• Previous call tries 1 | • 69.41 of 150.00 AH used of 24V (53.73% remains) | |
• Previous NAKs 13, Timeouts 0 | • 48.52 of 100.00 AH used of 10V (51.48% remains) | |
• Surface angle -66.2 deg, depth 2.08 m | • Intended pitch -18.3 deg, speed -12.000 cm/s | |
• No surface pump (final VBD was 585.78, SM_CC=475) | ||
• GPS1 time: 41 s | ||
• GPS2 time: 10 s | • Transponder ping count: 324 | |
• 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 | |||||
10 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
10 | begin dive | ||||||||||||||||||||||||||||
12 | - | - | - | 73 | VBD | -1.11 | - | - | 147 | - | - | - | 2124 | - | -194.7 | -58.97 | - | 1915 | - | - | - | - | - | - | - | - | - | - | - |
75 | 3.2 | -3.8 | 9 | 139 | roll | -1.11 | 9.07 | 0.226 | 2446 | 253.5 | 2.17 | 0.053 | 719 | -647.5 | -194.7 | -49.03 | - | 3649 | -35.4 | - | - | - | - | - | - | - | - | - | - |
304 | 57.2 | -26.3 | 50 | 310 | done | -0.63 | 0.50 | 0.144 | 2604 | 316.0 | 2.25 | 0.043 | 2144 | 633.3 | -194.7 | - | - | 3649 | - | - | - | - | - | - | - | - | - | - | - |
631 | 102.7 | -12.0 | 111 | 638 | roll | -0.63 | - | - | 2602 | - | 2.20 | 0.052 | 3547 | 637.7 | -194.7 | - | - | 3651 | - | - | - | - | - | - | - | - | - | - | - |
761 | 116.7 | -10.6 | 135 | 768 | done | -0.71 | - | - | 2602 | - | 2.12 | 0.031 | 2145 | -661.3 | -194.7 | - | - | 3651 | - | - | - | - | - | - | - | - | - | - | - |
1088 | 149.3 | -10.0 | 196 | 1094 | roll | -0.97 | 0.25 | 0.091 | 2466 | -544.0 | 2.15 | 0.041 | 745 | -651.2 | -194.7 | - | - | 3652 | - | - | - | - | - | - | - | - | - | - | - |
1180 | 163.5 | -15.9 | 213 | 1186 | done | -0.75 | 0.32 | 0.134 | 2565 | 309.4 | 2.30 | 0.040 | 2244 | 651.7 | -194.7 | - | - | 3652 | - | - | - | - | - | - | - | - | - | - | - |
1507 | 195.3 | -9.0 | 274 | 1513 | roll | -1.05 | 0.22 | 0.069 | 2449 | -527.3 | 2.03 | 0.051 | 3539 | 637.9 | -194.7 | - | - | 3653 | - | - | - | - | - | - | - | - | - | - | - |
1653 | 217.3 | -16.9 | 301 | 1659 | done | -0.81 | 0.32 | 0.129 | 2551 | 318.8 | 1.88 | 0.032 | 2265 | -677.7 | -194.7 | - | - | 3653 | - | - | - | - | - | - | - | - | - | - | - |
1979 | 249.6 | -9.0 | 362 | 1986 | roll | -1.05 | 0.22 | 0.045 | 2435 | -527.3 | 2.35 | 0.047 | 735 | -651.1 | -194.7 | - | - | 3654 | - | - | - | - | - | - | - | - | - | - | - |
2012 | 253.8 | -13.6 | 368 | 2019 | done | -0.86 | 0.28 | 0.133 | 2528 | 332.1 | 2.40 | 0.042 | 2261 | 635.8 | -194.7 | - | - | 3653 | - | - | - | - | - | - | - | - | - | - | - |
2339 | 291.7 | -12.1 | 429 | 2345 | roll | -0.91 | - | - | 2520 | - | 2.00 | 0.055 | 3540 | 639.5 | -194.7 | - | - | 3653 | - | - | - | - | - | - | - | - | - | - | - |
