• Previous call tries 1 | • 86.56 of 150.00 AH used of 24V (42.29% remains) | |
• Previous NAKs 0, Timeouts 0 | • 45.97 of 100.00 AH used of 10V (54.03% remains) | |
• Surface angle -65.9 deg, depth 2.68 m | • Intended pitch -24.8 deg, speed -13.043 cm/s | |
• No surface pump (final VBD was 568.61, SM_CC=475) | ||
• GPS1 time: 37 s | ||
• GPS2 time: 12 s, HDOP was 3.5 m | • Transponder ping count: 4 | |
• 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 | |||||
12 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
13 | begin dive | ||||||||||||||||||||||||||||
16 | - | - | - | 60 | VBD | -1.49 | - | - | 140 | - | - | - | 2417 | - | -121.7 | -41.70 | - | 2280 | - | - | - | - | - | - | - | - | - | - | - |
65 | 3.1 | -1.4 | 8 | 137 | roll | -1.49 | 8.02 | 0.237 | 2062 | 239.7 | 2.20 | 0.036 | 968 | -658.6 | -121.7 | -57.80 | - | 3989 | -29.6 | - | - | - | - | - | - | - | - | - | - |
161 | 11.6 | -18.7 | 25 | 168 | done | -0.99 | 0.60 | 0.168 | 2221 | 265.0 | 2.12 | 0.026 | 2395 | 673.1 | -121.7 | - | - | 3990 | - | - | - | - | - | - | - | - | - | - | - |
507 | 56.7 | -12.8 | 86 | 513 | roll | -0.99 | - | - | 2212 | - | 2.08 | 0.041 | 3757 | 654.8 | -121.7 | - | - | 3991 | - | - | - | - | - | - | - | - | - | - | - |
582 | 67.4 | -14.4 | 99 | 589 | done | -0.91 | 0.15 | 0.163 | 2251 | 260.0 | 1.98 | 0.021 | 2348 | -711.6 | -121.7 | - | - | 3991 | - | - | - | - | - | - | - | - | - | - | - |
928 | 104.8 | -10.9 | 160 | 935 | roll | -1.27 | 0.28 | 0.054 | 2130 | -432.1 | 1.90 | 0.022 | 1017 | -700.5 | -121.7 | - | - | 3992 | - | - | - | - | - | - | - | - | - | - | - |
966 | 109.0 | -11.9 | 166 | 973 | done | -1.09 | 0.25 | 0.162 | 2192 | 248.0 | 2.03 | 0.026 | 2396 | 679.3 | -121.7 | - | - | 3992 | - | - | - | - | - | - | - | - | - | - | - |
1312 | 148.6 | -11.7 | 227 | 1318 | done | -1.26 | 0.17 | 0.065 | 2120 | -423.5 | - | - | 2398 | - | -121.7 | - | - | 3994 | - | - | - | - | - | - | - | - | - | - | - |
1658 | 189.5 | -10.2 | 288 | 1664 | done | -1.12 | 0.20 | 0.160 | 2179 | 295.0 | - | - | 2398 | - | -121.7 | - | - | 3995 | - | - | - | - | - | - | - | - | - | - | - |
2003 | 220.5 | -10.8 | 349 | 2010 | roll | -1.28 | 0.15 | 0.071 | 2111 | -453.3 | 2.05 | 0.041 | 3748 | 658.5 | -121.7 | - | - | 3996 | - | - | - | - | - | - | - | - | - | - | - |
2042 | 225.1 | -13.8 | 355 | 2049 | done | -1.05 | 0.35 | 0.163 | 2207 | 274.3 | 1.92 | 0.020 | 2362 | -721.9 | -121.7 | - | - | 3995 | - | - | - | - | - | - | - | - | - | - | - |
2388 | 263.3 | -9.4 | 416 | 2394 | done | -1.34 | 0.22 | 0.060 | 2109 | -445.5 | - | - | 2362 | - | -121.7 | - | - | 3996 | - | - | - | - | - | - | - | - | - | - | - |
