• Previous call tries 1 | • 70.56 of 350.00 AH used of 24V (79.84% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -73.3 deg, depth 3.28 m | • Intended pitch -14.9 deg, speed -10.000 cm/s | |
• VBD pumped to 500.17 (SM_CC=500) | ||
• GPS1 time: 264 s, HDOP was 99.0 m | ||
• GPS2 time: 35 s | • Transponder ping count: 1 | |
• 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 | ||||||||||||||||||||||||||||
25 | - | - | - | 114 | VBD | -0.62 | - | - | 5 | - | - | - | 2689 | - | -194.6 | -86.32 | - | 3339 | - | - | - | - | - | - | - | - | 14.89 | - | 14.93 |
123 | 5.4 | -4.4 | 9 | 149 | roll | -0.62 | 12.05 | 0.413 | 2505 | 207.5 | 2.33 | 0.074 | 1244 | -620.2 | -194.6 | -8.30 | - | 3925 | -70.6 | - | - | - | - | - | - | - | 14.28 | 13.40 | 14.54 |
230 | 44.8 | -28.3 | 31 | 237 | done | -0.62 | - | - | 2498 | - | 2.22 | 0.054 | 2624 | 621.6 | -194.6 | - | - | 3926 | - | - | - | - | - | - | - | - | 14.67 | 14.62 | 14.73 |
550 | 123.0 | -18.6 | 49 | 554 | roll | -0.62 | - | - | 2486 | - | 2.35 | 0.078 | 4041 | 603.0 | -194.6 | - | - | 3928 | - | - | - | - | - | - | - | - | 15.04 | 14.69 | 15.07 |
740 | 154.8 | -16.3 | 86 | 746 | done | -0.62 | 0.12 | 0.263 | 2513 | 225.0 | 2.17 | 0.031 | 2638 | -646.5 | -194.6 | - | - | 3929 | - | - | - | - | - | - | - | - | 14.53 | 14.81 | 14.76 |
1056 | 194.3 | -10.9 | 104 | 1057 | done | -0.62 | - | - | 2513 | - | - | - | 2637 | - | -194.6 | - | - | 3930 | - | - | - | - | - | - | - | - | 15.10 | 15.14 | 15.14 |
1356 | 226.1 | -10.2 | 119 | 1361 | roll | -0.62 | - | - | 2505 | - | 2.33 | 0.080 | 4036 | 600.4 | -194.6 | - | - | 3929 | - | - | - | - | - | - | - | - | 15.12 | 14.69 | 15.15 |
1386 | 229.2 | -10.7 | 125 | 1391 | done | -0.62 | - | - | 2505 | - | 2.15 | 0.031 | 2638 | -650.2 | -194.6 | - | - | 3929 | - | - | - | - | - | - | - | - | 14.92 | 14.85 | 14.94 |
1702 | 263.0 | -10.7 | 138 | 1703 | done | -0.62 | - | - | 2505 | - | - | - | 2638 | - | -194.6 | - | - | 3927 | - | - | - | - | - | - | - | - | 15.12 | 15.16 | 15.16 |
2000 | 300.5 | -12.6 | 143 | 2005 | roll | -0.62 | - | - | 2505 | - | 2.17 | 0.051 | 1255 | -637.3 | -194.6 | - | - | 3923 | - | - | - | - | - | - | - | - | 15.15 | 14.76 | 15.19 |
2035 | 305.4 | -13.7 | 150 | 2040 | done | -0.62 | - | - | 2497 | - | 2.28 | 0.054 | 2660 | 616.2 | -194.6 | - | - | 3923 | - | - | - | - | - | - | - | - | 14.90 | 14.80 | 14.92 |
2360 | 345.2 | -11.8 | 160 | 2367 | roll | -0.62 | - | - | 2486 | - | 2.28 | 0.080 | 4029 | 600.4 | -194.6 | - | - | 3920 | - | - | - | - | - | - | - | - | 15.15 | 14.70 | 15.19 |
2391 | 348.4 | -10.1 | 166 | 2397 | done | -0.62 | 0.12 | 0.242 | 2515 | 241.7 | 2.12 | 0.032 | 2648 | -651.4 | -194.6 | - | - | 3920 | - | - | - | - | - | - | - | - | 14.59 | 14.87 | 14.81 |
2725 | 375.9 | -8.2 | 177 | 2729 | roll | -0.62 | - | - | 2515 | - | 2.22 | 0.053 | 1248 | -630.6 | -194.6 | - | - | 3917 | - | - | - | - | - | - | - | - | 15.14 | 14.78 | 15.17 |
2754 | 378.9 | -10.0 | 182 | 2759 | done | -0.62 | - | - | 2514 | - | 2.25 | 0.054 | 2656 | 625.8 | -194.6 | - | - | 3917 | - | - | - | - | - | - | - | - | 14.81 | 14.74 | 14.84 |