2403 | 299.7 | -12.8 | 441 | 2410 | done | -0.91 | - | - | 2520 | - | 1.90 | 0.032 | 2262 | -672.6 | -194.7 | - | - | 3653 | - | - | - | - | - | - | - | - | - | - | - |
2718 | 336.1 | -10.5 | 472 | 2722 | roll | -0.91 | - | - | 2520 | - | 2.05 | 0.056 | 3551 | 628.8 | -194.7 | - | - | 3653 | - | - | - | - | - | - | - | - | - | - | - |
2772 | 341.6 | -10.2 | 477 | 2775 | done | -0.94 | - | - | 2520 | - | 1.90 | 0.033 | 2295 | -661.1 | -194.7 | - | - | 3652 | - | - | - | - | - | - | - | - | - | - | - |
3094 | 373.0 | -9.6 | 508 | 3095 | done | -1.00 | - | - | 2520 | - | - | - | 2289 | - | -194.7 | - | - | 3651 | - | - | - | - | - | - | - | - | - | - | - |
3405 | 401.1 | -9.3 | 538 | 3409 | roll | -1.20 | 0.22 | 0.048 | 2401 | -540.9 | 2.42 | 0.047 | 738 | -640.9 | -194.7 | - | - | 3649 | - | - | - | - | - | - | - | - | - | - | - |
3463 | 409.7 | -15.8 | 543 | 3467 | done | -0.93 | 0.38 | 0.150 | 2510 | 286.8 | 2.40 | 0.044 | 2272 | 639.2 | -194.7 | - | - | 3649 | - | - | - | - | - | - | - | - | - | - | - |
3779 | 446.6 | -11.4 | 573 | 3782 | roll | -0.97 | - | - | 2510 | - | 2.00 | 0.058 | 3535 | 631.5 | -194.7 | - | - | 3647 | - | - | - | - | - | - | - | - | - | - | - |
3858 | 455.8 | -11.1 | 580 | 3864 | done | -1.02 | - | - | 2510 | - | 1.90 | 0.035 | 2285 | -657.9 | -194.7 | - | - | 3646 | - | - | - | - | - | - | - | - | - | - | - |
4176 | 489.1 | -10.4 | 611 | 4180 | roll | -1.23 | 0.22 | 0.049 | 2397 | -513.6 | 2.40 | 0.046 | 745 | -641.7 | -194.7 | - | - | 3644 | - | - | - | - | - | - | - | - | - | - | - |
4186 | 490.4 | -10.5 | 611 | 4193 | done | -1.36 | - | - | 2396 | - | 2.40 | 0.044 | 2278 | 638.8 | -194.7 | - | - | 3643 | - | - | - | - | - | - | - | - | - | - | - |
4498 | 542.6 | -16.4 | 630 | 4501 | roll | -1.06 | 0.25 | 0.157 | 2465 | 276.0 | 2.03 | 0.059 | 3547 | 625.1 | -194.7 | - | - | 3641 | - | - | - | - | - | - | - | - | - | - | - |
4621 | 558.5 | -12.1 | 635 | 4627 | done | -0.98 | - | - | 2466 | - | 1.90 | 0.037 | 2286 | -663.7 | -194.7 | - | - | 3640 | - | - | - | - | - | - | - | - | - | - | - |
4931 | 594.2 | -11.6 | 651 | 4935 | roll | -0.89 | 0.17 | 0.136 | 2520 | 317.6 | 2.03 | 0.060 | 3535 | 615.3 | -194.7 | - | - | 3637 | - | - | - | - | - | - | - | - | - | - | - |
5001 | 600.3 | -7.9 | 654 | 5004 | done | -1.01 | 0.08 | 0.051 | 2459 | -762.5 | 1.90 | 0.035 | 2291 | -654.7 | -194.7 | - | - | 3637 | - | - | - | - | - | - | - | - | - | - | - |
5322 | 638.0 | -12.4 | 670 | 5325 | roll | -0.90 | 0.20 | 0.136 | 2520 | 305.0 | 2.03 | 0.061 | 3536 | 613.3 | -194.7 | - | - | 3636 | - | - | - | - | - | - | - | - | - | - | - |