2733 | 301.3 | -11.4 | 476 | 2737 | roll | -1.22 | 0.15 | 0.163 | 2139 | 200.0 | 2.12 | 0.040 | 3747 | 653.3 | -121.7 | - | - | 3996 | - | - | - | - | - | - | - | - | - | - | - |
2778 | 306.9 | -11.6 | 479 | 2784 | done | -1.08 | 0.20 | 0.163 | 2192 | 265.0 | 1.90 | 0.020 | 2378 | -720.5 | -121.7 | - | - | 3996 | - | - | - | - | - | - | - | - | - | - | - |
3104 | 339.9 | -10.0 | 510 | 3106 | done | -1.36 | 0.25 | 0.059 | 2092 | -400.0 | - | - | 2378 | - | -121.7 | - | - | 3996 | - | - | - | - | - | - | - | - | - | - | - |
3422 | 377.7 | -11.7 | 540 | 3427 | roll | -1.20 | 0.20 | 0.163 | 2143 | 255.0 | 2.12 | 0.040 | 3761 | 652.4 | -121.7 | - | - | 3996 | - | - | - | - | - | - | - | - | - | - | - |
3519 | 388.3 | -10.3 | 548 | 3523 | done | -1.20 | - | - | 2142 | - | 1.90 | 0.021 | 2389 | -722.1 | -121.7 | - | - | 3996 | - | - | - | - | - | - | - | - | - | - | - |
3851 | 421.0 | -9.7 | 579 | 3855 | roll | -1.29 | - | - | 2143 | - | 1.95 | 0.025 | 1021 | -701.5 | -121.7 | - | - | 3996 | - | - | - | - | - | - | - | - | - | - | - |
3955 | 431.7 | -10.5 | 588 | 3958 | done | -1.29 | - | - | 2139 | - | 1.98 | 0.027 | 2364 | 678.3 | -121.7 | - | - | 3996 | - | - | - | - | - | - | - | - | - | - | - |
4286 | 465.0 | -10.4 | 619 | 4290 | roll | -1.36 | - | - | 2137 | - | 2.12 | 0.044 | 3758 | 657.5 | -121.7 | - | - | 3995 | - | - | - | - | - | - | - | - | - | - | - |
4315 | 468.0 | -10.4 | 621 | 4322 | done | -1.36 | - | - | 2137 | - | 1.98 | 0.021 | 2344 | -714.1 | -121.7 | - | - | 3995 | - | - | - | - | - | - | - | - | - | - | - |
4641 | 499.4 | -9.9 | 652 | 4647 | roll | -1.50 | 0.20 | 0.065 | 2049 | -440.0 | 1.90 | 0.023 | 1014 | -700.0 | -121.7 | - | - | 3994 | - | - | - | - | - | - | - | - | - | - | - |
4668 | 502.1 | -10.9 | 654 | 4673 | done | -1.41 | 0.17 | 0.181 | 2086 | 217.6 | 2.03 | 0.028 | 2379 | 672.4 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
5004 | 542.3 | -11.5 | 670 | 5009 | roll | -1.29 | 0.15 | 0.175 | 2125 | 260.0 | 2.10 | 0.043 | 3748 | 651.9 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
5107 | 554.1 | -10.0 | 674 | 5113 | done | -1.17 | 0.15 | 0.169 | 2162 | 246.7 | 1.92 | 0.021 | 2384 | -710.4 | -121.7 | - | - | 3992 | - | - | - | - | - | - | - | - | - | - | - |
5423 | 581.5 | -8.3 | 690 | 5428 | roll | -1.38 | 0.17 | 0.070 | 2086 | -447.1 | 1.98 | 0.023 | 1013 | -692.4 | -121.7 | - | - | 3991 | - | - | - | - | - | - | - | - | - | - | - |
5486 | 588.2 | -11.3 | 692 | 5493 | done | -1.21 | 0.25 | 0.164 | 2151 | 260.0 | 2.03 | 0.029 | 2372 | 669.5 | -121.7 | - | - | 3990 | - | - | - | - | - | - | - | - | - | - | - |
