• Previous call tries 1 | • 61.16 of 150.00 AH used of 24V (59.23% remains) | |
• Previous NAKs 0, Timeouts 0 | • 59.93 of 108.00 AH used of 10V (44.51% remains) | |
• Surface angle -71.8 deg, depth 2.53 m | • Intended pitch -15.8 deg, speed -8.049 cm/s | |
• VBD pumped to 350.04 (SM_CC=350) | ||
• GPS1 time: 70 s | ||
• GPS2 time: 27 s | • Transponder ping count: 0 | |
• 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 | |||||
20 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
20 | begin dive | ||||||||||||||||||||||||||||
24 | - | - | - | 77 | VBD | -1.11 | - | - | 339 | - | - | - | 2309 | - | -107.1 | -46.28 | - | 2744 | - | - | - | - | - | - | - | - | - | - | - |
83 | 3.1 | -1.9 | 8 | 127 | roll | -1.11 | 10.15 | 0.230 | 2846 | 247.0 | 2.25 | 0.046 | 902 | -625.3 | -107.1 | -21.25 | - | 3451 | -33.3 | - | - | - | - | - | - | - | 25.12 | 25.95 | 26.43 |
140 | 6.7 | -7.2 | 15 | 152 | done | -1.11 | - | - | 2839 | - | 2.20 | 0.032 | 2314 | 641.8 | -107.1 | - | - | 3454 | - | - | - | - | - | - | - | - | - | 25.96 | - |
468 | 65.6 | -18.2 | 52 | 479 | roll | -1.11 | - | - | 2829 | - | 1.90 | 0.044 | 3589 | 671.1 | -107.1 | - | - | 3456 | - | - | - | - | - | - | - | - | - | 25.96 | - |
711 | 103.0 | -14.7 | 63 | 722 | done | -1.11 | - | - | 2834 | - | 1.83 | 0.025 | 2293 | -708.2 | -107.1 | - | - | 3457 | - | - | - | - | - | - | - | - | - | 26.31 | - |
1031 | 144.5 | -11.3 | 79 | 1042 | roll | -1.11 | - | - | 2837 | - | 2.10 | 0.031 | 912 | -657.6 | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | 26.20 | - |
1077 | 148.0 | -11.2 | 80 | 1089 | done | -1.11 | - | - | 2830 | - | 2.15 | 0.031 | 2312 | 651.2 | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | 26.22 | - |
1383 | 184.8 | -11.9 | 96 | 1393 | done | -1.11 | - | - | 2830 | - | - | - | 2312 | - | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | - | - |
1683 | 219.6 | -11.7 | 111 | 1694 | roll | -1.11 | - | - | 2830 | - | 2.15 | 0.031 | 909 | -652.6 | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | 26.25 | - |
1748 | 225.7 | -11.7 | 113 | 1760 | done | -1.11 | - | - | 2823 | - | 2.15 | 0.031 | 2302 | 647.9 | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | 26.25 | - |
2053 | 262.4 | -11.5 | 129 | 2063 | done | -1.11 | - | - | 2823 | - | - | - | 2301 | - | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | - | - |
2353 | 297.1 | -11.7 | 144 | 2363 | done | -1.11 | - | - | 2823 | - | - | - | 2301 | - | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | - | - |
2653 | 331.0 | -10.6 | 159 | 2664 | roll | -1.11 | - | - | 2823 | - | 2.12 | 0.030 | 909 | -656.6 | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | 26.27 | - |
