - | 2.10 | 0.037 | 2503 | -656.7 | -194.6 | - | - | 3305 | - | - | - | - | - | - | - | - | - | 26.68 | - |
1593 | 183.0 | -8.7 | 115 | 1599 | roll | -0.93 | 0.12 | 0.094 | 2040 | -525.0 | 2.10 | 0.042 | 1097 | -669.5 | -194.6 | - | - | 3305 | - | - | - | - | - | - | - | - | 26.89 | 26.62 | - |
1640 | 188.5 | -10.6 | 117 | 1646 | done | -0.97 | 0.10 | 0.155 | 2065 | 250.0 | 2.20 | 0.044 | 2511 | 642.7 | -194.6 | - | - | 3305 | - | - | - | - | - | - | - | - | 26.48 | 26.62 | - |
1959 | 220.7 | -8.8 | 133 | 1965 | roll | -1.01 | - | - | 2066 | - | 2.20 | 0.044 | 1096 | -643.2 | -194.6 | - | - | 3305 | - | - | - | - | - | - | - | - | - | 26.63 | - |
2004 | 224.7 | -9.1 | 135 | 2010 | done | -1.05 | - | - | 2066 | - | 2.20 | 0.044 | 2508 | 641.8 | -194.6 | - | - | 3305 | - | - | - | - | - | - | - | - | - | 26.62 | - |
2328 | 254.2 | -9.1 | 151 | 2334 | roll | -1.09 | 0.12 | 0.095 | 2007 | -491.7 | 2.17 | 0.042 | 1098 | -649.8 | -194.6 | - | - | 3302 | - | - | - | - | - | - | - | - | 26.89 | 26.63 | - |
2383 | 259.0 | -10.0 | 153 | 2389 | done | -1.12 | 0.10 | 0.165 | 2033 | 260.0 | 2.17 | 0.044 | 2506 | 648.8 | -194.6 | - | - | 3303 | - | - | - | - | - | - | - | - | 26.48 | 26.63 | - |
2697 | 294.4 | -10.8 | 169 | 2702 | roll | -1.14 | - | - | 2034 | - | 2.15 | 0.058 | 3888 | 642.8 | -194.6 | - | - | 3300 | - | - | - | - | - | - | - | - | - | 26.51 | - |
2725 | 297.0 | -10.8 | 170 | 2730 | done | -1.17 | - | - | 2034 | - | 2.12 | 0.039 | 2504 | -652.8 | -194.6 | - | - | 3300 | - | - | - | - | - | - | - | - | - | 26.70 | - |
3043 | 333.3 | -11.0 | 186 | 3049 | roll | -1.19 | - | - | 2034 | - | 2.15 | 0.045 | 1086 | -659.5 | -194.6 | - | - | 3298 | - | - | - | - | - | - | - | - | - | 26.61 | - |
3158 | 345.2 | -11.5 | 191 | 3164 | done | -1.22 | 0.10 | 0.106 | 1996 | -380.0 | 2.22 | 0.044 | 2506 | 639.6 | -194.6 | - | - | 3297 | - | - | - | - | - | - | - | - | 26.60 | 26.62 | - |
3471 | 387.0 | -12.7 | 207 | 3478 | roll | -1.22 | - | - | 1996 | - | 2.17 | 0.072 | 3882 | 634.1 | -194.6 | -0.08 | - | 3319 | -275.0 | - | - | - | - | - | - | - | - | 26.47 | 25.93 |
3505 | 390.1 | -12.8 | 208 | 3510 | done | -1.22 | - | - | 1995 | - | 2.15 | 0.042 | 2490 | -647.4 | -194.6 | - | - | 3319 | - | - | - | - | - | - | - | - | - | 26.67 | - |
3818 | 430.9 | -11.7 | 224 | 3823 | roll | -1.22 | - | - | 1996 | - | 2.12 | 0.048 | 1082 | -664.2 | -194.6 | - | - | 3317 | - | - | - | - | - | - | - | - | - | 26.58 | - |
3870 | 435.9 | -11.9 | 226 | 3876 | done | -1.22 | - | - | 1996 | - | 2.25 | 0.046 | 2508 | 633.8 | -194.6 | - | - | 3317 | - | - | - | - | - | - | - | - | - | 26.57 | - |
4183 | 472.0 | -11.0 | 242 | 4189 | roll | -1.23 | - | - | 1995 | - | 2.22 | 0.049 | 1097 | -635.6 | -194.6 | - | - | 3315 | - | - | - | - | - | - | - | - | - | 26.56 | - |