5803 | 620.4 | -10.1 | 708 | 5805 | done | -1.41 | 0.17 | 0.073 | 2084 | -394.1 | - | - | 2373 | - | -121.7 | - | - | 3988 | - | - | - | - | - | - | - | - | - | - | - |
6112 | 653.6 | -10.1 | 723 | 6115 | roll | -1.41 | - | - | 2084 | - | 1.98 | 0.024 | 1014 | -686.4 | -121.7 | - | - | 3986 | - | - | - | - | - | - | - | - | - | - | - |
6160 | 658.5 | -11.4 | 725 | 6164 | done | -1.25 | 0.22 | 0.166 | 2141 | 259.1 | 2.03 | 0.030 | 2364 | 665.0 | -121.7 | - | - | 3985 | - | - | - | - | - | - | - | - | - | - | - |
6489 | 688.0 | -9.2 | 741 | 6494 | roll | -1.42 | 0.15 | 0.077 | 2082 | -393.3 | 1.98 | 0.024 | 1020 | -678.8 | -121.7 | - | - | 3982 | - | - | - | - | - | - | - | - | - | - | - |
6542 | 694.0 | -11.5 | 743 | 6546 | done | -1.26 | 0.22 | 0.168 | 2140 | 263.6 | 1.95 | 0.030 | 2319 | 666.2 | -121.7 | - | - | 3982 | - | - | - | - | - | - | - | - | - | - | - |
6871 | 727.5 | -10.7 | 759 | 6876 | roll | -1.44 | 0.17 | 0.074 | 2065 | -441.2 | 1.92 | 0.024 | 1010 | -681.8 | -121.7 | - | - | 3980 | - | - | - | - | - | - | - | - | - | - | - |
6912 | 732.7 | -12.5 | 760 | 6919 | done | -1.27 | 0.28 | 0.170 | 2131 | 235.7 | 1.98 | 0.028 | 2330 | 666.7 | -121.7 | - | - | 3979 | - | - | - | - | - | - | - | - | - | - | - |
7232 | 766.2 | -10.0 | 776 | 7236 | roll | -1.44 | 0.15 | 0.078 | 2071 | -400.0 | 2.22 | 0.047 | 3760 | 644.1 | -121.7 | - | - | 3977 | - | - | - | - | - | - | - | - | - | - | - |
7282 | 772.8 | -12.7 | 778 | 7287 | done | -1.19 | 0.32 | 0.170 | 2159 | 275.0 | 2.08 | 0.022 | 2313 | -695.7 | -121.7 | - | - | 3977 | - | - | - | - | - | - | - | - | - | - | - |
7604 | 801.7 | -9.1 | 793 | 7606 | done | -1.46 | 0.25 | 0.066 | 2065 | -376.0 | - | - | 2313 | - | -121.7 | - | - | 3975 | - | - | - | - | - | - | - | - | - | - | - |
7908 | 835.8 | -11.2 | 808 | 7913 | roll | -1.39 | 0.12 | 0.179 | 2085 | 166.7 | 2.28 | 0.046 | 3754 | 632.0 | -121.7 | - | - | 3973 | - | - | - | - | - | - | - | - | - | - | - |
7950 | 840.5 | -12.4 | 810 | 7955 | done | -1.20 | 0.28 | 0.171 | 2159 | 264.3 | 2.08 | 0.023 | 2314 | -692.3 | -121.7 | - | - | 3972 | - | - | - | - | - | - | - | - | - | - | - |
8280 | 868.8 | -8.0 | 826 | 8284 | roll | -1.46 | 0.20 | 0.073 | 2076 | -415.0 | 1.90 | 0.025 | 1007 | -687.9 | -121.7 | - | - | 3971 | - | - | - | - | - | - | - | - | - | - | - |
8327 | 873.4 | -10.1 | 828 | 8331 | done | -1.31 | 0.17 | 0.173 | 2116 | 235.3 | 1.98 | 0.031 | 2290 | 648.0 | -121.7 | - | - | 3971 | - | - | - | - | - | - | - | - | - | - | - |