2685 | 334.4 | -10.6 | 160 | 2697 | done | -1.11 | - | - | 2814 | - | 2.15 | 0.032 | 2302 | 647.9 | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | 26.27 | - |
3018 | 371.4 | -10.9 | 176 | 3029 | roll | -1.11 | - | - | 2805 | - | 1.90 | 0.044 | 3586 | 675.8 | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | 26.10 | - |
3053 | 374.9 | -11.0 | 177 | 3064 | done | -1.11 | 0.15 | 0.171 | 2842 | 246.7 | 1.80 | 0.026 | 2299 | -715.0 | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | 25.84 | 26.43 | - |
3380 | 409.3 | -10.4 | 193 | 3391 | roll | -1.11 | - | - | 2845 | - | 2.10 | 0.031 | 909 | -661.9 | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | 26.25 | - |
3414 | 412.7 | -10.5 | 194 | 3425 | done | -1.11 | - | - | 2838 | - | 2.15 | 0.031 | 2308 | 650.7 | -107.1 | - | - | 3458 | - | - | - | - | - | - | - | - | - | 26.27 | - |
3740 | 445.8 | -9.8 | 210 | 3751 | roll | -1.11 | - | - | 2828 | - | 1.90 | 0.044 | 3591 | 675.3 | -107.1 | - | - | 3456 | - | - | - | - | - | - | - | - | - | 26.08 | - |
3794 | 451.0 | -10.1 | 212 | 3805 | done | -1.11 | - | - | 2828 | - | 1.85 | 0.026 | 2282 | -707.6 | -107.1 | - | - | 3456 | - | - | - | - | - | - | - | - | - | 26.43 | - |
4120 | 486.9 | -11.0 | 228 | 4131 | roll | -1.11 | - | - | 2830 | - | 2.08 | 0.031 | 911 | -659.1 | -107.1 | - | - | 3456 | - | - | - | - | - | - | - | - | - | 26.25 | - |
4240 | 499.3 | -11.0 | 233 | 4251 | done | -1.11 | - | - | 2823 | - | 2.15 | 0.031 | 2308 | 649.8 | -107.1 | - | - | 3456 | - | - | - | - | - | - | - | - | - | 26.25 | - |
4560 | 533.3 | -10.1 | 249 | 4571 | roll | -1.11 | - | - | 2813 | - | 1.90 | 0.044 | 3589 | 674.2 | -107.1 | - | - | 3456 | - | - | - | - | - | - | - | - | - | 26.07 | - |
4586 | 533.3 | -10.1 | 249 | 4597 | done | -1.11 | - | - | 2813 | - | 1.83 | 0.026 | 2288 | -710.9 | -107.1 | - | - | 3456 | - | - | - | - | - | - | - | - | - | 26.42 | - |
4891 | 566.0 | -9.9 | 265 | 4902 | roll | -1.11 | - | - | 2813 | - | 2.08 | 0.031 | 916 | -659.6 | -107.1 | - | - | 3455 | - | - | - | - | - | - | - | - | - | 26.23 | - |
4926 | 569.0 | -9.9 | 266 | 4938 | done | -1.11 | 0.15 | 0.171 | 2842 | 193.3 | 2.15 | 0.032 | 2310 | 648.4 | -107.1 | - | - | 3455 | - | - | - | - | - | - | - | - | 25.73 | 26.24 | - |
5252 | 597.2 | -8.6 | 282 | 5263 | roll | -1.11 | - | - | 2835 | - | 1.90 | 0.044 | 3590 | 673.7 | -107.1 | - | - | 3455 | - | - | - | - | - | - | - | - | - | 26.05 | - |
5285 | 600.1 | -8.6 | 283 | 5296 | done | -1.11 | - | - | 2836 | - | 1.83 | 0.026 | 2296 | -707.1 | -107.1 | - | - | 3455 | - | - | - | - | - | - | - | - | - | 26.41 | - |
