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| • Previous call tries 1 | • 49.27 of 310.00 AH used of 24V (84.10% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -63.5 deg, depth 1.01 m | • Intended pitch -17.3 deg, speed -9.416 cm/s | |
| • No surface pump (final VBD was 546.27, SM_CC=532.59473) | • surface range 18.1 m at 19.7 m depth, ceiling 1.6 m | |
| • GPS1 time: 39 s | • bottom range 40.7 m at 430.5 m, depth 471 m (500 m grid) | |
| • GPS2 time: 15 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 | |||||
| 18 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 18 | begin dive | ||||||||||||||||||||||||||||
| 20 | - | - | - | 111 | VBD | -0.82 | - | - | 73 | - | - | - | 2001 | - | -146.0 | -88.28 | - | 3177 | - | - | - | - | - | - | - | - | 15.02 | - | 15.02 |
| 114 | 3.8 | -7.3 | 16 | 139 | roll | -0.82 | 12.18 | 0.284 | 2215 | 175.9 | 2.35 | 0.085 | 579 | -605.1 | -146.0 | -3.92 | - | 3410 | -59.4 | - | - | - | - | - | - | - | 14.62 | 13.72 | 14.77 |
| 301 | 42.0 | -14.1 | 52 | 308 | done | -0.82 | 0.03 | 0.517 | 2219 | 133.3 | 2.33 | 0.051 | 1988 | 604.7 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 14.68 | 14.85 | 14.88 |
| 371 | 52.2 | -15.0 | 65 | 378 | roll | -0.82 | - | - | 2211 | - | 2.40 | 0.073 | 3401 | 588.8 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.12 | 14.86 | 15.12 |
| 420 | 59.7 | -14.6 | 74 | 426 | done | -0.82 | - | - | 2211 | - | 2.33 | 0.043 | 1980 | -609.9 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.92 | 14.83 | 14.92 |
| 488 | 70.5 | -15.6 | 87 | 494 | done | -0.82 | - | - | 2210 | - | - | - | 1980 | - | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 556 | 81.4 | -16.2 | 100 | 562 | done | -0.82 | 0.03 | 0.480 | 2218 | 266.7 | - | - | 1979 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.82 | 14.98 | 14.97 |
| 625 | 93.3 | -18.8 | 113 | 631 | roll | -0.82 | - | - | 2218 | - | 2.35 | 0.069 | 576 | -597.0 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.15 | 14.83 | 15.15 |
| 664 | 100.8 | -18.1 | 120 | 671 | done | -0.82 | - | - | 2217 | - | 2.33 | 0.051 | 1994 | 608.6 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.95 | 14.86 | 14.97 |
| 733 | 112.7 | -18.3 | 133 | 739 | roll | -0.82 | - | - | 2217 | - | 2.38 | 0.073 | 3397 | 589.5 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.16 | 14.90 | 15.16 |
| 807 | 124.8 | -15.4 | 147 | 814 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.041 | 1984 | -614.3 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.04 | 14.92 | 15.05 |
| 878 | 135.5 | -14.5 | 160 | 885 | roll | -0.82 | - | - | 2217 | - | 2.35 | 0.069 | 575 | -599.6 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.16 | 14.91 | 15.17 |
| 897 | 138.2 | -13.9 | 163 | 903 | done | -0.82 | - | - | 2217 | - | 2.33 | 0.052 | 1988 | 606.4 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.04 | 14.95 | 15.06 |
| 966 | 147.6 | -13.3 | 176 | 972 | roll | -0.82 | - | - | 2217 | - | 2.38 | 0.073 | 3392 | 589.9 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.17 | 14.87 | 15.17 |
