• Previous call tries 2 | • 32.76 of 150.00 AH used of 24V (78.16% remains) | |
• Previous NAKs 0, Timeouts 0 | • 32.54 of 97.00 AH used of 10V (66.46% remains) | |
• Surface angle -71.1 deg, depth 1.67 m | • Intended pitch -15.8 deg, speed -10.000 cm/s | |
• VBD pumped to 500.17 (SM_CC=500) | ||
• GPS1 time: 39 s | ||
• GPS2 time: 8 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 | |||||
92 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
92 | begin dive | ||||||||||||||||||||||||||||
94 | - | - | - | 153 | VBD | -0.80 | - | - | 186 | - | - | - | 2630 | - | -175.2 | -54.78 | - | 2312 | - | - | - | - | - | - | - | - | 26.16 | - | 26.22 |
155 | 3.6 | -6.2 | 8 | 198 | roll | -0.80 | 11.85 | 0.233 | 3011 | 238.4 | 2.10 | 0.040 | 1218 | -672.4 | -175.2 | -26.15 | - | 3555 | -47.5 | - | - | - | - | - | - | - | 25.71 | 24.53 | 26.01 |
264 | 28.2 | -25.0 | 28 | 275 | done | -0.80 | - | - | 3003 | - | 2.10 | 0.034 | 2584 | 650.5 | -175.2 | - | - | 3557 | - | - | - | - | - | - | - | - | 26.18 | 26.12 | 26.20 |
575 | 111.5 | -25.6 | 66 | 582 | roll | -0.80 | - | - | 2994 | - | 1.70 | 0.044 | 3694 | 652.9 | -175.2 | - | - | 3557 | - | - | - | - | - | - | - | - | 26.22 | 26.10 | 26.27 |
668 | 134.5 | -23.5 | 75 | 677 | done | -0.80 | - | - | 3001 | - | 1.58 | 0.020 | 2584 | -702.5 | -175.2 | - | - | 3557 | - | - | - | - | - | - | - | - | 26.27 | 26.20 | 26.27 |
981 | 197.6 | -17.0 | 106 | 995 | roll | -0.80 | - | - | 3008 | - | 1.98 | 0.025 | 1235 | -681.3 | -175.2 | - | - | 3559 | - | - | - | - | - | - | - | - | 26.25 | 26.24 | 26.29 |
1054 | 208.0 | -16.6 | 110 | 1062 | done | -0.80 | - | - | 3000 | - | 2.08 | 0.033 | 2603 | 657.7 | -175.2 | - | - | 3558 | - | - | - | - | - | - | - | - | 26.25 | 26.18 | 26.27 |
1371 | 259.5 | -14.5 | 121 | 1379 | roll | -0.80 | - | - | 3008 | - | 2.03 | 0.024 | 1232 | -675.4 | -175.2 | - | - | 3560 | - | - | - | - | - | - | - | - | 26.26 | 26.22 | 26.32 |
1463 | 271.8 | -13.4 | 124 | 1472 | done | -0.80 | - | - | 3000 | - | 2.10 | 0.030 | 2613 | 657.6 | -175.2 | - | - | 3560 | - | - | - | - | - | - | - | - | 26.26 | 26.20 | 26.29 |
1796 | 317.2 | -13.5 | 135 | 1807 | roll | -0.80 | - | - | 2991 | - | 1.65 | 0.043 | 3701 | 659.4 | -175.2 | - | - | 3560 | - | - | - | - | - | - | - | - | 26.26 | 26.17 | 26.32 |
1866 | 326.1 | -13.7 | 137 | 1873 | done | -0.80 | - | - | 2998 | - | 1.52 | 0.023 | 2611 | -717.1 | -175.2 | - | - | 3560 | - | - | - | - | - | - | - | - | 26.29 | 26.27 | 26.31 |
2192 | 373.4 | -14.2 | 148 | 2202 | roll | -0.80 | - | - | 3008 | - | 2.05 | 0.024 | 1209 | -683.9 | -175.2 | - | - | 3559 | - | - | - | - | - | - | - | - | 26.22 | 26.19 | 26.28 |