5390 | 644.9 | -9.8 | 673 | 5394 | done | -1.02 | 0.08 | 0.051 | 2459 | -762.5 | 1.88 | 0.036 | 2309 | -652.7 | -194.7 | - | - | 3635 | - | - | - | - | - | - | - | - | - | - | - |
5713 | 685.5 | -12.8 | 689 | 5714 | done | -0.91 | 0.20 | 0.136 | 2520 | 305.0 | - | - | 2304 | - | -194.7 | - | - | 3632 | - | - | - | - | - | - | - | - | - | - | - |
6017 | 716.0 | -9.8 | 704 | 6021 | roll | -1.01 | 0.10 | 0.074 | 2464 | -560.0 | 2.00 | 0.064 | 3539 | 617.5 | -194.7 | - | - | 3630 | - | - | - | - | - | - | - | - | - | - | - |
6081 | 723.9 | -12.4 | 707 | 6084 | done | -0.96 | 0.08 | 0.136 | 2492 | 350.0 | 1.88 | 0.037 | 2318 | -649.5 | -194.7 | - | - | 3629 | - | - | - | - | - | - | - | - | - | - | - |
6409 | 762.0 | -11.5 | 723 | 6410 | done | -0.96 | - | - | 2491 | - | - | - | 2313 | - | -194.7 | - | - | 3627 | - | - | - | - | - | - | - | - | - | - | - |
6712 | 795.4 | -10.5 | 738 | 6715 | roll | -0.96 | - | - | 2491 | - | 2.03 | 0.066 | 3531 | 600.0 | -194.7 | - | - | 3625 | - | - | - | - | - | - | - | - | - | - | - |
6761 | 800.4 | -9.4 | 740 | 6764 | done | -1.01 | - | - | 2492 | - | 1.83 | 0.038 | 2334 | -654.1 | -194.7 | - | - | 3624 | - | - | - | - | - | - | - | - | - | - | - |
7082 | 833.5 | -10.1 | 756 | 7082 | done | -1.01 | - | - | 2492 | - | - | - | 2332 | - | -194.7 | - | - | 3622 | - | - | - | - | - | - | - | - | - | - | - |
7387 | 864.0 | -10.1 | 771 | 7388 | done | -1.01 | - | - | 2492 | - | - | - | 2330 | - | -194.7 | - | - | 3620 | - | - | - | - | - | - | - | - | - | - | - |
7692 | 895.3 | -9.9 | 786 | 7695 | roll | -1.01 | - | - | 2492 | - | 2.00 | 0.068 | 3544 | 607.0 | -194.7 | - | - | 3618 | - | - | - | - | - | - | - | - | - | - | - |
7756 | 901.6 | -9.1 | 789 | 7759 | done | -1.06 | - | - | 2492 | - | 1.88 | 0.040 | 2345 | -637.8 | -194.7 | - | - | 3618 | - | - | - | - | - | - | - | - | - | - | - |
8083 | 934.3 | -10.2 | 805 | 8086 | roll | -1.06 | - | - | 2492 | - | 1.98 | 0.067 | 3540 | 603.5 | -194.7 | - | - | 3617 | - | - | - | - | - | - | - | - | - | - | - |
8136 | 939.5 | -10.0 | 807 | 8139 | done | -1.11 | 0.12 | 0.067 | 2434 | -483.3 | 1.83 | 0.039 | 2347 | -651.9 | -194.7 | - | - | 3616 | - | - | - | - | - | - | - | - | - | - | - |
8451 | 980.3 | -12.9 | 823 | 8455 | roll | -0.95 | 0.22 | 0.144 | 2502 | 309.1 | 2.58 | 0.054 | 741 | -622.5 | -194.7 | - | - | 3615 | - | - | - | - | - | - | - | - | - | - | - |
8489 | 984.3 | -9.0 | 825 | 8492 | done | -1.02 | - | - | 2500 | - | 2.55 | 0.049 | 2334 | 624.7 | -194.7 | - | - | 3615 | - | - | - | - | - | - | - | - | - | - | - |
8563 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8563 | begin apogee | ||||||||||||||||||||||||||||