3089 | 412.6 | -10.2 | 194 | 3094 | roll | -0.62 | - | - | 2503 | - | 2.28 | 0.081 | 4029 | 602.2 | -194.6 | - | - | 3913 | - | - | - | - | - | - | - | - | 15.16 | 14.66 | 15.19 |
3128 | 416.5 | -10.1 | 202 | 3134 | done | -0.62 | - | - | 2504 | - | 2.12 | 0.033 | 2652 | -649.5 | -194.6 | - | - | 3913 | - | - | - | - | - | - | - | - | 14.92 | 14.86 | 14.95 |
3452 | 444.1 | -8.4 | 211 | 3454 | done | -0.62 | - | - | 2504 | - | - | - | 2652 | - | -194.6 | - | - | 3909 | - | - | - | - | - | - | - | - | 15.14 | 15.18 | 15.17 |
3749 | 473.2 | -9.8 | 216 | 3750 | done | -0.62 | - | - | 2503 | - | - | - | 2652 | - | -194.6 | - | - | 3907 | - | - | - | - | - | - | - | - | 15.16 | 15.20 | 15.19 |
4049 | 502.1 | -9.4 | 221 | 4054 | roll | -0.62 | - | - | 2503 | - | 2.25 | 0.055 | 1248 | -624.0 | -194.6 | - | - | 3905 | - | - | - | - | - | - | - | - | 15.16 | 14.76 | 15.19 |
4098 | 506.8 | -9.1 | 230 | 4103 | done | -0.62 | - | - | 2500 | - | 2.25 | 0.056 | 2645 | 620.9 | -194.6 | - | - | 3904 | - | - | - | - | - | - | - | - | 14.77 | 14.70 | 14.81 |
4414 | 534.9 | -8.9 | 238 | 4419 | roll | -0.62 | - | - | 2490 | - | 2.33 | 0.084 | 4036 | 597.0 | -194.6 | - | - | 3901 | - | - | - | - | - | - | - | - | 15.16 | 14.62 | 15.19 |
4454 | 538.6 | -9.8 | 246 | 4460 | done | -0.62 | - | - | 2490 | - | 2.15 | 0.036 | 2650 | -644.7 | -194.6 | - | - | 3901 | - | - | - | - | - | - | - | - | 14.82 | 14.78 | 14.84 |
4777 | 568.1 | -9.1 | 255 | 4783 | roll | -0.62 | - | - | 2490 | - | 2.22 | 0.057 | 1256 | -627.9 | -194.6 | - | - | 3899 | - | - | - | - | - | - | - | - | 15.13 | 14.68 | 15.16 |
4806 | 571.1 | -9.3 | 261 | 4811 | done | -0.62 | - | - | 2488 | - | 2.28 | 0.058 | 2648 | 610.5 | -194.6 | - | - | 3899 | - | - | - | - | - | - | - | - | 14.86 | 14.74 | 14.90 |
5144 | 601.1 | -9.0 | 272 | 5151 | roll | -0.62 | - | - | 2477 | - | 2.33 | 0.086 | 4032 | 594.0 | -194.6 | - | - | 3897 | - | - | - | - | - | - | - | - | 15.14 | 14.60 | 15.16 |
5184 | 605.1 | -9.9 | 280 | 5191 | done | -0.62 | 0.15 | 0.229 | 2513 | 240.0 | 2.17 | 0.037 | 2647 | -638.2 | -194.6 | - | - | 3897 | - | - | - | - | - | - | - | - | 14.52 | 14.81 | 14.76 |
5509 | 628.0 | -7.1 | 289 | 5514 | roll | -0.62 | - | - | 2514 | - | 2.25 | 0.059 | 1255 | -618.7 | -194.6 | - | - | 3895 | - | - | - | - | - | - | - | - | 15.14 | 14.71 | 15.16 |
5543 | 630.9 | -7.6 | 295 | 5549 | done | -0.62 | - | - | 2513 | - | 2.30 | 0.060 | 2658 | 610.0 | -194.6 | - | - | 3895 | - | - | - | - | - | - | - | - | 14.84 | 14.72 | 14.88 |
5875 | 655.0 | -7.3 | 306 | 5880 | roll | -0.62 | - | - | 2513 | - | 2.28 | 0.059 | 1254 | -615.8 | -194.6 | - | - | 3893 | - | - | - | - | - | - | - | - | 15.15 | 14.65 | 15.19 |
5909 | 657.8 | -8.0 | 313 | 5913 | done | -0.62 | - | - | 2513 | - | 2.30 | 0.061 | 2653 | 608.3 | -194.6 | - | - | 3893 | - | - | - | - | - | - | - | - | 14.83 | 14.71 | 14.88 |
6238 | 684.0 | -8.1 | 323 | 6243 | roll | -0.62 | - | - | 2502 | - | 2.35 | 0.090 | 4035 | 588.1 | -194.6 | - | - | 3891 | - | - | - | - | - | - | - | - | 15.15 | 14.57 | 15.18 |