| 1019 | 154.4 | -11.7 | 186 | 1026 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.041 | 1989 | -610.0 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.96 | 14.86 | 14.97 |
| 1090 | 162.3 | -10.2 | 199 | 1097 | roll | -0.82 | - | - | 2217 | - | 2.35 | 0.070 | 582 | -598.7 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.17 | 14.88 | 15.17 |
| 1119 | 165.6 | -11.3 | 204 | 1125 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.051 | 1989 | 611.7 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.05 | 14.95 | 15.07 |
| 1188 | 172.3 | -9.5 | 217 | 1195 | roll | -0.82 | - | - | 2217 | - | 2.38 | 0.074 | 3390 | 588.7 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.18 | 14.91 | 15.18 |
| 1217 | 174.9 | -10.3 | 222 | 1224 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.042 | 1978 | -613.9 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.05 | 14.96 | 15.07 |
| 1288 | 180.0 | -7.7 | 235 | 1293 | done | -0.82 | - | - | 2216 | - | - | - | 1978 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.19 | 15.18 | 15.19 |
| 1356 | 185.3 | -7.7 | 248 | 1362 | roll | -0.82 | - | - | 2217 | - | 2.42 | 0.072 | 3396 | 586.0 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.18 | 14.88 | 15.19 |
| 1395 | 188.3 | -7.2 | 255 | 1401 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.042 | 1984 | -613.9 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.96 | 14.88 | 14.97 |
| 1464 | 193.5 | -7.6 | 268 | 1469 | done | -0.82 | - | - | 2217 | - | - | - | 1984 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.18 | 15.18 | 15.18 |
| 1532 | 198.3 | -7.5 | 281 | 1538 | roll | -0.82 | - | - | 2217 | - | 2.40 | 0.073 | 3390 | 585.8 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.19 | 14.92 | 15.19 |
| 1580 | 201.9 | -6.9 | 290 | 1587 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.042 | 1979 | -613.5 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.98 | 14.88 | 15.00 |
| 1650 | 207.2 | -8.1 | 303 | 1656 | done | -0.82 | - | - | 2217 | - | - | - | 1978 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 1719 | 213.4 | -9.8 | 316 | 1725 | done | -0.82 | - | - | 2216 | - | - | - | 1978 | - | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 1787 | 221.0 | -12.5 | 329 | 1793 | roll | -0.82 | - | - | 2217 | - | 2.42 | 0.073 | 3398 | 586.8 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 15.21 | 14.93 | 15.21 |
| 1840 | 227.0 | -11.9 | 339 | 1846 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.042 | 1986 | -613.9 | -146.0 | - | - | 3411 | - | - | - | - | - | - | - | - | 14.99 | 14.89 | 15.00 |
| 1909 | 236.0 | -13.6 | 352 | 1915 | done | -0.82 | - | - | 2217 | - | - | - | 1986 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 1977 | 245.6 | -13.6 | 365 | 1983 | done | -0.82 | - | - | 2217 | - | - | - | 1986 | - | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
| 2045 | 254.4 | -13.8 | 378 | 2051 | roll | -0.82 | - | - | 2217 | - | 2.40 | 0.073 | 3390 | 585.0 | -146.0 | - | - | 3410 | - | - | - | - | - | - | - | - | 15.21 | 14.93 | 15.21 |
