• Previous call tries 1 | • 28.54 of 350.00 AH used of 24V (91.85% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -75.3 deg, depth 3.22 m | • Intended pitch -24.6 deg, speed -7.857 cm/s | |
• VBD pumped to 300.00 (SM_CC=300) | ||
• GPS1 time: 36 s | ||
• 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 | |||||
23 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
23 | begin dive | ||||||||||||||||||||||||||||
26 | - | - | - | 44 | VBD | -1.17 | - | - | 147 | - | - | - | 1938 | - | -52.1 | -16.85 | - | 1607 | - | - | - | - | - | - | - | - | - | - | - |
47 | 3.1 | - | 1 | 114 | roll | -1.17 | 13.32 | 0.388 | 2929 | 208.9 | 2.35 | 0.072 | 847 | -464.3 | -52.1 | -47.15 | - | 2690 | -23.0 | - | - | - | - | - | - | - | 14.59 | 14.77 | 14.96 |
341 | 36.7 | -18.4 | 20 | 348 | done | -1.09 | 0.15 | 0.297 | 2961 | 213.3 | 2.20 | 0.040 | 1890 | 474.1 | -52.1 | - | - | 2691 | - | - | - | - | - | - | - | - | 14.71 | 14.85 | - |
647 | 88.2 | -14.7 | 41 | 652 | roll | -1.04 | - | - | 2961 | - | 2.22 | 0.050 | 846 | -470.3 | -52.1 | - | - | 2691 | - | - | - | - | - | - | - | - | - | 14.90 | - |
679 | 93.5 | -15.2 | 43 | 686 | done | -0.99 | 0.15 | 0.290 | 2993 | 213.3 | 2.22 | 0.040 | 1910 | 479.3 | -52.1 | - | - | 2691 | - | - | - | - | - | - | - | - | 14.76 | 14.91 | - |
998 | 135.8 | -13.1 | 64 | 1003 | roll | -0.97 | - | - | 2994 | - | 2.25 | 0.051 | 847 | -472.4 | -52.1 | - | - | 2692 | - | - | - | - | - | - | - | - | - | 14.93 | - |
1050 | 142.1 | -13.0 | 67 | 1055 | done | -0.94 | - | - | 2993 | - | 2.20 | 0.041 | 1897 | 477.3 | -52.1 | - | - | 2692 | - | - | - | - | - | - | - | - | - | 14.93 | - |
1362 | 184.6 | -12.9 | 88 | 1368 | roll | -0.92 | - | - | 2994 | - | 2.22 | 0.050 | 848 | -472.5 | -52.1 | - | - | 2692 | - | - | - | - | - | - | - | - | - | 14.95 | - |
1389 | 186.9 | -13.0 | 89 | 1397 | done | -0.90 | 0.12 | 0.311 | 3018 | 200.0 | 2.20 | 0.040 | 1902 | 479.1 | -52.1 | - | - | 2693 | - | - | - | - | - | - | - | - | 14.81 | 14.97 | - |
1695 | 222.8 | -11.4 | 110 | 1696 | done | -0.90 | - | - | 3018 | - | - | - | 1902 | - | -52.1 | - | - | 2692 | - | - | - | - | - | - | - | - | - | - | - |
2010 | 257.6 | -11.0 | 129 | 2011 | done | -0.90 | - | - | 3018 | - | - | - | 1902 | - | -52.1 | - | - | 2692 | - | - | - | - | - | - | - | - | - | - | - |
2310 | 290.8 | -11.0 | 139 | 2315 | roll | -0.90 | - | - | 3018 | - | 2.33 | 0.064 | 2966 | 456.7 | -52.1 | - | - | 2692 | - | - | - | - | - | - | - | - | - | 15.00 | - |
2387 | 297.8 | -11.2 | 141 | 2392 | done | -0.90 | - | - | 3018 | - | 2.33 | 0.041 | 1876 | -467.8 | -52.1 | - | - | 2692 | - | - | - | - | - | - | - | - | - | 15.03 | - |