2245 | 377.9 | -14.0 | 149 | 2253 | done | -0.80 | - | - | 2999 | - | 2.12 | 0.031 | 2601 | 656.6 | -175.2 | - | - | 3559 | - | - | - | - | - | - | - | - | 26.26 | 26.20 | 26.28 |
2551 | 419.2 | -12.4 | 159 | 2559 | roll | -0.80 | - | - | 2991 | - | 1.70 | 0.043 | 3691 | 641.2 | -175.2 | - | - | 3556 | - | - | - | - | - | - | - | - | 26.25 | 26.15 | 26.31 |
2603 | 423.3 | -12.4 | 160 | 2610 | done | -0.80 | - | - | 2998 | - | 1.52 | 0.021 | 2589 | -725.0 | -175.2 | - | - | 3555 | - | - | - | - | - | - | - | - | 26.30 | 26.28 | 26.32 |
2914 | 463.9 | -12.2 | 171 | 2921 | roll | -0.80 | - | - | 2991 | - | 1.70 | 0.043 | 3693 | 649.4 | -175.2 | - | - | 3552 | - | - | - | - | - | - | - | - | 26.25 | 26.14 | 26.31 |
2955 | 467.8 | -12.3 | 172 | 2962 | done | -0.80 | - | - | 2998 | - | 1.52 | 0.021 | 2597 | -721.1 | -175.2 | - | - | 3551 | - | - | - | - | - | - | - | - | 26.28 | 26.27 | 26.29 |
3276 | 508.0 | -12.1 | 183 | 3281 | done | -0.80 | - | - | 2998 | - | - | - | 2596 | - | -175.2 | - | - | 3548 | - | - | - | - | - | - | - | - | 26.24 | 26.31 | 26.29 |
3576 | 545.7 | -12.6 | 193 | 3583 | roll | -0.80 | - | - | 2990 | - | 1.73 | 0.044 | 3701 | 638.7 | -175.2 | - | - | 3545 | - | - | - | - | - | - | - | - | 26.23 | 26.09 | 26.29 |
3661 | 553.5 | -12.8 | 195 | 3673 | done | -0.80 | - | - | 2998 | - | 1.55 | 0.024 | 2611 | -703.2 | -175.2 | - | - | 3544 | - | - | - | - | - | - | - | - | 26.25 | 26.22 | 26.26 |
3967 | 592.8 | -11.5 | 206 | 3974 | roll | -0.80 | - | - | 3008 | - | 2.08 | 0.024 | 1206 | -675.5 | -175.2 | - | - | 3540 | - | - | - | - | - | - | - | - | 26.22 | 26.15 | 26.28 |
4003 | 595.9 | -11.5 | 207 | 4010 | done | -0.80 | - | - | 2999 | - | 2.12 | 0.029 | 2601 | 658.0 | -175.2 | - | - | 3540 | - | - | - | - | - | - | - | - | 26.20 | 26.15 | 26.23 |
4319 | 631.3 | -10.8 | 218 | 4327 | roll | -0.80 | - | - | 2991 | - | 1.73 | 0.043 | 3694 | 631.8 | -175.2 | - | - | 3538 | - | - | - | - | - | - | - | - | 26.19 | 26.09 | 26.25 |
4366 | 634.9 | -10.9 | 219 | 4374 | done | -0.80 | - | - | 2997 | - | 1.55 | 0.022 | 2588 | -713.5 | -175.2 | - | - | 3537 | - | - | - | - | - | - | - | - | 26.26 | 26.23 | 26.27 |
4683 | 670.5 | -10.7 | 230 | 4694 | roll | -0.80 | - | - | 3007 | - | 2.03 | 0.025 | 1224 | -671.9 | -175.2 | - | - | 3534 | - | - | - | - | - | - | - | - | 26.20 | 26.12 | 26.27 |
4718 | 673.7 | -10.7 | 231 | 4728 | done | -0.80 | - | - | 2998 | - | 2.12 | 0.030 | 2609 | 653.3 | -175.2 | - | - | 3534 | - | - | - | - | - | - | - | - | 26.18 | 26.11 | 26.20 |