8662 | 901.7 | -7.9 | 844 | 8666 | roll | -1.43 | - | - | 2111 | - | 2.30 | 0.049 | 3761 | 639.6 | -121.7 | - | - | 3968 | - | - | - | - | - | - | - | - | - | - | - |
8692 | 904.6 | -9.8 | 845 | 8695 | done | -1.43 | - | - | 2111 | - | 2.12 | 0.023 | 2291 | -693.4 | -121.7 | - | - | 3968 | - | - | - | - | - | - | - | - | - | - | - |
9014 | 933.3 | -8.7 | 861 | 9018 | roll | -1.43 | - | - | 2110 | - | 2.35 | 0.051 | 3757 | 623.8 | -121.7 | - | - | 3967 | - | - | - | - | - | - | - | - | - | - | - |
9077 | 939.4 | -11.1 | 864 | 9081 | done | -1.34 | - | - | 2110 | - | 2.10 | 0.024 | 2304 | -691.9 | -121.7 | - | - | 3967 | - | - | - | - | - | - | - | - | - | - | - |
9138 | end dive: HALF_MISSION_TIME_EXCEEDED | ||||||||||||||||||||||||||||
9139 | begin apogee | ||||||||||||||||||||||||||||
9147 | 945.7 | 9.6 | 867 | 9251 | done | -0.27 | 1.20 | 0.165 | 2455 | 287.5 | - | - | 2364 | - | - | 94.70 | 1.362 | 3532 | -4.6 | 0.336 | - | - | - | - | - | - | - | - | - |
9251 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9251 | begin climb | ||||||||||||||||||||||||||||
9255 | 951.4 | - | 872 | 9366 | roll | 1.49 | 1.60 | 0.066 | 3020 | 353.1 | 2.33 | 0.048 | 3760 | 599.1 | 121.7 | 104.47 | 1.343 | 3034 | -4.8 | 0.356 | - | - | - | - | - | - | - | - | - |
9420 | 953.3 | 8.4 | 880 | 9481 | done | 0.68 | 1.05 | 0.217 | 2769 | -239.0 | 2.05 | 0.022 | 2388 | -669.3 | 187.0 | 55.08 | 1.317 | 2769 | -4.8 | 0.367 | - | - | - | - | - | - | - | - | - |
9804 | 925.9 | 6.6 | 899 | 9887 | roll | 0.88 | 0.17 | 0.080 | 2841 | 423.5 | 2.17 | 0.028 | 989 | -644.7 | 277.4 | 75.50 | 1.319 | 2401 | -4.9 | 0.360 | - | - | - | - | - | - | - | - | - |
10047 | 901.6 | 9.7 | 910 | 10092 | done | 0.93 | - | - | 2842 | - | 2.22 | 0.031 | 2430 | 649.1 | 323.7 | 39.83 | 1.285 | 2212 | -4.7 | 0.351 | - | - | - | - | - | - | - | - | - |
10423 | 857.6 | 12.0 | 928 | 10447 | roll | 0.95 | - | - | 2842 | - | 2.12 | 0.051 | 3757 | 625.9 | 338.3 | 14.88 | 1.059 | 2153 | -4.0 | 0.338 | - | - | - | - | - | - | - | - | - |
10548 | 840.7 | 12.8 | 933 | 10560 | done | 0.88 | - | - | 2841 | - | 1.92 | 0.023 | 2461 | -675.0 | 341.2 | 4.00 | 0.807 | 2141 | -3.0 | 0.329 | - | - | - | - | - | - | - | - | - |
10870 | 799.7 | 12.6 | 949 | 10884 | roll | 0.89 | - | - | 2842 | - | 2.28 | 0.031 | 990 | -645.2 | 347.8 | 7.62 | 1.088 | 2113 | -3.7 | 0.284 | - | - | - | - | - | - | - | - | - |
10931 | 791.7 | 12.9 | 951 | 10937 | done | 0.96 | - | - | 2841 | - | 2.25 | 0.031 | 2454 | 650.7 | 349.2 | - | - | 2112 | - | - | - | - | - | - | - | - | - | - | - |
11248 | 752.3 | 12.2 | 967 | 11266 | done | 0.97 | - | - | 2841 | - | - | - | 2455 | - | 361.4 | 13.00 | 1.178 | 2058 | -4.2 | 0.279 | - | - | - | - | - | - | - | - | - |