2705 | 335.6 | -11.6 | 152 | 2710 | roll | -0.90 | - | - | 3018 | - | 2.12 | 0.054 | 856 | -481.1 | -52.1 | - | - | 2692 | - | - | - | - | - | - | - | - | - | 15.03 | - |
2828 | 351.3 | -12.8 | 156 | 2834 | done | -0.90 | - | - | 3018 | - | 2.15 | 0.041 | 1889 | 480.5 | -52.1 | - | - | 2692 | - | - | - | - | - | - | - | - | - | 15.04 | - |
3162 | 397.1 | -13.9 | 167 | 3163 | done | -0.90 | - | - | 3018 | - | - | - | 1883 | - | -52.1 | - | - | 2691 | - | - | - | - | - | - | - | - | - | - | - |
3463 | 436.8 | -12.6 | 177 | 3469 | roll | -0.90 | - | - | 3018 | - | 2.33 | 0.064 | 2955 | 460.1 | -52.1 | - | - | 2690 | - | - | - | - | - | - | - | - | - | 15.04 | - |
3526 | 444.9 | -12.3 | 179 | 3532 | done | -0.90 | - | - | 3018 | - | 2.28 | 0.036 | 1875 | -473.7 | -52.1 | - | - | 2690 | - | - | - | - | - | - | - | - | - | 15.06 | - |
3861 | 481.6 | -10.6 | 190 | 3867 | roll | -0.92 | - | - | 3018 | - | 2.38 | 0.063 | 2957 | 454.6 | -52.1 | - | - | 2689 | - | - | - | - | - | - | - | - | - | 15.04 | - |
3903 | 485.5 | -10.9 | 191 | 3910 | done | -0.93 | - | - | 3018 | - | 2.28 | 0.037 | 1873 | -475.4 | -52.1 | - | - | 2689 | - | - | - | - | - | - | - | - | - | 15.06 | - |
4228 | 520.5 | -10.6 | 202 | 4233 | roll | -0.95 | - | - | 3018 | - | 2.12 | 0.057 | 858 | -478.8 | -52.1 | - | - | 2688 | - | - | - | - | - | - | - | - | - | 15.04 | - |
4255 | 520.5 | -10.6 | 202 | 4261 | done | -0.97 | - | - | 3018 | - | 2.12 | 0.043 | 1876 | 480.2 | -52.1 | - | - | 2688 | - | - | - | - | - | - | - | - | - | 15.06 | - |
4561 | 559.2 | -11.5 | 213 | 4562 | done | -0.99 | - | - | 3018 | - | - | - | 1877 | - | -52.1 | - | - | 2686 | - | - | - | - | - | - | - | - | - | - | - |
4861 | 594.1 | -11.5 | 223 | 4867 | roll | -1.01 | - | - | 3018 | - | 2.35 | 0.065 | 2959 | 460.4 | -52.1 | - | - | 2684 | - | - | - | - | - | - | - | - | - | 15.04 | - |
4949 | 601.7 | -11.7 | 225 | 4956 | done | -1.02 | - | - | 3018 | - | 2.25 | 0.037 | 1890 | -475.1 | -52.1 | - | - | 2684 | - | - | - | - | - | - | - | - | - | 15.07 | - |
5256 | 638.5 | -11.1 | 236 | 5258 | done | -1.05 | 0.15 | 0.129 | 2962 | -373.3 | - | - | 1890 | - | -52.1 | - | - | 2683 | - | - | - | - | - | - | - | - | 15.05 | - | - |
5554 | 677.2 | -12.9 | 246 | 5560 | roll | -1.03 | - | - | 2962 | - | 2.38 | 0.064 | 2967 | 452.5 | -52.1 | - | - | 2682 | - | - | - | - | - | - | - | - | - | 15.03 | - |
5592 | 681.7 | -13.2 | 247 | 5597 | done | -1.01 | - | - | 2962 | - | 2.25 | 0.039 | 1901 | -473.8 | -52.1 | - | - | 2682 | - | - | - | - | - | - | - | - | - | 15.07 | - |