| 2082 | 259.5 | -12.9 | 385 | 2090 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.043 | 1981 | -612.6 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.08 | 14.99 | 15.09 |
| 2153 | 268.5 | -12.8 | 398 | 2158 | done | -0.82 | - | - | 2217 | - | - | - | 1981 | - | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 2220 | 276.7 | -11.3 | 411 | 2227 | roll | -0.82 | - | - | 2217 | - | 2.42 | 0.074 | 3393 | 583.5 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.22 | 14.90 | 15.23 |
| 2269 | 281.9 | -10.2 | 420 | 2275 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.043 | 1982 | -613.5 | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.10 |
| 2338 | 288.7 | -9.1 | 433 | 2344 | done | -0.82 | - | - | 2217 | - | - | - | 1981 | - | -146.0 | - | - | 3409 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.22 |
| 2407 | 294.6 | -8.5 | 446 | 2414 | roll | -0.82 | - | - | 2217 | - | 2.42 | 0.076 | 3396 | 584.7 | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 15.23 | 14.94 | 15.22 |
| 2446 | 297.9 | -8.2 | 453 | 2453 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.044 | 1988 | -612.2 | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.08 | 14.97 | 15.09 |
| 2515 | 303.3 | -7.9 | 460 | 2516 | done | -0.82 | - | - | 2217 | - | - | - | 1987 | - | -146.0 | - | - | 3408 | - | - | - | - | - | - | - | - | 15.24 | 15.25 | 15.25 |
| 2635 | 312.8 | -7.9 | 466 | 2640 | roll | -0.82 | - | - | 2217 | - | 2.40 | 0.076 | 3389 | 584.2 | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 15.26 | 14.95 | 15.26 |
| 2697 | 318.0 | -8.4 | 469 | 2702 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.043 | 1977 | -613.9 | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 15.11 | 15.00 | 15.12 |
| 2840 | 331.5 | -10.1 | 476 | 2841 | done | -0.82 | - | - | 2217 | - | - | - | 1976 | - | -146.0 | - | - | 3407 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.26 |
| 2959 | 344.6 | -11.1 | 482 | 2965 | roll | -0.82 | - | - | 2217 | - | 2.42 | 0.076 | 3389 | 583.9 | -146.0 | - | - | 3406 | - | - | - | - | - | - | - | - | 15.27 | 14.97 | 15.27 |
| 2996 | 347.1 | -11.2 | 483 | 3002 | done | -0.82 | - | - | 2217 | - | 2.28 | 0.044 | 1988 | -614.5 | -146.0 | - | - | 3406 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.13 |
| 3122 | 363.5 | -11.9 | 490 | 3123 | done | -0.82 | - | - | 2217 | - | - | - | 1988 | - | -146.0 | - | - | 3406 | - | - | - | - | - | - | - | - | 15.28 | 15.28 | 15.28 |
| 3242 | 377.7 | -11.8 | 496 | 3247 | roll | -0.82 | - | - | 2217 | - | 2.42 | 0.078 | 3397 | 582.2 | -146.0 | - | - | 3405 | - | - | - | - | - | - | - | - | 15.28 | 14.97 | 15.28 |
| 3308 | 384.7 | -11.3 | 499 | 3313 | done | -0.82 | - | - | 2217 | - | 2.33 | 0.044 | 1982 | -607.3 | -146.0 | - | - | 3404 | - | - | - | - | - | - | - | - | 15.13 | 15.02 | 15.14 |
| 3445 | 399.3 | -10.1 | 506 | 3451 | roll | -0.82 | - | - | 2217 | - | 2.42 | 0.078 | 3391 | 582.2 | -146.0 | - | - | 3404 | - | - | - | - | - | - | - | - | 15.28 | 14.97 | 15.28 |