5046 | 708.3 | -10.4 | 242 | 5055 | roll | -0.80 | - | - | 3007 | - | 2.08 | 0.026 | 1231 | -662.5 | -175.2 | - | - | 3531 | - | - | - | - | - | - | - | - | 26.17 | 26.08 | 26.23 |
5084 | 711.5 | -10.5 | 243 | 5092 | done | -0.80 | - | - | 2998 | - | 2.12 | 0.031 | 2614 | 652.4 | -175.2 | - | - | 3531 | - | - | - | - | - | - | - | - | 26.16 | 26.10 | 26.19 |
5401 | 746.9 | -11.0 | 254 | 5409 | roll | -0.80 | - | - | 2990 | - | 1.70 | 0.044 | 3688 | 631.8 | -175.2 | - | - | 3528 | - | - | - | - | - | - | - | - | 26.16 | 26.04 | 26.22 |
5448 | 750.5 | -11.2 | 255 | 5455 | done | -0.80 | - | - | 2996 | - | 1.55 | 0.022 | 2588 | -709.7 | -175.2 | - | - | 3528 | - | - | - | - | - | - | - | - | 26.21 | 26.18 | 26.22 |
5764 | 787.4 | -11.1 | 266 | 5771 | done | -0.80 | - | - | 2996 | - | - | - | 2587 | - | -175.2 | - | - | 3526 | - | - | - | - | - | - | - | - | 26.17 | 26.23 | 26.22 |
6064 | 820.6 | -11.0 | 276 | 6070 | done | -0.80 | - | - | 2996 | - | - | - | 2588 | - | -175.2 | - | - | 3524 | - | - | - | - | - | - | - | - | 26.18 | 26.25 | 26.24 |
6364 | 852.8 | -10.7 | 286 | 6369 | done | -0.80 | - | - | 2998 | - | - | - | 2588 | - | -175.2 | - | - | 3523 | - | - | - | - | - | - | - | - | 26.17 | 26.24 | 26.23 |
6664 | 884.8 | -10.4 | 296 | 6671 | done | -0.80 | - | - | 2997 | - | - | - | 2588 | - | -175.2 | - | - | 3521 | - | - | - | - | - | - | - | - | 26.14 | 26.21 | 26.20 |
6965 | 915.8 | -10.3 | 306 | 6972 | roll | -0.80 | - | - | 3006 | - | 2.05 | 0.025 | 1212 | -671.2 | -175.2 | - | - | 3519 | - | - | - | - | - | - | - | - | 26.13 | 26.05 | 26.19 |
7001 | 918.6 | -10.2 | 307 | 7008 | done | -0.80 | - | - | 2997 | - | 2.15 | 0.031 | 2604 | 647.4 | -175.2 | - | - | 3519 | - | - | - | - | - | - | - | - | 26.09 | 26.02 | 26.12 |
7323 | 953.9 | -10.8 | 318 | 7329 | done | -0.80 | - | - | 2997 | - | - | - | 2604 | - | -175.2 | - | - | 3517 | - | - | - | - | - | - | - | - | 26.12 | 26.19 | 26.18 |
7622 | 986.1 | -10.7 | 328 | 7631 | roll | -0.80 | - | - | 3006 | - | 2.08 | 0.025 | 1226 | -662.5 | -175.2 | - | - | 3516 | - | - | - | - | - | - | - | - | 26.11 | 26.00 | 26.17 |
7659 | 989.5 | -10.7 | 329 | 7667 | done | -0.80 | - | - | 2997 | - | 2.12 | 0.030 | 2605 | 650.5 | -175.2 | - | - | 3516 | - | - | - | - | - | - | - | - | 26.08 | 26.01 | 26.10 |
7680 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7680 | begin apogee | ||||||||||||||||||||||||||||
7683 | 992.1 | -10.5 | 330 | 7828 | done | -0.17 | 0.75 | 0.155 | 3208 | 281.3 | - | - | 2429 | - | - | 137.93 | 1.275 | 2839 | -4.9 | 0.401 | - | - | - | - | - | - | 25.66 | 24.71 | 23.95 |