5605 | 630.6 | -9.9 | 294 | 5615 | done | -1.11 | - | - | 2835 | - | - | - | 2297 | - | -107.1 | - | - | 3454 | - | - | - | - | - | - | - | - | - | - | - |
5906 | 660.9 | -10.0 | 304 | 5917 | roll | -1.11 | - | - | 2828 | - | 1.95 | 0.044 | 3587 | 661.5 | -107.1 | - | - | 3454 | - | - | - | - | - | - | - | - | - | 26.05 | - |
5982 | 668.4 | -10.3 | 306 | 5993 | done | -1.11 | - | - | 2828 | - | 1.83 | 0.027 | 2294 | -706.6 | -107.1 | - | - | 3454 | - | - | - | - | - | - | - | - | - | 26.40 | - |
6317 | 702.2 | -9.9 | 317 | 6328 | roll | -1.11 | - | - | 2827 | - | 2.12 | 0.031 | 905 | -655.2 | -107.1 | - | - | 3453 | - | - | - | - | - | - | - | - | - | 26.22 | - |
6433 | 712.2 | -9.8 | 320 | 6444 | done | -1.11 | - | - | 2820 | - | 2.17 | 0.032 | 2311 | 647.9 | -107.1 | - | - | 3453 | - | - | - | - | - | - | - | - | - | 26.22 | - |
6758 | 745.0 | -9.5 | 331 | 6769 | roll | -1.11 | - | - | 2819 | - | 2.17 | 0.031 | 904 | -648.4 | -107.1 | - | - | 3452 | - | - | - | - | - | - | - | - | - | 26.21 | - |
6817 | 748.7 | -9.3 | 332 | 6829 | done | -1.11 | 0.12 | 0.174 | 2841 | 183.3 | 2.17 | 0.033 | 2307 | 646.5 | -107.1 | - | - | 3452 | - | - | - | - | - | - | - | - | 25.78 | 26.20 | - |
7139 | 775.6 | -7.9 | 343 | 7150 | roll | -1.11 | - | - | 2842 | - | 2.17 | 0.031 | 902 | -647.5 | -107.1 | - | - | 3452 | - | - | - | - | - | - | - | - | - | 26.20 | - |
7215 | 781.2 | -8.0 | 345 | 7226 | done | -1.11 | - | - | 2835 | - | 2.17 | 0.034 | 2304 | 646.1 | -107.1 | - | - | 3451 | - | - | - | - | - | - | - | - | - | 26.19 | - |
7554 | 806.3 | -7.2 | 356 | 7565 | roll | -1.11 | - | - | 2835 | - | 2.15 | 0.031 | 904 | -651.2 | -107.1 | - | - | 3451 | - | - | - | - | - | - | - | - | - | 26.20 | - |
7596 | 809.6 | -7.3 | 357 | 7607 | done | -1.11 | - | - | 2826 | - | 2.17 | 0.033 | 2301 | 643.8 | -107.1 | - | - | 3451 | - | - | - | - | - | - | - | - | - | 26.19 | - |
7937 | 836.0 | -8.0 | 368 | 7948 | roll | -1.11 | - | - | 2826 | - | 2.12 | 0.031 | 911 | -655.7 | -107.1 | - | - | 3450 | - | - | - | - | - | - | - | - | - | 26.20 | - |
7973 | 836.0 | -8.0 | 368 | 7984 | done | -1.11 | - | - | 2817 | - | 2.15 | 0.033 | 2301 | 646.5 | -107.1 | - | - | 3450 | - | - | - | - | - | - | - | - | - | 26.19 | - |
8280 | 863.9 | -8.1 | 379 | 8290 | done | -1.11 | - | - | 2817 | - | - | - | 2301 | - | -107.1 | - | - | 3450 | - | - | - | - | - | - | - | - | - | - | - |
8581 | 890.1 | -8.9 | 389 | 8592 | roll | -1.11 | - | - | 2821 | - | 2.15 | 0.031 | 901 | -651.2 | -107.1 | - | - | 3450 | - | - | - | - | - | - | - | - | - | 26.18 | - |
8646 | 894.1 | -9.0 | 390 | 8658 | done | -1.11 | - | - | 2814 | - | 2.20 | 0.034 | 2304 | 637.7 | -107.1 | - | - | 3449 | - | - | - | - | - | - | - | - | - | 26.16 | - |