| 3478 | 401.7 | -10.3 | 507 | 3483 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.045 | 1977 | -614.8 | -146.0 | - | - | 3404 | - | - | - | - | - | - | - | - | 15.13 | 15.02 | 15.14 |
| 3611 | 414.7 | -9.1 | 514 | 3616 | roll | -0.82 | - | - | 2217 | - | 2.45 | 0.078 | 3396 | 579.2 | -146.0 | - | - | 3403 | - | - | - | - | - | - | - | - | 15.28 | 14.92 | 15.28 |
| 3642 | 416.7 | -9.1 | 515 | 3647 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.045 | 1989 | -611.7 | -146.0 | - | - | 3403 | - | - | - | - | - | - | - | - | 15.12 | 15.02 | 15.14 |
| 3775 | 428.8 | -8.4 | 522 | 3776 | done | -0.82 | - | - | 2217 | - | - | - | 1988 | - | -146.0 | - | - | 3402 | - | - | - | - | - | - | - | - | 15.28 | 15.28 | 15.28 |
| 3895 | 438.2 | -7.6 | 528 | 3900 | roll | -0.82 | - | - | 2217 | - | 2.42 | 0.080 | 3392 | 580.2 | -146.0 | - | - | 3402 | - | - | - | - | - | - | - | - | 15.28 | 14.97 | 15.28 |
| 3951 | 441.3 | -7.5 | 530 | 3958 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.044 | 1985 | -611.7 | -146.0 | - | - | 3401 | - | - | - | - | - | - | - | - | 15.12 | 15.00 | 15.13 |
| 4077 | 452.6 | -8.5 | 537 | 4083 | roll | -0.82 | - | - | 2216 | - | 2.42 | 0.079 | 3391 | 581.0 | -146.0 | - | - | 3401 | - | - | - | - | - | - | - | - | 15.28 | 14.96 | 15.28 |
| 4114 | 454.7 | -8.8 | 538 | 4121 | done | -0.82 | - | - | 2217 | - | 2.30 | 0.045 | 1984 | -611.7 | -146.0 | - | - | 3400 | - | - | - | - | - | - | - | - | 15.12 | 15.00 | 15.13 |
| 4178 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 4178 | begin apogee | ||||||||||||||||||||||||||||
| 4182 | 461.3 | -8.2 | 542 | 4300 | done | -0.19 | 1.05 | 0.157 | 2426 | 199.0 | - | - | 1981 | - | - | 111.65 | 1.630 | 2811 | -5.3 | 0.268 | - | - | - | - | - | - | 14.87 | 14.45 | 13.83 |
| 4302 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4302 | begin climb | ||||||||||||||||||||||||||||
| 4304 | 466.0 | - | 548 | 4430 | roll | 0.82 | 1.52 | 0.080 | 2752 | 214.5 | 2.55 | 0.091 | 3388 | 551.8 | 146.0 | 115.93 | 1.584 | 2214 | -5.1 | 0.271 | - | - | - | - | - | - | 14.48 | 14.31 | 13.75 |
| 4932 | 465.9 | - | 579 | 5117 | done | 1.09 | 0.30 | 0.080 | 2839 | 290.0 | 2.33 | 0.045 | 1975 | -606.4 | 363.8 | 176.10 | 1.626 | 1327 | -5.0 | 0.259 | - | - | - | - | - | - | 14.92 | 14.88 | 13.72 |
| 5245 | 465.9 | - | 595 | 5407 | roll | 1.36 | 0.28 | 0.090 | 2923 | 300.0 | 2.60 | 0.073 | 3387 | 543.1 | 581.1 | 152.48 | 1.603 | 598 | -4.8 | 0.249 | - | - | - | - | - | - | 14.70 | 14.26 | 13.69 |
| 5910 | 459.4 | 7.1 | 628 | 5915 | done | 1.42 | - | - | 2932 | - | 2.38 | 0.067 | 1998 | -583.6 | 633.7 | - | - | 588 | - | - | - | - | - | - | - | - | 14.99 | 14.88 | 15.01 |
| 6052 | 408.3 | 37.2 | 635 | 6057 | roll | 1.42 | - | - | 2932 | - | 2.38 | 0.067 | 3395 | 587.0 | 633.7 | - | - | 588 | - | - | - | - | - | - | - | - | 15.16 | 14.91 | 15.16 |
| 6138 | 381.3 | 32.7 | 639 | 6143 | done | 1.42 | - | - | 2942 | - | 2.38 | 0.061 | 1986 | -592.0 | 633.7 | - | - | 587 | - | - | - | - | - | - | - | - | 15.02 | 14.92 | 15.04 |