7829 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7829 | begin climb | ||||||||||||||||||||||||||||
7830 | 998.0 | - | 334 | 7989 | roll | 0.80 | 1.08 | 0.138 | 3529 | 297.2 | 2.30 | 0.028 | 1037 | -605.2 | 175.2 | 147.45 | 1.261 | 2119 | -4.9 | 0.406 | - | - | - | - | - | - | 24.84 | 24.14 | 23.37 |
8093 | 995.9 | 5.6 | 343 | 8199 | done | 0.96 | 0.20 | 0.163 | 3575 | 230.0 | 2.20 | 0.028 | 2424 | 630.5 | 288.6 | 95.88 | 1.260 | 1661 | -4.8 | 0.396 | - | - | - | - | - | - | 25.08 | 25.29 | 23.55 |
8493 | 943.5 | 13.5 | 357 | 8501 | roll | 0.96 | - | - | 3568 | - | 2.00 | 0.044 | 3691 | 633.5 | 288.6 | - | - | 1647 | - | - | - | - | - | - | - | - | 25.91 | 25.85 | 25.97 |
8520 | 943.5 | 13.5 | 357 | 8530 | done | 0.96 | - | - | 3576 | - | 1.85 | 0.021 | 2403 | -696.2 | 288.6 | - | - | 1646 | - | - | - | - | - | - | - | - | 26.02 | 25.97 | 26.03 |
8825 | 896.5 | 14.2 | 368 | 8830 | done | 0.96 | - | - | 3576 | - | - | - | 2402 | - | 288.6 | - | - | 1645 | - | - | - | - | - | - | - | - | 26.15 | 26.21 | 26.21 |
9125 | 854.2 | 14.0 | 378 | 9133 | roll | 0.96 | - | - | 3568 | - | 2.03 | 0.042 | 3691 | 635.0 | 288.6 | - | - | 1643 | - | - | - | - | - | - | - | - | 26.17 | 26.09 | 26.23 |
9172 | 850.1 | 14.2 | 379 | 9179 | done | 0.96 | - | - | 3576 | - | 1.83 | 0.022 | 2418 | -695.6 | 288.6 | - | - | 1645 | - | - | - | - | - | - | - | - | 26.22 | 26.19 | 26.24 |
9477 | 804.5 | 13.9 | 389 | 9485 | roll | 0.96 | - | - | 3568 | - | 2.03 | 0.044 | 3694 | 628.6 | 288.6 | - | - | 1642 | - | - | - | - | - | - | - | - | 26.18 | 26.07 | 26.24 |
9508 | 800.7 | 14.1 | 390 | 9516 | done | 0.96 | - | - | 3577 | - | 1.83 | 0.023 | 2424 | -694.0 | 288.6 | - | - | 1642 | - | - | - | - | - | - | - | - | 26.22 | 26.17 | 26.23 |
9835 | 756.9 | 12.9 | 401 | 9842 | roll | 0.96 | - | - | 3569 | - | 2.03 | 0.044 | 3693 | 625.1 | 288.6 | - | - | 1642 | - | - | - | - | - | - | - | - | 26.16 | 26.03 | 26.22 |
9876 | 752.6 | 13.1 | 402 | 9883 | done | 0.96 | - | - | 3577 | - | 1.85 | 0.022 | 2417 | -689.7 | 288.6 | - | - | 1642 | - | - | - | - | - | - | - | - | 26.19 | 26.17 | 26.20 |
10197 | 707.9 | 13.9 | 413 | 10205 | roll | 0.96 | - | - | 3569 | - | 2.03 | 0.044 | 3692 | 628.1 | 288.6 | - | - | 1641 | - | - | - | - | - | - | - | - | 26.13 | 26.03 | 26.20 |
10303 | 695.1 | 14.6 | 416 | 10311 | done | 0.96 | - | - | 3578 | - | 1.83 | 0.023 | 2426 | -691.8 | 288.6 | - | - | 1641 | - | - | - | - | - | - | - | - | 26.18 | 26.15 | 26.20 |
10609 | 652.2 | 12.8 | 426 | 10616 | done | 0.96 | - | - | 3577 | - | - | - | 2423 | - | 288.6 | - | - | 1640 | - | - | - | - | - | - | - | - | 26.13 | 26.20 | 26.19 |