8957 | 923.9 | -8.9 | 401 | 8968 | roll | -1.11 | - | - | 2804 | - | 1.92 | 0.044 | 3593 | 671.4 | -107.1 | - | - | 3448 | - | - | - | - | - | - | - | - | - | 25.98 | - |
9067 | 934.1 | -9.5 | 404 | 9079 | done | -1.11 | 0.15 | 0.165 | 2844 | 266.7 | 1.83 | 0.027 | 2298 | -707.7 | -107.1 | - | - | 3449 | - | - | - | - | - | - | - | - | 25.79 | 26.37 | - |
9399 | 961.3 | -7.6 | 415 | 9410 | roll | -1.11 | - | - | 2853 | - | 2.12 | 0.032 | 901 | -659.0 | -107.1 | - | - | 3448 | - | - | - | - | - | - | - | - | - | 26.16 | - |
9475 | 966.6 | -7.5 | 417 | 9486 | done | -1.11 | - | - | 2846 | - | 2.17 | 0.034 | 2303 | 646.1 | -107.1 | - | - | 3448 | - | - | - | - | - | - | - | - | - | 26.15 | - |
9806 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
9807 | begin apogee | ||||||||||||||||||||||||||||
9815 | 991.0 | -7.0 | 428 | 9979 | done | -0.25 | 0.85 | 0.132 | 3112 | 312.9 | - | - | 2025 | - | - | 144.85 | 0.972 | 3004 | -3.1 | 0.335 | - | - | - | - | - | - | 25.01 | - | 23.51 |
9980 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9981 | begin climb | ||||||||||||||||||||||||||||
9984 | 992.4 | - | 433 | 10145 | roll | 1.11 | 1.27 | 0.073 | 3564 | 355.9 | 2.40 | 0.034 | 651 | -572.5 | 107.1 | 142.27 | 0.908 | 2564 | -3.1 | 0.362 | - | - | - | - | - | - | 24.89 | 24.13 | 22.88 |
10185 | 972.0 | 12.6 | 440 | 10197 | done | 1.11 | - | - | 3565 | - | 2.30 | 0.031 | 2015 | 593.0 | 107.1 | - | - | 2558 | - | - | - | - | - | - | - | - | - | 24.72 | - |
10522 | 922.6 | 14.2 | 451 | 10532 | done | 1.11 | - | - | 3565 | - | - | - | 2014 | - | 107.1 | - | - | 2552 | - | - | - | - | - | - | - | - | - | - | - |
10824 | 879.5 | 14.4 | 461 | 10835 | roll | 1.11 | - | - | 3565 | - | 2.15 | 0.042 | 3439 | 662.8 | 107.1 | - | - | 2549 | - | - | - | - | - | - | - | - | - | 26.00 | - |
10866 | 872.7 | 14.5 | 462 | 10877 | done | 1.11 | - | - | 3574 | - | 2.08 | 0.026 | 2023 | -680.8 | 107.1 | - | - | 2549 | - | - | - | - | - | - | - | - | - | 26.22 | - |
11206 | 822.6 | 14.4 | 473 | 11217 | roll | 1.11 | - | - | 3583 | - | 2.15 | 0.035 | 640 | -643.3 | 107.1 | - | - | 2548 | - | - | - | - | - | - | - | - | - | 26.15 | - |
11314 | 807.8 | 14.7 | 476 | 11325 | done | 1.11 | - | - | 3584 | - | 2.20 | 0.030 | 2043 | 637.7 | 107.1 | - | - | 2548 | - | - | - | - | - | - | - | - | - | 26.24 | - |
11649 | 758.5 | 14.0 | 487 | 11660 | done | 1.11 | - | - | 3584 | - | - | - | 2042 | - | 107.1 | - | - | 2547 | - | - | - | - | - | - | - | - | - | - | - |
11953 | 717.3 | 13.7 | 497 | 11965 | roll | 1.11 | - | - | 3593 | - | 2.22 | 0.035 | 637 | -632.9 | 107.1 | - | - | 2547 | - | - | - | - | - | - | - | - | - | 26.19 | - |