4217 | 474.6 | -11.1 | 243 | 4222 | done | -1.24 | - | - | 1996 | - | 2.22 | 0.048 | 2504 | 633.8 | -194.6 | - | - | 3314 | - | - | - | - | - | - | - | - | - | 26.55 | - |
4532 | 507.9 | -9.9 | 259 | 4534 | done | -1.26 | - | - | 1995 | - | - | - | 2504 | - | -194.6 | - | - | 3312 | - | - | - | - | - | - | - | - | - | - | - |
4832 | 538.8 | -10.6 | 274 | 4838 | roll | -1.27 | - | - | 1996 | - | 2.22 | 0.049 | 1084 | -639.6 | -194.6 | - | - | 3310 | - | - | - | - | - | - | - | - | - | 26.54 | - |
4890 | 544.2 | -11.4 | 276 | 4897 | done | -1.29 | - | - | 1995 | - | 2.25 | 0.049 | 2508 | 632.9 | -194.6 | - | - | 3309 | - | - | - | - | - | - | - | - | - | 26.52 | - |
5196 | 577.8 | -10.4 | 292 | 5201 | roll | -1.31 | - | - | 1995 | - | 2.22 | 0.050 | 1091 | -638.3 | -194.6 | - | - | 3306 | - | - | - | - | - | - | - | - | - | 26.52 | - |
5253 | 582.8 | -11.2 | 294 | 5260 | done | -1.32 | - | - | 1995 | - | 2.25 | 0.048 | 2508 | 629.8 | -194.6 | - | - | 3306 | - | - | - | - | - | - | - | - | - | 26.51 | - |
5573 | 617.6 | -10.2 | 308 | 5574 | done | -1.34 | - | - | 1995 | - | - | - | 2508 | - | -194.6 | - | - | 3303 | - | - | - | - | - | - | - | - | - | - | - |
5870 | 649.9 | -10.3 | 318 | 5875 | roll | -1.36 | - | - | 1995 | - | 2.25 | 0.051 | 1096 | -627.6 | -194.6 | - | - | 3302 | - | - | - | - | - | - | - | - | - | 26.48 | - |
5893 | 649.9 | -10.3 | 318 | 5898 | done | -1.38 | - | - | 1995 | - | 2.25 | 0.050 | 2506 | 626.7 | -194.6 | - | - | 3301 | - | - | - | - | - | - | - | - | - | 26.48 | - |
6206 | 686.6 | -11.4 | 329 | 6212 | roll | -1.40 | 0.10 | 0.112 | 1954 | -410.0 | 2.22 | 0.049 | 1097 | -634.7 | -194.6 | - | - | 3300 | - | - | - | - | - | - | - | - | 26.93 | 26.48 | - |
6279 | 695.6 | -12.8 | 331 | 6286 | done | -1.40 | - | - | 1954 | - | 2.25 | 0.052 | 2500 | 623.6 | -194.6 | - | - | 3300 | - | - | - | - | - | - | - | - | - | 26.45 | - |
6603 | 743.2 | -13.7 | 342 | 6604 | done | -1.40 | - | - | 1954 | - | - | - | 2500 | - | -194.6 | - | - | 3297 | - | - | - | - | - | - | - | - | - | - | - |
6903 | 782.2 | -13.5 | 352 | 6904 | done | -1.40 | - | - | 1954 | - | - | - | 2500 | - | -194.6 | - | - | 3295 | - | - | - | - | - | - | - | - | - | - | - |
7204 | 822.7 | -13.3 | 362 | 7209 | roll | -1.40 | - | - | 1954 | - | 2.20 | 0.067 | 3889 | 631.4 | -194.6 | - | - | 3260 | - | - | - | - | - | - | - | - | - | 26.27 | - |
7231 | 822.7 | -13.3 | 362 | 7237 | done | -1.40 | - | - | 1954 | - | 2.20 | 0.047 | 2498 | -632.3 | -194.6 | - | - | 3293 | - | - | - | - | - | - | - | - | - | 26.53 | - |
7537 | 865.2 | -12.7 | 373 | 7538 | done | -1.40 | - | - | 1954 | - | - | - | 2498 | - | -194.6 | - | - | 3292 | - | - | - | - | - | - | - | - | - | - | - |