8568 | 991.0 | 8.7 | 829 | 8730 | done | -0.24 | 0.70 | 0.118 | 2732 | 331.4 | - | - | 2446 | - | - | 158.77 | 1.382 | 2854 | -4.8 | 0.363 | - | - | - | - | - | - | - | - | - |
8730 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8730 | begin climb | ||||||||||||||||||||||||||||
8732 | 998.9 | - | 837 | 8907 | roll | 1.11 | 1.23 | 0.044 | 3197 | 378.0 | 2.40 | 0.051 | 1063 | -576.2 | 194.7 | 168.02 | 1.338 | 2058 | -4.7 | 0.374 | - | - | - | - | - | - | - | - | - |
8939 | 983.8 | 20.0 | 847 | 8944 | done | 0.53 | 0.77 | 0.176 | 2986 | -274.0 | 2.33 | 0.048 | 2453 | 596.6 | 194.7 | - | - | 2054 | - | - | - | - | - | - | - | - | - | - | - |
9250 | 951.7 | 9.8 | 862 | 9300 | roll | 0.53 | - | - | 2995 | - | 2.35 | 0.051 | 1076 | -586.0 | 247.6 | 45.92 | 1.295 | 1844 | -4.6 | 0.355 | - | - | - | - | - | - | - | - | - |
9382 | 937.3 | 11.4 | 868 | 9399 | done | 0.55 | - | - | 2994 | - | 2.22 | 0.046 | 2448 | 618.0 | 261.6 | 13.30 | 1.187 | 1787 | -4.3 | 0.358 | - | - | - | - | - | - | - | - | - |
9702 | 900.1 | 11.7 | 884 | 9716 | roll | 0.56 | - | - | 3004 | - | 2.28 | 0.049 | 1066 | -606.1 | 270.0 | 8.45 | 1.108 | 1753 | -4.0 | 0.346 | - | - | - | - | - | - | - | - | - |
9755 | 893.8 | 12.9 | 886 | 9758 | done | 0.56 | - | - | 3004 | - | 2.20 | 0.045 | 2441 | 625.0 | 270.0 | - | - | 1751 | - | - | - | - | - | - | - | - | - | - | - |
10070 | 855.9 | 11.9 | 902 | 10074 | roll | 0.56 | - | - | 3014 | - | 2.22 | 0.049 | 1067 | -618.9 | 272.1 | - | - | 1750 | - | - | - | - | - | - | - | - | - | - | - |
10128 | 848.3 | 12.3 | 904 | 10135 | done | 0.52 | 0.10 | 0.138 | 2981 | -330.0 | 2.15 | 0.044 | 2404 | 621.9 | 272.1 | - | - | 1748 | - | - | - | - | - | - | - | - | - | - | - |
10440 | 814.9 | 10.5 | 920 | 10484 | roll | 0.60 | - | - | 2988 | - | 2.22 | 0.050 | 1058 | -606.3 | 307.2 | 35.75 | 1.198 | 1601 | -4.1 | 0.296 | - | - | - | - | - | - | - | - | - |
10539 | 803.7 | 11.5 | 924 | 10566 | done | 0.67 | 0.08 | 0.060 | 3037 | 612.5 | 2.17 | 0.044 | 2383 | 610.6 | 319.8 | 14.38 | 1.009 | 1549 | -3.6 | 0.305 | - | - | - | - | - | - | - | - | - |
10872 | 758.7 | 13.6 | 941 | 10875 | roll | 0.60 | 0.12 | 0.148 | 3011 | -216.7 | 2.12 | 0.048 | 1058 | -625.0 | 319.8 | - | - | 1547 | - | - | - | - | - | - | - | - | - | - | - |
10930 | 751.2 | 11.4 | 944 | 10951 | done | 0.62 | - | - | 3011 | - | 2.12 | 0.044 | 2380 | 623.6 | 334.7 | 14.73 | 1.164 | 1487 | -4.1 | 0.278 | - | - | - | - | - | - | - | - | - |
11256 | 712.2 | 12.0 | 960 | 11259 | roll | 0.62 | - | - | 3021 | - | 2.10 | 0.049 | 1063 | -627.1 | 334.7 | - | - | 1485 | - | - | - | - | - | - | - | - | - | - | - |