5921 | 724.4 | -12.8 | 258 | 5927 | roll | -0.99 | 0.12 | 0.288 | 2991 | 241.7 | 2.17 | 0.056 | 861 | -479.3 | -52.1 | - | - | 2681 | - | - | - | - | - | - | - | - | 14.91 | 15.04 | - |
5979 | 728.7 | -12.6 | 259 | 5985 | done | -0.99 | - | - | 2991 | - | 2.20 | 0.046 | 1906 | 475.0 | -52.1 | - | - | 2681 | - | - | - | - | - | - | - | - | - | 15.05 | - |
6286 | 767.5 | -11.5 | 270 | 6291 | roll | -0.99 | - | - | 2992 | - | 2.30 | 0.067 | 2963 | 459.6 | -52.1 | - | - | 2680 | - | - | - | - | - | - | - | - | - | 15.03 | - |
6367 | 775.2 | -11.9 | 272 | 6373 | done | -0.99 | - | - | 2991 | - | 2.22 | 0.035 | 1906 | -476.1 | -52.1 | - | - | 2679 | - | - | - | - | - | - | - | - | - | 15.07 | - |
6680 | 813.4 | -11.2 | 283 | 6685 | roll | -0.99 | - | - | 2991 | - | 2.20 | 0.058 | 860 | -475.5 | -52.1 | - | - | 2678 | - | - | - | - | - | - | - | - | - | 15.03 | - |
6726 | 817.2 | -11.1 | 284 | 6732 | done | -0.99 | - | - | 2991 | - | 2.20 | 0.046 | 1902 | 473.6 | -52.1 | - | - | 2678 | - | - | - | - | - | - | - | - | - | 15.04 | - |
7045 | 855.3 | -11.2 | 295 | 7051 | roll | -0.99 | - | - | 2991 | - | 2.33 | 0.066 | 2966 | 456.7 | -52.1 | - | - | 2674 | - | - | - | - | - | - | - | - | - | 15.02 | - |
7138 | 866.1 | -11.3 | 298 | 7143 | done | -0.99 | - | - | 2992 | - | 2.25 | 0.037 | 1905 | -471.6 | -52.1 | - | - | 2676 | - | - | - | - | - | - | - | - | - | 15.04 | - |
7472 | 904.4 | -11.5 | 309 | 7477 | roll | -0.99 | - | - | 2991 | - | 2.20 | 0.058 | 863 | -473.6 | -52.1 | - | - | 2675 | - | - | - | - | - | - | - | - | - | 15.02 | - |
7538 | 911.9 | -11.8 | 311 | 7543 | done | -0.99 | - | - | 2991 | - | 2.20 | 0.047 | 1905 | 473.6 | -52.1 | - | - | 2675 | - | - | - | - | - | - | - | - | - | 15.04 | - |
7866 | 950.3 | -11.7 | 322 | 7868 | done | -0.99 | - | - | 2992 | - | - | - | 1905 | - | -52.1 | - | - | 2673 | - | - | - | - | - | - | - | - | - | - | - |
8165 | 984.4 | -11.1 | 332 | 8166 | done | -1.01 | - | - | 2991 | - | - | - | 1905 | - | -52.1 | - | - | 2672 | - | - | - | - | - | - | - | - | - | - | - |
8223 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8223 | begin apogee | ||||||||||||||||||||||||||||
8228 | 991.0 | -11.0 | 334 | 8280 | roll | -0.23 | 0.85 | 0.226 | 3229 | 280.0 | - | - | 1786 | - | - | 46.03 | 1.981 | 2479 | -4.2 | 0.378 | - | - | - | - | - | - | 14.88 | - | 13.93 |
8281 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8282 | begin climb | ||||||||||||||||||||||||||||
8283 | 992.6 | - | 335 | 8345 | done | 1.17 | 1.42 | 0.116 | 3684 | 320.4 | - | - | 1785 | - | 52.1 | 52.97 | 2.022 | 2263 | -4.1 | 0.361 | - | - | - | - | - | - | 14.59 | - | 13.62 |