7837 | 901.5 | -11.9 | 383 | 7843 | roll | -1.40 | - | - | 1954 | - | 2.20 | 0.054 | 1092 | -639.1 | -194.6 | - | - | 3291 | - | - | - | - | - | - | - | - | - | 26.38 | - |
7889 | 905.4 | -11.7 | 384 | 7894 | done | -1.40 | - | - | 1954 | - | 2.25 | 0.053 | 2503 | 627.1 | -194.6 | - | - | 3291 | - | - | - | - | - | - | - | - | - | 26.37 | - |
8203 | 941.5 | -10.1 | 395 | 8208 | roll | -1.40 | - | - | 1954 | - | 2.28 | 0.054 | 1092 | -618.9 | -194.6 | - | - | 3289 | - | - | - | - | - | - | - | - | - | 26.36 | - |
8293 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8294 | begin apogee | ||||||||||||||||||||||||||||
8300 | 950.9 | -10.0 | 398 | 8478 | done | -0.22 | 0.82 | 0.113 | 2226 | 331.7 | - | - | 1715 | - | - | 157.73 | 1.248 | 2508 | -5.0 | 0.401 | - | - | - | - | 2 | - | 25.94 | - | 23.88 |
8479 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8479 | begin climb | ||||||||||||||||||||||||||||
8482 | 955.9 | - | 404 | 8658 | roll | 0.77 | 0.60 | 0.055 | 2453 | 378.3 | 2.40 | 0.053 | 3102 | 577.9 | 194.6 | 165.70 | 1.229 | 1706 | -4.8 | 0.400 | - | - | - | - | - | - | 25.23 | 24.20 | 23.07 |
8741 | 941.5 | 8.8 | 412 | 8775 | done | 0.77 | - | - | 2459 | - | 2.38 | 0.047 | 1691 | -592.9 | 241.9 | 28.40 | 1.163 | 1512 | -6.8 | 0.587 | - | - | - | - | - | - | - | 25.23 | 23.63 |
9082 | 908.7 | 9.2 | 424 | 9131 | roll | 0.79 | - | - | 2459 | - | 2.30 | 0.061 | 285 | -611.3 | 278.2 | 42.55 | 1.196 | 1374 | -3.2 | 0.262 | - | - | - | - | - | - | - | 25.53 | 24.38 |
9194 | 899.4 | 10.0 | 427 | 9214 | done | 0.79 | - | - | 2459 | - | 2.30 | 0.047 | 1695 | 613.0 | 292.0 | 12.90 | 1.082 | 1312 | -4.8 | 0.424 | - | - | - | - | - | - | - | 25.95 | 24.46 |
9537 | 860.6 | 11.0 | 439 | 9542 | roll | 0.79 | - | - | 2459 | - | 2.22 | 0.057 | 3111 | 637.8 | 292.0 | - | - | 1311 | - | - | - | - | - | - | - | - | - | 26.31 | - |
9588 | 856.6 | 11.3 | 440 | 9594 | done | 0.79 | - | - | 2467 | - | 2.25 | 0.050 | 1701 | -626.7 | 292.0 | - | - | 1306 | - | - | - | - | - | - | - | - | - | 26.36 | - |
9902 | 818.8 | 11.5 | 451 | 9903 | done | 0.79 | - | - | 2467 | - | - | - | 1701 | - | 292.0 | - | - | 1309 | - | - | - | - | - | - | - | - | - | - | - |
10201 | 785.0 | 10.8 | 461 | 10207 | roll | 0.79 | - | - | 2467 | - | 2.30 | 0.059 | 3111 | 613.0 | 292.0 | - | - | 1308 | - | - | - | - | - | - | - | - | - | 26.45 | - |
10243 | 781.4 | 10.8 | 462 | 10249 | done | 0.79 | 0.10 | 0.151 | 2444 | -230.0 | 2.28 | 0.053 | 1700 | -618.9 | 292.0 | - | - | 1300 | - | - | - | - | - | - | - | - | 26.38 | 26.47 | - |
10569 | 754.3 | 7.3 | 473 | 10650 | roll | 0.85 | - | - | 2444 | - | 2.45 | 0.058 | 3110 | 575.5 | 378.5 | 71.55 | 1.151 | 964 | -4.7 | 0.327 | - | - | - | - | - | - | - | 25.51 | 24.40 |