6303 | 689.8 | -8.3 | 336 | 6309 | done | -0.62 | - | - | 2503 | - | 2.17 | 0.038 | 2652 | -637.3 | -194.6 | - | - | 3891 | - | - | - | - | - | - | - | - | 14.78 | 14.75 | 14.81 |
6719 | 725.5 | -8.6 | 351 | 6724 | roll | -0.62 | - | - | 2503 | - | 2.30 | 0.061 | 1244 | -612.2 | -194.6 | - | - | 3889 | - | - | - | - | - | - | - | - | 15.15 | 14.64 | 15.18 |
6754 | 728.7 | -9.5 | 358 | 6759 | done | -0.62 | - | - | 2499 | - | 2.30 | 0.063 | 2645 | 609.1 | -194.6 | - | - | 3890 | - | - | - | - | - | - | - | - | 14.71 | 14.64 | 14.76 |
7443 | 790.4 | -9.0 | 380 | 7449 | roll | -0.62 | - | - | 2489 | - | 2.40 | 0.093 | 4043 | 582.5 | -194.6 | - | - | 3885 | - | - | - | - | - | - | - | - | 15.11 | 14.53 | 15.15 |
7493 | 795.7 | -10.3 | 390 | 7499 | done | -0.62 | - | - | 2489 | - | 2.25 | 0.040 | 2644 | -621.8 | -194.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 14.84 | 14.76 | 14.88 |
8167 | 859.6 | -9.5 | 409 | 8172 | roll | -0.62 | - | - | 2480 | - | 2.45 | 0.095 | 4049 | 573.5 | -194.6 | - | - | 3883 | - | - | - | - | - | - | - | - | 15.12 | 14.56 | 15.15 |
8191 | 862.2 | -9.3 | 413 | 8196 | done | -0.62 | 0.15 | 0.222 | 2516 | 240.0 | 2.25 | 0.042 | 2644 | -624.4 | -194.6 | - | - | 3883 | - | - | - | - | - | - | - | - | 14.47 | 14.75 | 14.71 |
8900 | 912.6 | -6.7 | 438 | 8905 | roll | -0.62 | - | - | 2517 | - | 2.30 | 0.067 | 1245 | -608.3 | -194.6 | - | - | 3881 | - | - | - | - | - | - | - | - | 15.12 | 14.54 | 15.15 |
8959 | 916.4 | -6.0 | 450 | 8964 | done | -0.62 | - | - | 2515 | - | 2.33 | 0.068 | 2646 | 601.3 | -194.6 | - | - | 3881 | - | - | - | - | - | - | - | - | 14.66 | 14.58 | 14.71 |
9620 | 952.7 | -5.6 | 467 | 9625 | roll | -0.62 | - | - | 2505 | - | 2.40 | 0.100 | 4033 | 577.9 | -194.6 | - | - | 3879 | - | - | - | - | - | - | - | - | 15.13 | 14.50 | 15.16 |
9664 | 955.7 | -7.0 | 476 | 9670 | done | -0.62 | - | - | 2505 | - | 2.22 | 0.044 | 2651 | -622.5 | -194.6 | - | - | 3877 | - | - | - | - | - | - | - | - | 14.81 | 14.72 | 14.84 |
10215 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
10215 | begin apogee | ||||||||||||||||||||||||||||
10226 | 994.5 | -7.0 | 495 | 10380 | done | -0.20 | 0.50 | 0.180 | 2649 | 288.0 | - | - | 2465 | - | - | 150.73 | 2.145 | 3125 | -5.0 | 0.434 | - | - | - | - | - | - | 14.47 | 14.08 | 13.25 |
10381 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
10381 | begin climb | ||||||||||||||||||||||||||||
10386 | 998.7 | - | 496 | 10552 | roll | 0.62 | 0.82 | 0.118 | 2919 | 329.3 | 2.47 | 0.077 | 1084 | -559.1 | 194.6 | 159.27 | 2.052 | 2330 | -5.0 | 0.456 | - | - | - | - | - | - | 14.09 | 13.72 | 13.08 |
10571 | 986.1 | 11.3 | 519 | 10576 | done | 0.62 | - | - | 2919 | - | 2.47 | 0.070 | 2468 | 560.3 | 194.6 | - | - | 2328 | - | - | - | - | - | - | - | - | 14.06 | 13.97 | 14.09 |
11177 | 909.4 | 12.6 | 525 | 11181 | roll | 0.62 | - | - | 2919 | - | 2.47 | 0.100 | 3883 | 572.9 | 194.6 | - | - | 2325 | - | - | - | - | - | - | - | - | 14.88 | 14.46 | 14.91 |
