• Previous call tries 1 | • 96.92 of 350.00 AH used of 24V (72.31% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -74.0 deg, depth 3.41 m | • Intended pitch -14.9 deg, speed -10.000 cm/s | |
• No surface pump (final VBD was 582.34, SM_CC=500) | ||
• GPS1 time: 102 s | ||
• GPS2 time: 8 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 | ||||||||||||||||||||||||||||
21 | begin dive | ||||||||||||||||||||||||||||
25 | - | - | - | 114 | VBD | -0.62 | - | - | 26 | - | - | - | 2675 | - | -194.6 | -86.22 | - | 3306 | - | - | - | - | - | - | - | - | 14.90 | - | 14.94 |
123 | 5.7 | -4.7 | 9 | 149 | roll | -0.62 | 12.00 | 0.408 | 2497 | 205.9 | 2.22 | 0.089 | 4035 | 612.6 | -194.6 | -8.60 | - | 3924 | -71.9 | - | - | - | - | - | - | - | 14.22 | 13.26 | 14.48 |
352 | 87.0 | -28.1 | 55 | 356 | done | -0.62 | - | - | 2498 | - | 2.22 | 0.035 | 2645 | -626.1 | -194.6 | - | - | 3926 | - | - | - | - | - | - | - | - | 14.67 | 14.64 | 14.71 |
655 | 145.8 | -15.8 | 71 | 656 | done | -0.62 | - | - | 2497 | - | - | - | 2644 | - | -194.6 | - | - | 3929 | - | - | - | - | - | - | - | - | 15.07 | 15.11 | 15.10 |
957 | 190.2 | -13.9 | 86 | 958 | done | -0.62 | - | - | 2497 | - | - | - | 2644 | - | -194.6 | - | - | 3930 | - | - | - | - | - | - | - | - | 15.10 | 15.14 | 15.13 |
1256 | 228.8 | -12.1 | 101 | 1261 | roll | -0.62 | - | - | 2487 | - | 2.30 | 0.079 | 4020 | 598.3 | -194.6 | - | - | 3930 | - | - | - | - | - | - | - | - | 15.11 | 14.68 | 15.15 |
1309 | 235.1 | -11.4 | 111 | 1316 | done | -0.62 | - | - | 2487 | - | 2.12 | 0.031 | 2632 | -654.7 | -194.6 | - | - | 3929 | - | - | - | - | - | - | - | - | 14.89 | 14.83 | 14.91 |
1640 | 269.3 | -10.2 | 123 | 1641 | done | -0.62 | - | - | 2487 | - | - | - | 2632 | - | -194.6 | - | - | 3927 | - | - | - | - | - | - | - | - | 15.13 | 15.17 | 15.16 |
1940 | 303.9 | -11.6 | 128 | 1941 | done | -0.62 | - | - | 2487 | - | - | - | 2632 | - | -194.6 | - | - | 3925 | - | - | - | - | - | - | - | - | 15.14 | 15.18 | 15.18 |
2240 | 336.9 | -10.8 | 133 | 2245 | roll | -0.62 | - | - | 2478 | - | 2.33 | 0.080 | 4021 | 596.1 | -194.6 | - | - | 3921 | - | - | - | - | - | - | - | - | 15.14 | 14.67 | 15.18 |
2313 | 344.7 | -10.3 | 147 | 2319 | done | -0.62 | 0.15 | 0.233 | 2514 | 240.0 | 2.12 | 0.031 | 2645 | -649.1 | -194.6 | - | - | 3921 | - | - | - | - | - | - | - | - | 14.50 | 14.83 | 14.73 |
2669 | 371.3 | -7.5 | 162 | 2674 | roll | -0.62 | - | - | 2514 | - | 2.20 | 0.051 | 1256 | -631.4 | -194.6 | - | - | 3918 | - | - | - | - | - | - | - | - | 15.12 | 14.69 | 15.16 |
2738 | 377.3 | -8.2 | 176 | 2744 | done | -0.62 | - | - | 2513 | - | 2.22 | 0.053 | 2637 | 622.1 | -194.6 | - | - | 3918 | - | - | - | - | - | - | - | - | 14.84 | 14.73 | 14.88 |
3092 | 407.1 | -8.7 | 191 | 3093 | done | -0.62 | - | - | 2514 | - | - | - | 2637 | - | -194.6 | - | - | 3915 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.16 |