10669 | 748.0 | 6.9 | 476 | 10758 | done | 0.90 | 0.10 | 0.100 | 2488 | 440.0 | 2.35 | 0.051 | 1694 | -602.6 | 475.6 | 80.32 | 1.122 | 569 | -4.9 | 0.348 | - | - | - | - | - | - | 25.75 | 25.75 | 24.08 |
11081 | 699.4 | 12.3 | 490 | 11087 | roll | 0.92 | - | - | 2497 | - | 2.22 | 0.062 | 293 | -631.1 | 475.6 | - | - | 563 | - | - | - | - | - | - | - | - | - | 26.18 | - |
11139 | 695.2 | 12.3 | 491 | 11146 | done | 0.93 | - | - | 2496 | - | 2.28 | 0.047 | 1713 | 622.8 | 475.6 | - | - | 562 | - | - | - | - | - | - | - | - | - | 26.32 | - |
11445 | 649.3 | 14.8 | 502 | 11446 | done | 0.93 | - | - | 2497 | - | - | - | 1714 | - | 475.6 | - | - | 561 | - | - | - | - | - | - | - | - | - | - | - |
11745 | 606.7 | 13.9 | 512 | 11747 | done | 0.93 | - | - | 2496 | - | - | - | 1716 | - | 475.6 | - | - | 560 | - | - | - | - | - | - | - | - | - | - | - |
12046 | 563.3 | 14.9 | 526 | 12051 | roll | 0.93 | - | - | 2498 | - | 2.30 | 0.060 | 286 | -621.7 | 475.6 | - | - | 560 | - | - | - | - | - | - | - | - | - | 26.42 | - |
12110 | 553.9 | 14.8 | 529 | 12115 | done | 0.95 | - | - | 2498 | - | 2.25 | 0.047 | 1713 | 634.2 | 475.6 | - | - | 559 | - | - | - | - | - | - | - | - | - | 26.54 | - |
12433 | 502.0 | 16.1 | 545 | 12439 | roll | 0.96 | - | - | 2498 | - | 2.20 | 0.059 | 3118 | 638.6 | 475.6 | - | - | 559 | - | - | - | - | - | - | - | - | - | 26.43 | - |
12466 | 498.4 | 15.7 | 546 | 12471 | done | 0.97 | - | - | 2498 | - | 2.28 | 0.052 | 1690 | -626.3 | 475.6 | - | - | 558 | - | - | - | - | - | - | - | - | - | 26.48 | - |
12779 | 448.6 | 15.6 | 562 | 12785 | roll | 0.98 | - | - | 2499 | - | 2.22 | 0.063 | 286 | -632.4 | 475.6 | - | - | 557 | - | - | - | - | - | - | - | - | - | 26.40 | - |
12838 | 442.1 | 15.3 | 564 | 12845 | done | 1.00 | - | - | 2498 | - | 2.25 | 0.047 | 1712 | 633.8 | 475.6 | - | - | 557 | - | - | - | - | - | - | - | - | - | 26.54 | - |
13144 | 397.7 | 13.8 | 580 | 13149 | roll | 1.02 | - | - | 2498 | - | 2.17 | 0.058 | 3109 | 643.8 | 475.6 | - | - | 553 | - | - | - | - | - | - | - | - | - | 26.43 | - |
13181 | 394.5 | 13.7 | 581 | 13188 | done | 1.04 | - | - | 2498 | - | 2.28 | 0.051 | 1691 | -621.9 | 475.6 | - | - | 548 | - | - | - | - | - | - | - | - | - | 26.49 | - |
13487 | 352.2 | 13.3 | 597 | 13492 | roll | 1.05 | - | - | 2497 | - | 2.22 | 0.063 | 285 | -633.3 | 475.6 | - | - | 557 | - | - | - | - | - | - | - | - | - | 26.39 | - |
13566 | 344.0 | 13.4 | 600 | 13573 | done | 1.08 | - | - | 2498 | - | 2.22 | 0.046 | 1694 | 634.7 | 475.6 | - | - | 558 | - | - | - | - | - | - | - | - | - | 26.54 | - |
13871 | 303.0 | 12.5 | 616 | 13876 | roll | 1.10 | - | - | 2499 | - | 2.22 | 0.056 | 3112 | 638.7 | 475.6 | - | - | 557 | - | - | - | - | - | - | - | - | - | 26.42 | - |
13904 | 300.0 | 12.2 | 617 | 13909 | done | 1.12 | - | - | 2500 | - | 2.25 | 0.050 | 1692 | -631.1 | 475.6 | - | - | 551 | - | - | - | - | - | - | - | - | - | 26.48 | - |