11292 | 707.8 | 12.2 | 961 | 11298 | done | 0.62 | - | - | 3021 | - | 2.10 | 0.044 | 2363 | 619.0 | 334.7 | - | - | 1484 | - | - | - | - | - | - | - | - | - | - | - |
11602 | 667.3 | 13.2 | 977 | 11603 | done | 0.62 | - | - | 3021 | - | - | - | 2363 | - | 334.7 | - | - | 1483 | - | - | - | - | - | - | - | - | - | - | - |
11908 | 627.6 | 13.5 | 992 | 11912 | roll | 0.62 | - | - | 3030 | - | 2.10 | 0.049 | 1060 | -620.5 | 334.7 | - | - | 1483 | - | - | - | - | - | - | - | - | - | - | - |
11934 | 624.0 | 13.9 | 993 | 11938 | done | 0.62 | - | - | 3030 | - | 2.08 | 0.043 | 2358 | 624.0 | 334.7 | - | - | 1482 | - | - | - | - | - | - | - | - | - | - | - |
12255 | 581.2 | 12.5 | 1009 | 12259 | roll | 0.62 | - | - | 3039 | - | 2.05 | 0.049 | 1063 | -631.7 | 334.7 | - | - | 1482 | - | - | - | - | - | - | - | - | - | - | - |
12287 | 577.2 | 11.6 | 1010 | 12301 | done | 0.63 | - | - | 3039 | - | 2.05 | 0.044 | 2363 | 634.1 | 343.5 | 8.65 | 1.012 | 1452 | -3.5 | 0.209 | - | - | - | - | - | - | - | - | - |
12624 | 533.1 | 12.8 | 1027 | 12627 | roll | 0.63 | - | - | 3039 | - | 2.12 | 0.059 | 3688 | 625.0 | 343.5 | - | - | 1451 | - | - | - | - | - | - | - | - | - | - | - |
12650 | 529.4 | 13.5 | 1028 | 12654 | done | 0.57 | 0.15 | 0.137 | 2998 | -273.3 | 2.08 | 0.038 | 2365 | -636.1 | 343.5 | - | - | 1451 | - | - | - | - | - | - | - | - | - | - | - |
12962 | 497.8 | 9.7 | 1044 | 13018 | roll | 0.74 | 0.15 | 0.061 | 3084 | 573.3 | 2.17 | 0.049 | 1066 | -598.6 | 400.3 | 50.78 | 1.065 | 1221 | -4.5 | 0.224 | - | - | - | - | - | - | - | - | - |
13113 | 475.4 | 14.5 | 1058 | 13117 | done | 0.65 | 0.20 | 0.143 | 3021 | -315.0 | 2.03 | 0.043 | 2314 | 614.8 | 400.3 | - | - | 1217 | - | - | - | - | - | - | - | - | - | - | - |
13434 | 438.4 | 11.1 | 1089 | 13468 | roll | 0.79 | 0.12 | 0.068 | 3098 | 641.7 | 2.03 | 0.048 | 1061 | -617.2 | 421.2 | 21.05 | 0.919 | 1135 | -3.9 | 0.196 | - | - | - | - | - | - | - | - | - |
13494 | 429.9 | 14.9 | 1094 | 13500 | done | 0.70 | 0.20 | 0.139 | 3035 | -315.0 | 2.00 | 0.042 | 2302 | 620.5 | 421.2 | - | - | 1134 | - | - | - | - | - | - | - | - | - | - | - |
13810 | 393.9 | 10.7 | 1125 | 13844 | roll | 0.83 | 0.12 | 0.067 | 3114 | 658.3 | 2.08 | 0.049 | 1061 | -596.6 | 451.6 | 27.58 | 0.968 | 1011 | -4.5 | 0.192 | - | - | - | - | - | - | - | - | - |
13908 | 378.3 | 16.7 | 1134 | 13912 | done | 0.72 | 0.25 | 0.141 | 3042 | -288.0 | 1.95 | 0.042 | 2289 | 629.7 | 451.6 | - | - | 1009 | - | - | - | - | - | - | - | - | - | - | - |
14229 | 338.4 | 12.7 | 1165 | 14232 | roll | 0.85 | 0.12 | 0.064 | 3121 | 658.3 | 1.95 | 0.049 | 1057 | -631.8 | 451.6 | - | - | 1008 | - | - | - | - | - | - | - | - | - | - | - |