3389 | 432.6 | -8.4 | 196 | 3395 | roll | -0.62 | - | - | 2503 | - | 2.33 | 0.083 | 4030 | 597.9 | -194.6 | - | - | 3911 | - | - | - | - | - | - | - | - | 15.15 | 14.58 | 15.18 |
3419 | 435.1 | -8.6 | 202 | 3425 | done | -0.62 | - | - | 2503 | - | 2.15 | 0.032 | 2650 | -641.9 | -194.6 | - | - | 3911 | - | - | - | - | - | - | - | - | 14.88 | 14.81 | 14.90 |
3753 | 462.8 | -8.4 | 213 | 3754 | done | -0.62 | - | - | 2503 | - | - | - | 2650 | - | -194.6 | - | - | 3908 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.16 |
4051 | 489.0 | -8.8 | 218 | 4056 | roll | -0.62 | - | - | 2495 | - | 2.33 | 0.083 | 4026 | 590.6 | -194.6 | - | - | 3906 | - | - | - | - | - | - | - | - | 15.15 | 14.56 | 15.18 |
4086 | 492.5 | -9.7 | 225 | 4091 | done | -0.62 | - | - | 2495 | - | 2.12 | 0.032 | 2650 | -649.1 | -194.6 | - | - | 3906 | - | - | - | - | - | - | - | - | 14.87 | 14.81 | 14.90 |
4416 | 523.8 | -9.6 | 235 | 4417 | done | -0.62 | - | - | 2495 | - | - | - | 2650 | - | -194.6 | - | - | 3904 | - | - | - | - | - | - | - | - | 15.14 | 15.18 | 15.17 |
4715 | 551.8 | -9.3 | 240 | 4721 | roll | -0.62 | - | - | 2495 | - | 2.22 | 0.054 | 1263 | -624.8 | -194.6 | - | - | 3902 | - | - | - | - | - | - | - | - | 15.15 | 14.62 | 15.19 |
4769 | 557.1 | -9.8 | 251 | 4774 | done | -0.62 | - | - | 2488 | - | 2.30 | 0.057 | 2639 | 598.3 | -194.6 | - | - | 3901 | - | - | - | - | - | - | - | - | 14.66 | 14.58 | 14.72 |
5079 | 584.2 | -8.8 | 257 | 5084 | roll | -0.62 | - | - | 2477 | - | 2.38 | 0.085 | 4038 | 587.8 | -194.6 | - | - | 3899 | - | - | - | - | - | - | - | - | 15.12 | 14.58 | 15.15 |
5103 | 586.8 | -8.8 | 261 | 5108 | done | -0.62 | 0.15 | 0.226 | 2513 | 240.0 | 2.15 | 0.035 | 2655 | -643.3 | -194.6 | - | - | 3898 | - | - | - | - | - | - | - | - | 14.44 | 14.77 | 14.68 |
5452 | 609.9 | -6.6 | 274 | 5457 | roll | -0.62 | - | - | 2514 | - | 2.22 | 0.056 | 1260 | -628.4 | -194.6 | - | - | 3897 | - | - | - | - | - | - | - | - | 15.11 | 14.60 | 15.14 |
5481 | 612.3 | -7.6 | 280 | 5488 | done | -0.62 | - | - | 2514 | - | 2.28 | 0.059 | 2647 | 608.3 | -194.6 | - | - | 3897 | - | - | - | - | - | - | - | - | 14.77 | 14.65 | 14.82 |
5816 | 636.3 | -7.4 | 291 | 5821 | roll | -0.62 | - | - | 2503 | - | 2.35 | 0.088 | 4040 | 592.8 | -194.6 | - | - | 3895 | - | - | - | - | - | - | - | - | 15.11 | 14.49 | 15.14 |
5851 | 639.6 | -8.9 | 298 | 5856 | done | -0.62 | - | - | 2503 | - | 2.15 | 0.035 | 2654 | -644.7 | -194.6 | - | - | 3895 | - | - | - | - | - | - | - | - | 14.73 | 14.69 | 14.76 |
6180 | 667.2 | -8.5 | 308 | 6185 | roll | -0.62 | - | - | 2503 | - | 2.25 | 0.057 | 1258 | -620.4 | -194.6 | - | - | 3894 | - | - | - | - | - | - | - | - | 15.11 | 14.57 | 15.14 |
6244 | 673.1 | -8.3 | 321 | 6249 | done | -0.62 | - | - | 2501 | - | 2.30 | 0.060 | 2654 | 607.0 | -194.6 | - | - | 3893 | - | - | - | - | - | - | - | - | 14.76 | 14.63 | 14.80 |
6607 | 703.0 | -8.3 | 337 | 6612 | roll | -0.62 | - | - | 2491 | - | 2.38 | 0.090 | 4037 | 581.1 | -194.6 | - | - | 3891 | - | - | - | - | - | - | - | - | 15.10 | 14.53 | 15.14 |