11578 | 708.8 | 13.4 | 983 | 11582 | roll | 1.02 | - | - | 2841 | - | 2.05 | 0.050 | 3764 | 638.5 | 361.4 | - | - | 2055 | - | - | - | - | - | - | - | - | - | - | - |
11624 | 701.9 | 14.2 | 985 | 11628 | done | 1.02 | - | - | 2841 | - | 1.92 | 0.024 | 2460 | -679.2 | 361.4 | - | - | 2054 | - | - | - | - | - | - | - | - | - | - | - |
11957 | 662.7 | 10.4 | 1001 | 11999 | roll | 1.22 | 0.22 | 0.074 | 2933 | 418.2 | 2.15 | 0.048 | 3750 | 600.0 | 398.3 | 32.25 | 1.191 | 1907 | -4.6 | 0.267 | - | - | - | - | - | - | - | - | - |
12067 | 646.2 | 16.4 | 1005 | 12073 | done | 0.97 | 0.32 | 0.186 | 2857 | -237.5 | 1.88 | 0.024 | 2495 | -667.6 | 398.3 | - | - | 1904 | - | - | - | - | - | - | - | - | - | - | - |
12383 | 603.4 | 13.6 | 1021 | 12388 | roll | 1.19 | 0.17 | 0.079 | 2931 | 435.3 | 2.00 | 0.049 | 3750 | 627.5 | 398.3 | - | - | 1901 | - | - | - | - | - | - | - | - | - | - | - |
12431 | 595.5 | 19.4 | 1023 | 12435 | done | 0.94 | 0.32 | 0.180 | 2852 | -246.9 | 1.80 | 0.025 | 2513 | -687.2 | 398.3 | - | - | 1901 | - | - | - | - | - | - | - | - | - | - | - |
12764 | 552.0 | 11.5 | 1039 | 12789 | roll | 1.23 | 0.22 | 0.071 | 2945 | 422.7 | 2.03 | 0.051 | 3746 | 607.4 | 419.5 | 18.80 | 1.095 | 1820 | -4.3 | 0.229 | - | - | - | - | - | - | - | - | - |
12908 | 529.5 | 15.7 | 1045 | 12912 | done | 1.01 | 0.32 | 0.183 | 2868 | -240.6 | 1.88 | 0.024 | 2463 | -682.4 | 419.5 | - | - | 1816 | - | - | - | - | - | - | - | - | - | - | - |
13231 | 495.4 | 10.3 | 1063 | 13273 | roll | 1.33 | 0.25 | 0.069 | 2980 | 448.0 | 2.30 | 0.029 | 992 | -639.6 | 457.3 | 33.17 | 1.071 | 1665 | -4.6 | 0.222 | - | - | - | - | - | - | - | - | - |
13381 | 472.7 | 16.3 | 1076 | 13387 | done | 1.18 | 0.22 | 0.186 | 2924 | -254.5 | 2.22 | 0.031 | 2432 | 648.6 | 457.3 | - | - | 1660 | - | - | - | - | - | - | - | - | - | - | - |
13706 | 426.8 | 13.9 | 1107 | 13711 | roll | 1.36 | 0.17 | 0.071 | 3002 | 458.8 | 2.20 | 0.029 | 982 | -659.1 | 457.3 | - | - | 1658 | - | - | - | - | - | - | - | - | - | - | - |
13826 | 406.7 | 16.4 | 1117 | 13831 | done | 1.16 | 0.32 | 0.190 | 2919 | -259.4 | 2.33 | 0.032 | 2497 | 650.2 | 457.3 | - | - | 1658 | - | - | - | - | - | - | - | - | - | - | - |
14153 | 365.9 | 11.2 | 1147 | 14180 | roll | 1.39 | 0.20 | 0.067 | 3000 | 405.0 | 1.98 | 0.048 | 3762 | 638.9 | 482.9 | 21.10 | 0.961 | 1563 | -4.5 | 0.180 | - | - | - | - | - | - | - | - | - |
14250 | 351.9 | 15.9 | 1155 | 14255 | done | 1.14 | 0.35 | 0.180 | 2917 | -237.1 | 2.00 | 0.024 | 2422 | -670.0 | 482.9 | - | - | 1560 | - | - | - | - | - | - | - | - | - | - | - |