10909 | 616.1 | 11.7 | 436 | 10914 | done | 0.96 | - | - | 3577 | - | - | - | 2423 | - | 288.6 | - | - | 1640 | - | - | - | - | - | - | - | - | 26.13 | 26.20 | 26.19 |
11209 | 581.7 | 11.3 | 446 | 11214 | done | 0.96 | - | - | 3578 | - | - | - | 2423 | - | 288.6 | - | - | 1640 | - | - | - | - | - | - | - | - | 26.12 | 26.18 | 26.17 |
11509 | 548.6 | 10.7 | 456 | 11514 | done | 0.96 | - | - | 3577 | - | - | - | 2423 | - | 288.6 | - | - | 1640 | - | - | - | - | - | - | - | - | 26.13 | 26.20 | 26.20 |
11809 | 518.1 | 10.4 | 466 | 11816 | roll | 0.96 | - | - | 3570 | - | 2.00 | 0.043 | 3690 | 633.5 | 288.6 | - | - | 1640 | - | - | - | - | - | - | - | - | 26.10 | 25.96 | 26.17 |
11855 | 515.2 | 10.6 | 467 | 11862 | done | 0.96 | - | - | 3578 | - | 1.85 | 0.023 | 2421 | -685.9 | 288.6 | - | - | 1640 | - | - | - | - | - | - | - | - | 26.14 | 26.10 | 26.15 |
12160 | 477.3 | 12.0 | 477 | 12168 | roll | 0.96 | - | - | 3570 | - | 2.03 | 0.043 | 3700 | 630.0 | 288.6 | - | - | 1639 | - | - | - | - | - | - | - | - | 26.10 | 25.95 | 26.15 |
12207 | 473.9 | 12.1 | 478 | 12214 | done | 0.96 | - | - | 3579 | - | 1.88 | 0.024 | 2422 | -679.8 | 288.6 | - | - | 1640 | - | - | - | - | - | - | - | - | 26.13 | 26.10 | 26.15 |
12512 | 435.3 | 11.9 | 488 | 12523 | roll | 0.96 | - | - | 3570 | - | 1.98 | 0.043 | 3687 | 638.9 | 288.6 | - | - | 1639 | - | - | - | - | - | - | - | - | 26.08 | 25.95 | 26.14 |
12572 | 427.8 | 12.1 | 490 | 12580 | done | 0.96 | - | - | 3579 | - | 1.88 | 0.023 | 2403 | -683.0 | 288.6 | - | - | 1640 | - | - | - | - | - | - | - | - | 26.08 | 26.05 | 26.10 |
12899 | 388.7 | 12.2 | 501 | 12907 | roll | 0.96 | - | - | 3589 | - | 2.10 | 0.030 | 1026 | -655.7 | 288.6 | - | - | 1639 | - | - | - | - | - | - | - | - | 26.06 | 26.00 | 26.13 |
13026 | 375.2 | 10.9 | 505 | 13034 | done | 0.96 | - | - | 3588 | - | 2.15 | 0.031 | 2418 | 647.4 | 288.6 | - | - | 1638 | - | - | - | - | - | - | - | - | 26.05 | 25.98 | 26.08 |
13348 | 339.0 | 10.7 | 516 | 13355 | roll | 0.96 | - | - | 3588 | - | 2.03 | 0.044 | 3701 | 632.0 | 288.6 | - | - | 1639 | - | - | - | - | - | - | - | - | 26.07 | 25.91 | 26.13 |
13524 | 320.6 | 12.2 | 521 | 13534 | done | 0.96 | - | - | 3597 | - | 1.88 | 0.024 | 2425 | -678.7 | 288.6 | - | - | 1639 | - | - | - | - | - | - | - | - | 26.08 | 26.05 | 26.10 |
13829 | 284.7 | 9.6 | 532 | 13841 | roll | 0.98 | - | - | 3597 | - | 2.08 | 0.042 | 3695 | 610.6 | 298.6 | 1.52 | 0.210 | 1626 | -8.6 | 1.217 | - | - | - | - | - | - | 26.09 | 25.74 | 25.32 |