6645 | 706.7 | -8.8 | 344 | 6652 | done | -0.62 | - | - | 2491 | - | 2.17 | 0.037 | 2651 | -638.7 | -194.6 | - | - | 3891 | - | - | - | - | - | - | - | - | 14.81 | 14.73 | 14.83 |
7333 | 766.3 | -8.8 | 366 | 7340 | roll | -0.62 | - | - | 2491 | - | 2.28 | 0.060 | 1260 | -610.1 | -194.6 | - | - | 3889 | - | - | - | - | - | - | - | - | 15.12 | 14.54 | 15.16 |
7394 | 771.9 | -8.8 | 378 | 7400 | done | -0.62 | - | - | 2487 | - | 2.30 | 0.063 | 2649 | 603.9 | -194.6 | - | - | 3888 | - | - | - | - | - | - | - | - | 14.59 | 14.52 | 14.65 |
8058 | 834.7 | -9.7 | 395 | 8063 | roll | -0.62 | - | - | 2476 | - | 2.38 | 0.094 | 4034 | 581.9 | -194.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 15.11 | 14.40 | 15.14 |
8092 | 838.4 | -10.8 | 402 | 8098 | done | -0.62 | 0.12 | 0.189 | 2513 | 308.3 | 2.17 | 0.038 | 2650 | -637.8 | -194.6 | - | - | 3886 | - | - | - | - | - | - | - | - | 14.28 | 14.63 | 14.43 |
8781 | 887.4 | -6.9 | 424 | 8787 | roll | -0.62 | - | - | 2514 | - | 2.28 | 0.063 | 1260 | -609.6 | -194.6 | - | - | 3883 | - | - | - | - | - | - | - | - | 15.11 | 14.48 | 15.14 |
8821 | 890.4 | -7.2 | 432 | 8828 | done | -0.62 | - | - | 2514 | - | 2.33 | 0.065 | 2652 | 597.4 | -194.6 | - | - | 3883 | - | - | - | - | - | - | - | - | 14.69 | 14.55 | 14.74 |
9507 | 932.9 | -6.1 | 453 | 9511 | roll | -0.62 | - | - | 2503 | - | 2.42 | 0.098 | 4042 | 574.4 | -194.6 | - | - | 3881 | - | - | - | - | - | - | - | - | 15.10 | 14.41 | 15.13 |
9550 | 936.1 | -7.1 | 461 | 9554 | done | -0.62 | - | - | 2504 | - | 2.22 | 0.040 | 2648 | -627.9 | -194.6 | - | - | 3881 | - | - | - | - | - | - | - | - | 14.74 | 14.66 | 14.78 |
10235 | 988.7 | -8.1 | 482 | 10240 | roll | -0.62 | - | - | 2504 | - | 2.30 | 0.065 | 1250 | -607.8 | -194.6 | - | - | 3879 | - | - | - | - | - | - | - | - | 15.11 | 14.43 | 15.15 |
10244 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
10244 | begin apogee | ||||||||||||||||||||||||||||
10256 | 990.0 | -8.4 | 485 | 10415 | done | -0.20 | 0.52 | 0.182 | 2651 | 282.7 | - | - | 2476 | - | - | 155.75 | 2.211 | 3126 | -4.8 | 0.414 | - | - | - | - | - | - | 14.34 | 14.04 | 13.12 |
10416 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
10417 | begin climb | ||||||||||||||||||||||||||||
10421 | 995.6 | - | 486 | 10593 | roll | 0.62 | 0.82 | 0.112 | 2913 | 319.5 | 2.58 | 0.096 | 3876 | 542.6 | 194.6 | 164.65 | 2.158 | 2329 | -4.8 | 0.427 | - | - | - | - | - | - | 14.07 | 13.57 | 12.83 |
10628 | 981.4 | 13.8 | 514 | 10633 | done | 0.62 | - | - | 2921 | - | 2.38 | 0.053 | 2492 | -581.5 | 194.6 | - | - | 2325 | - | - | - | - | - | - | - | - | 14.00 | 13.95 | 14.02 |
11328 | 883.5 | 14.2 | 539 | 11333 | roll | 0.62 | - | - | 2932 | - | 2.40 | 0.077 | 1060 | -596.7 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.94 | 14.50 | 14.97 |
11362 | 878.8 | 13.4 | 546 | 11368 | done | 0.62 | - | - | 2932 | - | 2.40 | 0.067 | 2484 | 593.3 | 194.6 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.69 | 14.58 | 14.74 |