| 6275 | 329.5 | 37.6 | 646 | 6280 | roll | 1.42 | - | - | 2953 | - | 2.42 | 0.089 | 576 | -582.6 | 633.7 | - | - | 587 | - | - | - | - | - | - | - | - | 15.17 | 14.91 | 15.18 |
| 6331 | 313.2 | 37.8 | 648 | 6338 | done | 1.42 | - | - | 2953 | - | 2.35 | 0.051 | 1987 | 600.4 | 633.7 | - | - | 587 | - | - | - | - | - | - | - | - | 15.00 | 14.91 | 15.01 |
| 6457 | 258.2 | 41.0 | 670 | 6463 | done | 1.42 | - | - | 2953 | - | - | - | 1988 | - | 633.7 | - | - | 587 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 6525 | 230.5 | 40.7 | 683 | 6531 | done | 1.42 | - | - | 2953 | - | - | - | 1988 | - | 633.7 | - | - | 586 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 6593 | 202.4 | 40.9 | 696 | 6599 | roll | 1.42 | - | - | 2963 | - | 2.45 | 0.087 | 574 | -577.1 | 633.7 | - | - | 586 | - | - | - | - | - | - | - | - | 15.20 | 14.92 | 15.21 |
| 6616 | 192.7 | 42.8 | 700 | 6623 | done | 1.42 | 0.08 | 0.327 | 2950 | -162.5 | 2.35 | 0.050 | 1993 | 603.8 | 633.7 | - | - | 586 | - | - | - | - | - | - | - | - | 14.74 | 14.90 | 14.95 |
| 6684 | 165.0 | 38.8 | 713 | 6690 | done | 1.42 | - | - | 2950 | - | - | - | 1994 | - | 633.7 | - | - | 588 | - | - | - | - | - | - | - | - | 15.18 | 15.18 | 15.18 |
| 6752 | 139.0 | 36.5 | 726 | 6758 | done | 1.42 | - | - | 2950 | - | - | - | 1994 | - | 633.7 | - | - | 586 | - | - | - | - | - | - | - | - | 15.18 | 15.18 | 15.18 |
| 6820 | 116.4 | 30.4 | 739 | 6827 | roll | 1.42 | - | - | 2960 | - | 2.45 | 0.084 | 570 | -581.2 | 633.7 | - | - | 588 | - | - | - | - | - | - | - | - | 15.16 | 14.88 | 15.17 |
| 6869 | 101.4 | 31.8 | 748 | 6876 | done | 1.42 | 0.03 | 0.500 | 2952 | -266.7 | 2.35 | 0.047 | 1991 | 604.7 | 633.7 | - | - | 586 | - | - | - | - | - | - | - | - | 14.78 | 14.97 | 15.00 |
| 6939 | 79.9 | 29.3 | 761 | 6946 | roll | 1.42 | - | - | 2952 | - | 2.38 | 0.067 | 3401 | 592.4 | 633.7 | - | - | 586 | - | - | - | - | - | - | - | - | 15.17 | 14.92 | 15.17 |
| 6957 | 73.5 | 32.1 | 764 | 6965 | done | 1.42 | 0.05 | 0.399 | 2952 | - | 2.40 | 0.060 | 1986 | -589.6 | 633.7 | - | - | 585 | - | - | - | - | - | - | - | - | 14.76 | 14.92 | 15.00 |
| 7028 | 51.4 | 32.7 | 777 | 7034 | roll | 1.42 | - | - | 2961 | - | 2.42 | 0.088 | 577 | -582.2 | 633.7 | - | - | 584 | - | - | - | - | - | - | - | - | 15.18 | 14.90 | 15.18 |
| 7071 | 36.3 | 34.3 | 785 | 7078 | done | 1.42 | 0.05 | 0.367 | 2952 | -180.0 | 2.35 | 0.049 | 1994 | 603.0 | 633.7 | - | - | 586 | - | - | - | - | - | - | - | - | 14.71 | 14.88 | 14.93 |
| 7140 | 12.9 | 33.9 | 798 | 7147 | roll | 1.42 | - | - | 2952 | - | 2.38 | 0.069 | 3401 | 591.2 | 633.7 | - | - | 586 | - | - | - | - | - | - | - | - | 15.16 | 14.85 | 15.17 |
| 7172 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 7172 | begin surface coast | ||||||||||||||||||||||||||||
| 7178 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7178 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.73 | - | - | - | - | -7.27 | 13.07 | 0.060 | 144 | 11.0 | 2.40 | 0.051 | 1981 | -989.6 | 546.27 | - | - | 585 | - | - | - | - | - | - | - | - | |||