14217 | 258.9 | 12.0 | 633 | 14223 | roll | 1.15 | 0.10 | 0.104 | 2551 | 510.0 | 2.22 | 0.058 | 281 | -635.6 | 475.6 | - | - | 556 | - | - | - | - | - | - | - | - | 26.91 | 26.38 | - |
14242 | 255.6 | 12.2 | 634 | 14249 | done | 1.17 | 0.10 | 0.133 | 2522 | -290.0 | 2.25 | 0.044 | 1714 | 636.9 | 475.6 | - | - | 556 | - | - | - | - | - | - | - | - | 26.44 | 26.54 | - |
14567 | 209.3 | 13.3 | 650 | 14572 | roll | 1.19 | - | - | 2522 | - | 2.17 | 0.055 | 3118 | 647.0 | 475.6 | - | - | 556 | - | - | - | - | - | - | - | - | - | 26.41 | - |
14610 | 203.4 | 13.4 | 652 | 14615 | done | 1.20 | - | - | 2525 | - | 2.28 | 0.049 | 1690 | -626.3 | 475.6 | - | - | 556 | - | - | - | - | - | - | - | - | - | 26.48 | - |
14934 | 164.5 | 11.6 | 668 | 14939 | roll | 1.22 | - | - | 2525 | - | 2.17 | 0.058 | 288 | -646.1 | 475.6 | - | - | 556 | - | - | - | - | - | - | - | - | - | 26.39 | - |
15012 | 157.8 | 10.7 | 671 | 15019 | done | 1.26 | 0.10 | 0.099 | 2576 | 510.0 | 2.20 | 0.041 | 1712 | 647.3 | 475.6 | - | - | 556 | - | - | - | - | - | - | - | - | 26.55 | 26.57 | - |
15317 | 112.0 | 13.1 | 687 | 15323 | roll | 1.26 | 0.12 | 0.122 | 2531 | -375.0 | 2.15 | 0.049 | 3101 | 646.0 | 475.6 | - | - | 556 | - | - | - | - | - | - | - | - | 26.73 | 26.44 | - |
15345 | 109.5 | 12.1 | 688 | 15350 | done | 1.28 | - | - | 2532 | - | 2.20 | 0.045 | 1690 | -641.4 | 475.6 | - | - | 556 | - | - | - | - | - | - | - | - | - | 26.51 | - |
15664 | 87.9 | 6.9 | 704 | 15732 | roll | 1.41 | 0.12 | 0.096 | 2595 | 525.0 | 2.22 | 0.055 | 293 | -629.3 | 573.1 | 60.17 | 0.611 | 243 | -5.2 | 0.079 | - | - | - | - | - | - | 26.85 | 26.08 | 25.24 |
15765 | 77.1 | 10.9 | 709 | 15772 | done | 1.46 | - | - | 2595 | - | 2.20 | 0.038 | 1693 | 636.4 | 573.1 | - | - | 243 | - | - | - | - | - | - | - | - | - | 26.17 | - |
16080 | 43.8 | 11.3 | 727 | 16085 | roll | 1.51 | - | - | 2595 | - | 2.22 | 0.054 | 293 | -630.6 | 573.1 | - | - | 243 | - | - | - | - | - | - | - | - | - | 26.28 | - |
16124 | 38.6 | 12.1 | 731 | 16129 | done | 1.56 | - | - | 2595 | - | 2.17 | 0.037 | 1710 | 653.0 | 573.1 | - | - | 241 | - | - | - | - | - | - | - | - | - | 26.46 | - |
16435 | 4.6 | 10.8 | 780 | 16442 | roll | 1.62 | 0.12 | 0.084 | 2666 | 591.7 | 2.25 | 0.052 | 287 | -632.4 | 573.1 | - | - | 241 | - | - | - | - | - | - | - | - | 26.74 | 26.39 | - |
16452 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16452 | begin surface coast | ||||||||||||||||||||||||||||
16485 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16485 | begin surface | ||||||||||||||||||||||||||||
SM | 2.35 | - | - | - | - | -10.19 | 6.97 | 0.049 | 44 | -376.2 | 3.45 | 0.038 | 2488 | 638.0 | 556.59 | - | - | 240 | - | - | - | - | - | - | - | - |