14266 | 332.5 | 16.5 | 1168 | 14272 | done | 0.74 | 0.20 | 0.136 | 3055 | -330.0 | 1.92 | 0.048 | 2256 | 624.5 | 451.6 | - | - | 1008 | - | - | - | - | - | - | - | - | - | - | - |
14582 | 297.4 | 9.9 | 1201 | 14632 | roll | 0.92 | 0.15 | 0.057 | 3140 | 566.7 | 2.00 | 0.050 | 1065 | -595.5 | 503.3 | 44.75 | 0.898 | 801 | -4.6 | 0.162 | - | - | - | - | - | - | - | - | - |
14648 | 288.0 | 15.1 | 1212 | 14654 | done | 0.85 | 0.17 | 0.133 | 3084 | -329.4 | 1.90 | 0.042 | 2238 | 617.4 | 503.3 | - | - | 800 | - | - | - | - | - | - | - | - | - | - | - |
14974 | 245.1 | 13.7 | 1273 | 14979 | done | 0.96 | - | - | 3084 | - | - | - | 2238 | - | 503.3 | - | - | 798 | - | - | - | - | - | - | - | - | - | - | - |
15300 | 205.3 | 11.3 | 1334 | 15320 | roll | 1.07 | 0.20 | 0.054 | 3191 | 535.0 | 1.92 | 0.048 | 1064 | -611.5 | 519.9 | 14.98 | 0.788 | 733 | -4.3 | 0.120 | - | - | - | - | - | - | - | - | - |
15362 | 195.2 | 17.5 | 1345 | 15368 | done | 0.86 | 0.30 | 0.142 | 3086 | -350.0 | 1.88 | 0.042 | 2237 | 623.9 | 519.9 | - | - | 732 | - | - | - | - | - | - | - | - | - | - | - |
15689 | 160.1 | 10.8 | 1406 | 15728 | roll | 1.21 | 0.28 | 0.040 | 3227 | 503.6 | 2.40 | 0.058 | 3693 | 606.7 | 548.8 | 28.77 | 0.769 | 612 | -4.2 | 0.092 | - | - | - | - | - | - | - | - | - |
15861 | 125.9 | 20.4 | 1437 | 15867 | done | 1.00 | 0.38 | 0.153 | 3130 | -255.3 | 2.42 | 0.041 | 2149 | -638.0 | 548.8 | - | - | 606 | - | - | - | - | - | - | - | - | - | - | - |
16188 | 90.1 | 10.0 | 1498 | 16245 | roll | 1.24 | 0.17 | 0.054 | 3236 | 623.5 | 1.77 | 0.048 | 1058 | -616.4 | 596.6 | 36.60 | 0.616 | 482 | -3.4 | 0.052 | - | - | - | - | - | - | - | - | - |
16294 | 73.8 | 16.7 | 1516 | 16300 | done | 1.09 | 0.20 | 0.140 | 3158 | -390.0 | 1.73 | 0.044 | 2139 | 624.9 | 596.6 | - | - | 474 | - | - | - | - | - | - | - | - | - | - | - |
16620 | 36.8 | 11.0 | 1577 | 16626 | roll | 1.28 | 0.17 | 0.052 | 3252 | 552.9 | 1.73 | 0.046 | 1062 | -622.5 | 619.6 | - | - | 469 | - | - | - | - | - | - | - | - | - | - | - |
16740 | 17.4 | 18.8 | 1599 | 16747 | done | 1.19 | 0.17 | 0.143 | 3194 | -341.2 | 1.65 | 0.038 | 2118 | 640.0 | 619.6 | - | - | 468 | - | - | - | - | - | - | - | - | - | - | - |
16857 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16857 | begin surface coast | ||||||||||||||||||||||||||||
16878 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16878 | begin surface | ||||||||||||||||||||||||||||
SM | 2.47 | - | - | - | - | -8.17 | 7.62 | 0.029 | 151 | -399.3 | - | - | 2120 | - | 585.78 | - | - | 466 | - | - | - | - | - | - | - | - |