8646 | 985.9 | 1.7 | 348 | 8715 | roll | 1.13 | - | - | 3684 | - | 2.40 | 0.066 | 727 | -440.8 | 112.5 | 61.53 | 2.016 | 2017 | -4.0 | 0.353 | - | - | - | - | - | - | - | 14.33 | 13.64 |
8898 | 962.7 | 12.2 | 356 | 8904 | done | 1.04 | 0.15 | 0.315 | 3656 | -186.7 | 2.28 | 0.044 | 1783 | 463.2 | 112.5 | - | - | 2011 | - | - | - | - | - | - | - | - | 14.54 | 14.69 | - |
9222 | 925.4 | 10.9 | 367 | 9224 | done | 0.98 | - | - | 3656 | - | - | - | 1783 | - | 112.5 | - | - | 2008 | - | - | - | - | - | - | - | - | - | - | - |
9522 | 891.6 | 11.6 | 377 | 9524 | done | 0.91 | 0.20 | 0.321 | 3614 | -210.0 | - | - | 1784 | - | 112.5 | - | - | 2007 | - | - | - | - | - | - | - | - | 14.76 | - | - |
9822 | 858.4 | 11.3 | 387 | 9827 | roll | 0.87 | - | - | 3614 | - | 2.33 | 0.067 | 726 | -454.1 | 112.5 | - | - | 2006 | - | - | - | - | - | - | - | - | - | 14.93 | - |
9940 | 847.0 | 12.1 | 390 | 9948 | done | 0.83 | 0.12 | 0.290 | 3590 | -200.0 | 2.22 | 0.045 | 1782 | 475.7 | 112.5 | - | - | 2005 | - | - | - | - | - | - | - | - | 14.81 | 14.95 | - |
10245 | 810.8 | 11.0 | 401 | 10246 | done | 0.81 | - | - | 3590 | - | - | - | 1781 | - | 112.5 | - | - | 2005 | - | - | - | - | - | - | - | - | - | - | - |
10546 | 777.7 | 11.2 | 411 | 10551 | roll | 0.80 | - | - | 3590 | - | 2.33 | 0.067 | 722 | -454.5 | 112.5 | - | - | 2004 | - | - | - | - | - | - | - | - | - | 14.97 | - |
10584 | 774.0 | 11.3 | 412 | 10590 | done | 0.78 | - | - | 3591 | - | 2.20 | 0.044 | 1764 | 473.6 | 112.5 | - | - | 2004 | - | - | - | - | - | - | - | - | - | 14.99 | - |
10915 | 739.1 | 10.0 | 423 | 10917 | done | 0.76 | 0.12 | 0.286 | 3565 | -216.7 | - | - | 1764 | - | 112.5 | - | - | 2005 | - | - | - | - | - | - | - | - | 14.85 | - | - |
11212 | 713.5 | 8.2 | 433 | 11217 | roll | 0.76 | - | - | 3565 | - | 2.38 | 0.064 | 2837 | 450.8 | 112.5 | - | - | 2002 | - | - | - | - | - | - | - | - | - | 14.99 | - |
11276 | 708.2 | 8.4 | 435 | 11281 | done | 0.76 | - | - | 3565 | - | 2.30 | 0.047 | 1778 | -460.4 | 112.5 | - | - | 2001 | - | - | - | - | - | - | - | - | - | 15.00 | - |
11610 | 682.7 | 7.5 | 446 | 11615 | roll | 0.76 | - | - | 3565 | - | 2.28 | 0.069 | 722 | -463.2 | 116.4 | - | - | 2001 | - | - | - | - | - | - | - | - | - | 14.98 | - |
11767 | 669.5 | 8.6 | 451 | 11773 | done | 0.76 | - | - | 3565 | - | 2.22 | 0.044 | 1780 | 476.6 | 116.4 | - | - | 2001 | - | - | - | - | - | - | - | - | - | 15.00 | - |
12097 | 637.8 | 9.9 | 462 | 12098 | done | 0.76 | - | - | 3565 | - | - | - | 1779 | - | 116.4 | - | - | 2001 | - | - | - | - | - | - | - | - | - | - | - |
12396 | 608.2 | 9.5 | 472 | 12401 | roll | 0.76 | - | - | 3565 | - | 2.30 | 0.063 | 2836 | 459.6 | 116.4 | - | - | 2001 | - | - | - | - | - | - | - | - | - | 14.99 | - |