12091 | 697.9 | 14.1 | 501 | 12103 | done | 1.11 | 0.12 | 0.168 | 3560 | -275.0 | 2.17 | 0.030 | 2039 | 646.1 | 107.1 | - | - | 2546 | - | - | - | - | - | - | - | - | 25.89 | 26.29 | - |
12427 | 653.2 | 13.0 | 512 | 12438 | done | 1.11 | - | - | 3560 | - | - | - | 2038 | - | 107.1 | - | - | 2546 | - | - | - | - | - | - | - | - | - | - | - |
12731 | 616.4 | 12.2 | 522 | 12742 | roll | 1.11 | - | - | 3549 | - | 2.10 | 0.042 | 3438 | 666.7 | 107.1 | - | - | 2546 | - | - | - | - | - | - | - | - | - | 26.12 | - |
12772 | 610.8 | 12.3 | 523 | 12783 | done | 1.11 | - | - | 3558 | - | 2.08 | 0.027 | 2014 | -684.6 | 107.1 | - | - | 2545 | - | - | - | - | - | - | - | - | - | 26.40 | - |
13092 | 572.9 | 11.9 | 537 | 13103 | roll | 1.11 | - | - | 3567 | - | 2.12 | 0.035 | 641 | -647.6 | 107.1 | - | - | 2545 | - | - | - | - | - | - | - | - | - | 26.20 | - |
13166 | 564.2 | 12.4 | 540 | 13177 | done | 1.11 | - | - | 3567 | - | 2.15 | 0.030 | 2030 | 646.0 | 107.1 | - | - | 2546 | - | - | - | - | - | - | - | - | - | 26.30 | - |
13492 | 525.9 | 11.5 | 556 | 13503 | roll | 1.11 | - | - | 3567 | - | 2.10 | 0.042 | 3438 | 670.5 | 107.1 | - | - | 2545 | - | - | - | - | - | - | - | - | - | 26.10 | - |
13566 | 516.9 | 12.4 | 559 | 13577 | done | 1.11 | - | - | 3577 | - | 2.05 | 0.026 | 2023 | -690.2 | 107.1 | - | - | 2544 | - | - | - | - | - | - | - | - | - | 26.40 | - |
13891 | 476.9 | 12.3 | 575 | 13902 | roll | 1.11 | - | - | 3587 | - | 2.15 | 0.035 | 636 | -645.1 | 107.1 | - | - | 2544 | - | - | - | - | - | - | - | - | - | 26.19 | - |
13994 | 465.8 | 12.3 | 579 | 14005 | done | 1.11 | - | - | 3587 | - | 2.17 | 0.031 | 2025 | 640.1 | 107.1 | - | - | 2544 | - | - | - | - | - | - | - | - | - | 26.29 | - |
14314 | 423.8 | 12.4 | 595 | 14325 | roll | 1.11 | - | - | 3595 | - | 2.17 | 0.035 | 643 | -636.9 | 107.1 | - | - | 2544 | - | - | - | - | - | - | - | - | - | 26.18 | - |
14380 | 417.4 | 12.6 | 597 | 14392 | done | 1.11 | 0.12 | 0.165 | 3560 | -291.7 | 2.15 | 0.031 | 2036 | 647.9 | 107.1 | - | - | 2544 | - | - | - | - | - | - | - | - | 25.88 | 26.27 | - |
14687 | 379.0 | 12.0 | 613 | 14697 | done | 1.11 | - | - | 3560 | - | - | - | 2035 | - | 107.1 | - | - | 2544 | - | - | - | - | - | - | - | - | - | - | - |
14989 | 343.2 | 11.6 | 628 | 15000 | roll | 1.11 | - | - | 3556 | - | 2.10 | 0.043 | 3433 | 665.7 | 107.1 | - | - | 2544 | - | - | - | - | - | - | - | - | - | 26.08 | - |
15074 | 334.3 | 12.1 | 631 | 15085 | done | 1.11 | - | - | 3564 | - | 2.05 | 0.026 | 2015 | -691.7 | 107.1 | - | - | 2543 | - | - | - | - | - | - | - | - | - | 26.39 | - |