12048 | 785.4 | 13.5 | 568 | 12054 | roll | 0.62 | - | - | 2932 | - | 2.40 | 0.096 | 3879 | 581.2 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.04 | 14.50 | 15.07 |
12122 | 773.6 | 16.1 | 583 | 12128 | done | 0.62 | - | - | 2942 | - | 2.30 | 0.053 | 2468 | -613.5 | 194.6 | - | - | 2321 | - | - | - | - | - | - | - | - | 14.77 | 14.68 | 14.81 |
12773 | 675.9 | 15.4 | 598 | 12778 | roll | 0.62 | - | - | 2952 | - | 2.33 | 0.076 | 1074 | -598.3 | 194.6 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.05 | 14.52 | 15.08 |
12802 | 670.8 | 14.9 | 604 | 12808 | done | 0.62 | 0.12 | 0.233 | 2918 | -283.3 | 2.33 | 0.067 | 2473 | 600.4 | 194.6 | - | - | 2321 | - | - | - | - | - | - | - | - | 14.28 | 14.57 | 14.46 |
13140 | 628.9 | 12.3 | 615 | 13145 | roll | 0.62 | - | - | 2918 | - | 2.42 | 0.095 | 3884 | 583.1 | 194.6 | - | - | 2320 | - | - | - | - | - | - | - | - | 15.07 | 14.47 | 15.09 |
13184 | 622.7 | 13.4 | 624 | 13191 | done | 0.62 | - | - | 2926 | - | 2.30 | 0.050 | 2471 | -614.3 | 194.6 | - | - | 2321 | - | - | - | - | - | - | - | - | 14.78 | 14.69 | 14.81 |
13500 | 583.7 | 12.3 | 632 | 13501 | done | 0.62 | - | - | 2926 | - | - | - | 2471 | - | 194.6 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.09 | 15.13 | 15.12 |
13800 | 548.6 | 11.7 | 637 | 13805 | roll | 0.62 | - | - | 2936 | - | 2.38 | 0.076 | 1067 | -589.9 | 194.6 | - | - | 2320 | - | - | - | - | - | - | - | - | 15.09 | 14.57 | 15.13 |
13844 | 543.4 | 11.2 | 645 | 13849 | done | 0.62 | - | - | 2936 | - | 2.35 | 0.063 | 2479 | 600.9 | 194.6 | - | - | 2321 | - | - | - | - | - | - | - | - | 14.73 | 14.61 | 14.79 |
14168 | 504.5 | 12.1 | 654 | 14174 | roll | 0.62 | - | - | 2936 | - | 2.40 | 0.094 | 3876 | 582.1 | 194.6 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.10 | 14.44 | 15.14 |
14229 | 496.1 | 14.6 | 666 | 14235 | done | 0.62 | 0.10 | 0.262 | 2920 | -160.0 | 2.28 | 0.050 | 2469 | -617.1 | 194.6 | - | - | 2321 | - | - | - | - | - | - | - | - | 14.22 | 14.61 | 14.41 |
14594 | 454.2 | 11.3 | 683 | 14599 | roll | 0.62 | - | - | 2920 | - | 2.42 | 0.091 | 3871 | 579.3 | 194.6 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.08 | 14.44 | 15.11 |
14628 | 449.6 | 12.8 | 690 | 14634 | done | 0.62 | - | - | 2929 | - | 2.30 | 0.050 | 2467 | -610.4 | 194.6 | - | - | 2321 | - | - | - | - | - | - | - | - | 14.76 | 14.67 | 14.81 |
14954 | 410.8 | 11.9 | 700 | 14960 | roll | 0.62 | - | - | 2937 | - | 2.35 | 0.073 | 1067 | -595.7 | 194.6 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.10 | 14.49 | 15.14 |
14984 | 406.9 | 11.7 | 706 | 14990 | done | 0.62 | - | - | 2937 | - | 2.35 | 0.063 | 2474 | 598.7 | 194.6 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.73 | 14.59 | 14.78 |
15315 | 361.9 | 14.0 | 717 | 15320 | roll | 0.62 | - | - | 2937 | - | 2.42 | 0.093 | 3879 | 580.6 | 194.6 | - | - | 2322 | - | - | - | - | - | - | - | - | 15.10 | 14.49 | 15.14 |