11270 | 896.1 | 14.6 | 543 | 11276 | done | 0.62 | - | - | 2929 | - | 2.30 | 0.057 | 2494 | -603.9 | 194.6 | - | - | 2325 | - | - | - | - | - | - | - | - | 14.69 | 14.59 | 14.72 |
11902 | 810.3 | 13.6 | 554 | 11907 | roll | 0.62 | - | - | 2940 | - | 2.40 | 0.083 | 1071 | -592.9 | 194.6 | - | - | 2325 | - | - | - | - | - | - | - | - | 15.01 | 14.52 | 15.04 |
11921 | 807.7 | 12.9 | 558 | 11927 | done | 0.62 | - | - | 2940 | - | 2.38 | 0.070 | 2481 | 592.4 | 194.6 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.74 | 14.62 | 14.79 |
12621 | 703.6 | 15.4 | 583 | 12627 | roll | 0.62 | - | - | 2940 | - | 2.42 | 0.099 | 3879 | 577.7 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.07 | 14.50 | 15.10 |
12741 | 681.8 | 18.3 | 607 | 12747 | done | 0.62 | 0.12 | 0.262 | 2918 | -183.3 | 2.30 | 0.057 | 2481 | -607.8 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.28 | 14.62 | 14.47 |
13106 | 627.9 | 14.7 | 624 | 13112 | roll | 0.62 | - | - | 2928 | - | 2.38 | 0.081 | 1070 | -592.9 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.06 | 14.52 | 15.09 |
13151 | 620.8 | 14.0 | 633 | 13155 | done | 0.62 | - | - | 2928 | - | 2.38 | 0.069 | 2478 | 591.6 | 194.6 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.76 | 14.62 | 14.81 |
13470 | 573.3 | 15.0 | 641 | 13475 | roll | 0.62 | - | - | 2928 | - | 2.47 | 0.099 | 3888 | 570.9 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.08 | 14.54 | 15.11 |
13543 | 560.9 | 17.3 | 655 | 13549 | done | 0.62 | - | - | 2938 | - | 2.33 | 0.056 | 2472 | -607.7 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.78 | 14.68 | 14.83 |
13896 | 503.8 | 16.3 | 670 | 13897 | done | 0.62 | - | - | 2938 | - | - | - | 2472 | - | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.12 |
14194 | 457.8 | 15.2 | 675 | 14202 | roll | 0.62 | - | - | 2947 | - | 2.35 | 0.080 | 1077 | -593.6 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.10 | 14.52 | 15.14 |
14226 | 453.2 | 13.7 | 681 | 14232 | done | 0.62 | 0.15 | 0.267 | 2915 | -213.3 | 2.35 | 0.067 | 2476 | 595.3 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.35 | 14.64 | 14.69 |
14565 | 413.0 | 11.8 | 692 | 14571 | roll | 0.62 | - | - | 2914 | - | 2.42 | 0.096 | 3881 | 580.6 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.07 | 14.50 | 15.11 |
14644 | 402.1 | 13.4 | 708 | 14651 | done | 0.62 | - | - | 2923 | - | 2.30 | 0.052 | 2473 | -612.2 | 194.6 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.79 | 14.70 | 14.83 |
14985 | 360.3 | 12.2 | 721 | 14990 | roll | 0.62 | - | - | 2932 | - | 2.38 | 0.076 | 1066 | -591.2 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.10 | 14.58 | 15.14 |
15008 | 357.5 | 11.7 | 725 | 15013 | done | 0.62 | - | - | 2932 | - | 2.38 | 0.064 | 2487 | 597.1 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.78 | 14.65 | 14.83 |
15353 | 317.7 | 11.5 | 738 | 15358 | roll | 0.62 | - | - | 2932 | - | 2.40 | 0.095 | 3874 | 577.9 | 194.6 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.11 | 14.49 | 15.14 |
15422 | 308.0 | 14.0 | 752 | 15430 | done | 0.62 | - | - | 2942 | - | 2.30 | 0.051 | 2465 | -612.6 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.80 | 14.70 | 14.84 |