12482 | 601.8 | 9.9 | 474 | 12489 | done | 0.76 | - | - | 3565 | - | 2.30 | 0.045 | 1770 | -463.5 | 116.4 | - | - | 2000 | - | - | - | - | - | - | - | - | - | 15.00 | - |
12790 | 570.2 | 9.1 | 485 | 12791 | done | 0.76 | - | - | 3565 | - | - | - | 1770 | - | 116.4 | - | - | 1997 | - | - | - | - | - | - | - | - | - | - | - |
13088 | 542.8 | 9.4 | 495 | 13089 | done | 0.76 | - | - | 3565 | - | - | - | 1771 | - | 116.4 | - | - | 2000 | - | - | - | - | - | - | - | - | - | - | - |
13389 | 515.2 | 9.1 | 505 | 13394 | roll | 0.76 | - | - | 3565 | - | 2.22 | 0.067 | 731 | -468.5 | 116.4 | - | - | 2000 | - | - | - | - | - | - | - | - | - | 15.00 | - |
13512 | 503.8 | 9.3 | 509 | 13517 | done | 0.76 | - | - | 3565 | - | 2.22 | 0.043 | 1786 | 475.2 | 116.4 | - | - | 2000 | - | - | - | - | - | - | - | - | - | 15.01 | - |
13846 | 474.9 | 8.2 | 520 | 13852 | roll | 0.76 | - | - | 3565 | - | 2.28 | 0.061 | 2831 | 458.3 | 116.4 | - | - | 2000 | - | - | - | - | - | - | - | - | - | 15.00 | - |
13959 | 467.0 | 8.2 | 523 | 13964 | done | 0.76 | - | - | 3565 | - | 2.22 | 0.044 | 1792 | -468.0 | 116.4 | - | - | 2000 | - | - | - | - | - | - | - | - | - | 15.01 | - |
14272 | 443.6 | 6.8 | 534 | 14291 | roll | 0.77 | - | - | 3565 | - | 2.35 | 0.067 | 728 | -452.8 | 126.8 | 11.62 | 1.335 | 1957 | -3.7 | 0.222 | - | - | - | - | - | - | - | 14.91 | 14.38 |
14333 | 439.2 | 6.7 | 536 | 14353 | done | 0.78 | - | - | 3565 | - | 2.25 | 0.041 | 1793 | 473.3 | 138.3 | 11.68 | 1.319 | 1912 | -3.9 | 0.231 | - | - | - | - | - | - | - | 14.94 | 14.31 |
14665 | 411.4 | 8.6 | 547 | 14670 | roll | 0.80 | - | - | 3565 | - | 2.33 | 0.063 | 730 | -456.2 | 138.3 | - | - | 1907 | - | - | - | - | - | - | - | - | - | 14.90 | - |
14707 | 408.6 | 8.5 | 548 | 14712 | done | 0.81 | - | - | 3565 | - | 2.25 | 0.041 | 1797 | 474.2 | 138.3 | - | - | 1907 | - | - | - | - | - | - | - | - | - | 14.93 | - |
15032 | 376.3 | 10.5 | 559 | 15037 | roll | 0.83 | - | - | 3565 | - | 2.25 | 0.060 | 2829 | 458.7 | 138.3 | - | - | 1908 | - | - | - | - | - | - | - | - | - | 14.94 | - |
15174 | 362.5 | 11.1 | 563 | 15180 | done | 0.83 | - | - | 3565 | - | 2.20 | 0.042 | 1801 | -467.3 | 138.3 | - | - | 1908 | - | - | - | - | - | - | - | - | - | 14.96 | - |
15489 | 327.7 | 10.4 | 574 | 15494 | roll | 0.85 | - | - | 3565 | - | 2.33 | 0.064 | 724 | -462.2 | 138.3 | - | - | 1908 | - | - | - | - | - | - | - | - | - | 14.96 | - |
15643 | 312.4 | 9.8 | 579 | 15648 | done | 0.87 | - | - | 3565 | - | 2.28 | 0.041 | 1803 | 473.2 | 138.3 | - | - | 1908 | - | - | - | - | - | - | - | - | - | 14.98 | - |