14576 | 313.8 | 12.6 | 1185 | 14589 | roll | 1.43 | 0.22 | 0.067 | 3010 | 422.7 | 2.12 | 0.048 | 3764 | 633.0 | 488.6 | 5.65 | 0.753 | 1541 | -3.4 | 0.148 | - | - | - | - | - | - | - | - | - |
14595 | 310.9 | 13.6 | 1186 | 14601 | done | 1.57 | - | - | 3020 | - | 2.12 | 0.023 | 2304 | -688.7 | 488.6 | - | - | 1540 | - | - | - | - | - | - | - | - | - | - | - |
14937 | 253.4 | 14.7 | 1241 | 14943 | roll | 1.38 | 0.12 | 0.185 | 2999 | -175.0 | 1.92 | 0.028 | 979 | -690.1 | 488.6 | - | - | 1540 | - | - | - | - | - | - | - | - | - | - | - |
15012 | 242.9 | 13.6 | 1254 | 15019 | done | 1.26 | 0.20 | 0.181 | 2949 | -250.0 | 2.05 | 0.029 | 2339 | 663.4 | 488.6 | - | - | 1539 | - | - | - | - | - | - | - | - | - | - | - |
15361 | 199.0 | 13.0 | 1315 | 15368 | roll | 1.45 | 0.17 | 0.071 | 3031 | 482.4 | 2.03 | 0.028 | 982 | -668.5 | 489.8 | - | - | 1538 | - | - | - | - | - | - | - | - | - | - | - |
15473 | 181.2 | 16.7 | 1334 | 15480 | done | 1.28 | 0.28 | 0.178 | 2960 | -253.6 | 2.12 | 0.030 | 2399 | 668.4 | 489.8 | - | - | 1538 | - | - | - | - | - | - | - | - | - | - | - |
15821 | 136.9 | 11.1 | 1395 | 15855 | roll | 1.52 | 0.17 | 0.074 | 3032 | 423.5 | 2.15 | 0.045 | 3754 | 630.2 | 516.8 | 25.42 | 0.759 | 1424 | -4.5 | 0.085 | - | - | - | - | - | - | - | - | - |
15963 | 115.8 | 14.1 | 1420 | 15970 | done | 1.40 | 0.15 | 0.190 | 2997 | -233.3 | 2.10 | 0.022 | 2305 | -690.0 | 516.8 | - | - | 1422 | - | - | - | - | - | - | - | - | - | - | - |
16309 | 76.4 | 11.2 | 1481 | 16338 | roll | 1.69 | 0.22 | 0.067 | 3093 | 436.4 | 2.28 | 0.042 | 3746 | 632.0 | 543.1 | 22.50 | 0.690 | 1316 | -4.7 | 0.055 | - | - | - | - | - | - | - | - | - |
16386 | 65.0 | 15.5 | 1494 | 16393 | done | 1.45 | 0.32 | 0.186 | 3016 | -240.6 | 2.15 | 0.021 | 2266 | -688.4 | 543.1 | - | - | 1314 | - | - | - | - | - | - | - | - | - | - | - |
16733 | 22.4 | 11.3 | 1555 | 16762 | roll | 1.68 | 0.17 | 0.072 | 3093 | 452.9 | 2.35 | 0.043 | 3757 | 634.5 | 567.5 | 21.15 | 0.627 | 1217 | -4.6 | 0.017 | - | - | - | - | - | - | - | - | - |
16825 | 8.3 | 15.2 | 1571 | 16832 | done | 1.50 | 0.28 | 0.184 | 3030 | -225.0 | 2.08 | 0.021 | 2321 | -690.4 | 567.5 | - | - | 1215 | - | - | - | - | - | - | - | - | - | - | - |
16864 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16864 | begin surface coast | ||||||||||||||||||||||||||||
16888 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16888 | begin surface | ||||||||||||||||||||||||||||
SM | 2.71 | - | - | - | - | -7.50 | 7.70 | 0.048 | 141 | -375.2 | - | - | 2397 | - | 568.61 | - | - | 1214 | - | - | - | - | - | - | - | - |