15775 | 258.8 | 14.1 | 767 | 15780 | roll | 0.62 | - | - | 2950 | - | 2.33 | 0.075 | 1071 | -598.3 | 194.6 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.11 | 14.56 | 15.14 |
15819 | 252.6 | 13.5 | 776 | 15826 | done | 0.62 | 0.15 | 0.255 | 2918 | -213.3 | 2.35 | 0.063 | 2479 | 599.1 | 194.6 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.37 | 14.65 | 14.69 |
16135 | 220.0 | 10.3 | 792 | 16142 | roll | 0.62 | - | - | 2917 | - | 2.40 | 0.092 | 3877 | 582.5 | 194.6 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.11 | 14.51 | 15.14 |
16210 | 210.4 | 13.3 | 807 | 16214 | done | 0.62 | - | - | 2926 | - | 2.33 | 0.049 | 2474 | -602.1 | 194.6 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.70 | 14.64 | 14.83 |
16517 | 176.2 | 9.6 | 823 | 16530 | roll | 0.62 | - | - | 2934 | - | 2.28 | 0.071 | 1068 | -616.7 | 205.1 | 8.43 | 1.366 | 2287 | -4.4 | 0.106 | - | - | - | - | - | - | 15.11 | 14.62 | 14.00 |
16544 | 173.7 | 8.5 | 828 | 16580 | done | 0.62 | - | - | 2934 | - | 2.33 | 0.060 | 2479 | 605.6 | 247.7 | 30.50 | 1.095 | 2115 | -5.6 | 0.168 | - | - | - | - | - | - | 14.83 | 14.74 | 14.09 |
16904 | 143.8 | 8.2 | 854 | 16947 | roll | 0.63 | - | - | 2934 | - | 2.40 | 0.089 | 3877 | 582.5 | 300.9 | 37.30 | 1.029 | 1896 | -5.9 | 0.154 | - | - | - | - | - | - | 14.96 | 14.47 | 14.08 |
16962 | 138.9 | 8.2 | 866 | 17003 | done | 0.63 | - | - | 2942 | - | 2.28 | 0.047 | 2472 | -616.2 | 351.4 | 35.55 | 1.003 | 1692 | -5.7 | 0.149 | - | - | - | - | - | - | 14.61 | 14.58 | 13.97 |
17321 | 112.0 | 6.4 | 892 | 17398 | roll | 0.64 | - | - | 2942 | - | 2.50 | 0.085 | 3878 | 562.4 | 456.4 | 71.62 | 0.972 | 1262 | -6.0 | 0.130 | - | - | - | - | - | - | 14.88 | 14.38 | 13.92 |
17421 | 103.7 | 9.9 | 903 | 17427 | done | 0.64 | - | - | 2942 | - | 2.30 | 0.044 | 2469 | -612.6 | 458.6 | - | - | 1261 | - | - | - | - | - | - | - | - | 14.48 | 14.44 | 14.51 |
17742 | 76.2 | 9.4 | 922 | 17762 | roll | 0.64 | - | - | 2942 | - | 2.45 | 0.083 | 3873 | 573.1 | 476.5 | 14.73 | 0.928 | 1182 | -5.4 | 0.083 | - | - | - | - | - | - | 14.89 | 14.57 | 14.07 |
17822 | 67.6 | 10.6 | 938 | 17826 | done | 0.64 | - | - | 2942 | - | 2.25 | 0.037 | 2463 | -626.7 | 476.5 | - | - | 1182 | - | - | - | - | - | - | - | - | 14.69 | 14.63 | 14.71 |
18137 | 38.1 | 10.5 | 962 | 18143 | roll | 0.64 | - | - | 2942 | - | 2.25 | 0.062 | 1078 | -615.6 | 476.5 | - | - | 1184 | - | - | - | - | - | - | - | - | 14.96 | 14.59 | 15.00 |
18371 | 14.1 | 11.8 | 1008 | 18379 | done | 0.64 | - | - | 2942 | - | 2.25 | 0.046 | 2494 | 629.3 | 476.5 | - | - | 1186 | - | - | - | - | - | - | - | - | 14.71 | 14.67 | 14.72 |
18467 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
18467 | begin surface coast | ||||||||||||||||||||||||||||
18487 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
18487 | begin surface | ||||||||||||||||||||||||||||
SM | 3.09 | - | - | - | - | -8.29 | 8.00 | 0.046 | 44 | 5.5 | 0.25 | 0.099 | 2660 | 6520.0 | 500.17 | 9.65 | 0.055 | 1086 | 112.5 | -0.646 | - | - | - | - | - | - |