15976 | 283.1 | 8.3 | 590 | 15982 | roll | 0.89 | 0.12 | 0.133 | 3612 | 391.7 | 2.25 | 0.059 | 2835 | 458.7 | 138.3 | - | - | 1908 | - | - | - | - | - | - | - | - | 14.97 | 14.96 | - |
16139 | 267.2 | 10.5 | 595 | 16144 | done | 0.86 | - | - | 3615 | - | 2.20 | 0.042 | 1805 | -468.2 | 138.3 | - | - | 1908 | - | - | - | - | - | - | - | - | - | 14.98 | - |
16447 | 229.8 | 12.8 | 610 | 16453 | roll | 0.84 | 0.12 | 0.299 | 3588 | -225.0 | 2.33 | 0.061 | 721 | -465.2 | 138.3 | - | - | 1908 | - | - | - | - | - | - | - | - | 14.81 | 14.95 | - |
16634 | 207.2 | 12.3 | 622 | 16640 | done | 0.84 | - | - | 3588 | - | 2.25 | 0.040 | 1798 | 478.7 | 138.3 | - | - | 1909 | - | - | - | - | - | - | - | - | - | 15.00 | - |
16947 | 169.9 | 10.9 | 643 | 16953 | roll | 0.84 | - | - | 3588 | - | 2.22 | 0.060 | 2826 | 463.1 | 138.3 | - | - | 1909 | - | - | - | - | - | - | - | - | - | 14.93 | - |
17057 | 157.4 | 11.5 | 650 | 17062 | done | 0.84 | - | - | 3587 | - | 2.22 | 0.041 | 1791 | -466.2 | 138.3 | - | - | 1906 | - | - | - | - | - | - | - | - | - | 14.92 | - |
17375 | 131.2 | 7.4 | 671 | 17386 | roll | 0.84 | - | - | 3589 | - | 2.35 | 0.064 | 725 | -453.6 | 142.7 | 3.85 | 0.825 | 1898 | -2.1 | 0.060 | - | - | - | - | - | - | - | 14.89 | 14.32 |
17598 | 114.2 | 7.9 | 685 | 17605 | done | 0.84 | - | - | 3589 | - | 2.22 | 0.038 | 1792 | 480.6 | 142.7 | - | - | 1899 | - | - | - | - | - | - | - | - | - | 14.92 | - |
17904 | 89.8 | 8.2 | 706 | 17909 | roll | 0.84 | - | - | 3590 | - | 2.30 | 0.058 | 729 | -462.2 | 142.7 | - | - | 1899 | - | - | - | - | - | - | - | - | - | 14.91 | - |
17976 | 84.4 | 8.5 | 710 | 17982 | done | 0.84 | - | - | 3590 | - | 2.17 | 0.037 | 1777 | 482.9 | 142.7 | - | - | 1903 | - | - | - | - | - | - | - | - | - | 14.92 | - |
18282 | 55.5 | 9.8 | 731 | 18283 | done | 0.84 | - | - | 3590 | - | - | - | 1777 | - | 142.7 | - | - | 1901 | - | - | - | - | - | - | - | - | - | - | - |
18582 | 25.4 | 9.9 | 751 | 18589 | roll | 0.84 | - | - | 3590 | - | 2.30 | 0.054 | 2831 | 458.3 | 142.7 | 0.75 | 0.197 | 1900 | - | - | - | - | - | - | - | - | - | 14.91 | 14.76 |
18651 | 18.7 | 10.3 | 755 | 18656 | done | 0.84 | - | - | 3590 | - | 2.22 | 0.037 | 1782 | -472.5 | 142.7 | - | - | 1901 | - | - | - | - | - | - | - | - | - | 14.94 | - |
18828 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
18828 | begin surface coast | ||||||||||||||||||||||||||||
18858 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
18859 | begin surface | ||||||||||||||||||||||||||||
SM | 4.05 | - | - | - | - | -9.83 | 10.05 | 0.064 | 150 | 14.9 | 0.28 | 0.064 | 1911 | 3146.4 | 300.00 | 72.53 | 0.086 | 1256 | 17.3 | -0.083 | - | - | - | - | - | - |