14064 | 263.7 | 10.4 | 539 | 14077 | done | 0.98 | - | - | 3606 | - | 1.88 | 0.021 | 2401 | -688.3 | 298.6 | 1.62 | 0.211 | 1625 | - | - | - | - | - | - | - | - | 26.10 | 26.07 | 25.29 |
14370 | 233.3 | 8.9 | 550 | 14408 | roll | 1.02 | - | - | 3616 | - | 2.08 | 0.026 | 1038 | -655.3 | 327.7 | 30.60 | 0.861 | 1498 | -4.2 | 0.118 | - | - | - | - | - | - | 26.07 | 25.43 | 24.94 |
14477 | 225.4 | 8.7 | 553 | 14514 | done | 1.07 | - | - | 3616 | - | 2.12 | 0.028 | 2422 | 652.8 | 360.3 | 28.33 | 0.852 | 1369 | -4.6 | 0.126 | - | - | - | - | - | - | 25.88 | 25.82 | 24.83 |
14818 | 184.2 | 10.3 | 573 | 14827 | roll | 1.07 | - | - | 3626 | - | 2.12 | 0.029 | 1034 | -654.7 | 360.3 | - | - | 1356 | - | - | - | - | - | - | - | - | 26.04 | 26.00 | 26.10 |
14881 | 178.2 | 10.5 | 578 | 14891 | done | 1.07 | - | - | 3623 | - | 2.12 | 0.028 | 2422 | 654.7 | 360.3 | - | - | 1355 | - | - | - | - | - | - | - | - | 26.07 | 26.01 | 26.10 |
15186 | 149.2 | 8.5 | 609 | 15231 | roll | 1.12 | - | - | 3632 | - | 2.17 | 0.029 | 1046 | -634.1 | 398.8 | 31.88 | 0.787 | 1208 | -4.6 | 0.092 | - | - | - | - | - | - | 26.11 | 25.68 | 25.04 |
15250 | 143.0 | 9.8 | 615 | 15263 | done | 1.13 | - | - | 3629 | - | 2.12 | 0.028 | 2425 | 650.5 | 403.7 | 1.00 | 0.209 | 1192 | -16.0 | 1.149 | - | - | - | - | - | - | 25.86 | 25.82 | 25.64 |
15560 | 113.4 | 7.9 | 646 | 15617 | roll | 1.21 | 0.12 | 0.177 | 3648 | 158.3 | 2.05 | 0.044 | 3691 | 617.6 | 458.6 | 47.83 | 0.722 | 963 | -4.8 | 0.079 | - | - | - | - | - | - | 25.77 | 25.56 | 24.99 |
15676 | 101.2 | 13.2 | 657 | 15686 | done | 1.21 | - | - | 3657 | - | 1.85 | 0.021 | 2408 | -693.5 | 458.6 | - | - | 956 | - | - | - | - | - | - | - | - | 25.89 | 25.87 | 25.90 |
15981 | 63.3 | 12.6 | 688 | 15989 | roll | 1.21 | - | - | 3667 | - | 2.05 | 0.030 | 1054 | -660.5 | 458.6 | - | - | 954 | - | - | - | - | - | - | - | - | 26.10 | 26.06 | 26.16 |
16028 | 57.4 | 12.5 | 692 | 16035 | done | 1.21 | - | - | 3658 | - | 2.10 | 0.030 | 2422 | 651.4 | 458.6 | - | - | 955 | - | - | - | - | - | - | - | - | 26.13 | 26.08 | 26.16 |
16335 | 18.7 | 13.0 | 746 | 16338 | done | 1.21 | - | - | 3658 | - | - | - | 2420 | - | 458.6 | - | - | 955 | - | - | - | - | - | - | - | - | 26.19 | 26.25 | 26.24 |
16465 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16465 | begin surface coast | ||||||||||||||||||||||||||||
16476 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16476 | begin surface | ||||||||||||||||||||||||||||
SM | 1.86 | - | - | - | - | -9.53 | 10.20 | 0.083 | 192 | 18.8 | 0.28 | 0.053 | 2624 | 9350.0 | 500.17 | 14.93 | 0.117 | 796 | 53.3 | -0.087 | - | - | - | - | - | - |