15395 | 296.1 | 11.2 | 647 | 15406 | roll | 1.11 | - | - | 3556 | - | 2.17 | 0.041 | 3435 | 654.4 | 107.1 | - | - | 2543 | - | - | - | - | - | - | - | - | - | 26.07 | - |
15425 | 292.6 | 11.3 | 648 | 15437 | done | 1.11 | - | - | 3564 | - | 2.05 | 0.026 | 2014 | -693.2 | 107.1 | - | - | 2543 | - | - | - | - | - | - | - | - | - | 26.39 | - |
15757 | 256.4 | 10.8 | 664 | 15768 | roll | 1.11 | - | - | 3573 | - | 2.12 | 0.035 | 639 | -648.6 | 107.1 | - | - | 2543 | - | - | - | - | - | - | - | - | - | 26.16 | - |
15821 | 250.8 | 10.9 | 666 | 15833 | done | 1.11 | - | - | 3573 | - | 2.15 | 0.030 | 2024 | 644.2 | 107.1 | - | - | 2543 | - | - | - | - | - | - | - | - | - | 26.28 | - |
16127 | 214.4 | 11.5 | 682 | 16138 | done | 1.11 | - | - | 3572 | - | - | - | 2024 | - | 107.1 | - | - | 2543 | - | - | - | - | - | - | - | - | - | - | - |
16428 | 180.9 | 10.7 | 697 | 16439 | done | 1.11 | - | - | 3573 | - | - | - | 2024 | - | 107.1 | - | - | 2544 | - | - | - | - | - | - | - | - | - | - | - |
16728 | 150.0 | 10.5 | 712 | 16739 | roll | 1.11 | - | - | 3572 | - | 2.10 | 0.043 | 3427 | 668.1 | 107.1 | - | - | 2544 | - | - | - | - | - | - | - | - | - | 26.06 | - |
16774 | 146.6 | 10.7 | 713 | 16786 | done | 1.11 | - | - | 3580 | - | 2.05 | 0.026 | 2012 | -690.2 | 107.1 | - | - | 2543 | - | - | - | - | - | - | - | - | - | 26.39 | - |
17080 | 114.2 | 9.9 | 729 | 17091 | roll | 1.11 | - | - | 3580 | - | 2.15 | 0.041 | 3422 | 655.8 | 107.1 | - | - | 2543 | - | - | - | - | - | - | - | - | - | 26.06 | - |
17247 | 97.3 | 11.5 | 736 | 17259 | done | 1.11 | 0.12 | 0.167 | 3559 | -175.0 | 2.03 | 0.026 | 2017 | -692.1 | 107.1 | - | - | 2543 | - | - | - | - | - | - | - | - | 25.94 | 26.39 | - |
17554 | 72.0 | 7.0 | 752 | 17582 | done | 1.18 | - | - | 3559 | - | - | - | 2018 | - | 128.5 | 21.58 | 0.616 | 2485 | -2.7 | 0.034 | - | - | - | - | - | - | - | - | 24.67 |
17873 | 48.1 | 6.6 | 769 | 17925 | roll | 1.26 | 0.12 | 0.093 | 3615 | 466.7 | 2.22 | 0.040 | 3419 | 631.1 | 156.5 | 38.28 | 0.597 | 2367 | -3.1 | 0.027 | - | - | - | - | - | - | 26.39 | 25.86 | 24.72 |
18164 | 23.2 | 11.2 | 797 | 18176 | done | 1.26 | - | - | 3622 | - | 2.05 | 0.026 | 2024 | -680.5 | 156.5 | - | - | 2363 | - | - | - | - | - | - | - | - | - | 26.15 | - |
18347 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
18347 | begin surface coast | ||||||||||||||||||||||||||||
18380 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
18380 | begin surface | ||||||||||||||||||||||||||||
SM | 2.51 | - | - | - | - | -8.87 | 8.82 | 0.048 | 334 | 37.9 | 0.43 | 0.045 | 2302 | 2958.1 | 350.04 | 87.15 | 0.057 | 1581 | 18.1 | -0.082 | - | - | - | - | - | - |