15379 | 351.3 | 17.2 | 729 | 15384 | done | 0.62 | 0.15 | 0.277 | 2917 | -133.3 | 2.28 | 0.048 | 2477 | -614.9 | 194.6 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.26 | 14.67 | 14.60 |
15747 | 307.2 | 11.0 | 746 | 15752 | roll | 0.62 | - | - | 2917 | - | 2.42 | 0.090 | 3878 | 578.9 | 194.6 | - | - | 2322 | - | - | - | - | - | - | - | - | 15.09 | 14.42 | 15.12 |
15776 | 303.7 | 11.4 | 752 | 15783 | done | 0.62 | - | - | 2924 | - | 2.28 | 0.047 | 2465 | -619.7 | 194.6 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.69 | 14.64 | 14.71 |
16107 | 269.5 | 10.4 | 763 | 16112 | roll | 0.62 | - | - | 2933 | - | 2.33 | 0.072 | 1067 | -600.0 | 194.6 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.11 | 14.47 | 15.15 |
16151 | 264.9 | 9.9 | 772 | 16158 | done | 0.62 | - | - | 2934 | - | 2.35 | 0.060 | 2483 | 602.6 | 198.8 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.72 | 14.59 | 14.76 |
16467 | 232.4 | 10.7 | 784 | 16473 | roll | 0.62 | - | - | 2933 | - | 2.38 | 0.090 | 3876 | 585.3 | 198.8 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.11 | 14.42 | 15.15 |
16488 | 230.2 | 10.7 | 788 | 16495 | done | 0.62 | 0.10 | 0.246 | 2917 | -160.0 | 2.25 | 0.047 | 2471 | -624.4 | 198.8 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.24 | 14.64 | 14.41 |
16809 | 205.2 | 6.6 | 807 | 16885 | done | 0.63 | - | - | 2917 | - | - | - | 2471 | - | 296.3 | 71.95 | 1.293 | 1916 | -5.7 | 0.172 | - | - | - | - | - | - | 15.11 | 14.28 | 13.76 |
17192 | 162.3 | 11.8 | 835 | 17198 | roll | 0.63 | - | - | 2917 | - | 2.42 | 0.086 | 3873 | 579.3 | 296.3 | - | - | 1914 | - | - | - | - | - | - | - | - | 14.89 | 14.40 | 14.92 |
17221 | 158.7 | 11.6 | 841 | 17226 | done | 0.63 | - | - | 2920 | - | 2.28 | 0.045 | 2469 | -615.8 | 296.3 | - | - | 1914 | - | - | - | - | - | - | - | - | 14.66 | 14.58 | 14.69 |
17536 | 130.7 | 8.0 | 858 | 17583 | roll | 0.63 | - | - | 2921 | - | 2.33 | 0.067 | 1075 | -598.3 | 354.9 | 41.88 | 1.173 | 1676 | -5.7 | 0.121 | - | - | - | - | - | - | 14.99 | 14.40 | 13.90 |
17622 | 124.6 | 6.1 | 875 | 17709 | done | 0.64 | - | - | 2920 | - | 2.30 | 0.055 | 2472 | 607.4 | 466.5 | 78.43 | 1.103 | 1222 | -5.8 | 0.125 | - | - | - | - | - | - | 14.53 | 14.47 | 13.71 |
18013 | 102.9 | 6.0 | 908 | 18099 | roll | 0.65 | - | - | 2913 | - | 2.42 | 0.082 | 3878 | 581.0 | 582.1 | 80.95 | 1.084 | 751 | -5.8 | 0.106 | - | - | - | - | - | - | 14.88 | 14.35 | 13.78 |
18132 | 92.7 | 12.7 | 922 | 18138 | done | 0.65 | - | - | 2913 | - | 2.25 | 0.037 | 2466 | -627.6 | 582.1 | - | - | 750 | - | - | - | - | - | - | - | - | 14.47 | 14.44 | 14.49 |
18454 | 56.3 | 11.4 | 941 | 18459 | roll | 0.65 | - | - | 2913 | - | 2.25 | 0.063 | 1086 | -613.3 | 582.1 | - | - | 750 | - | - | - | - | - | - | - | - | 14.91 | 14.56 | 14.94 |
18503 | 50.0 | 11.9 | 951 | 18510 | done | 0.65 | - | - | 2913 | - | 2.25 | 0.047 | 2481 | 620.0 | 582.1 | - | - | 751 | - | - | - | - | - | - | - | - | 14.71 | 14.63 | 14.74 |
18818 | 12.6 | 12.0 | 983 | 18822 | roll | 0.65 | - | - | 2911 | - | 2.33 | 0.077 | 3875 | 598.3 | 582.1 | - | - | 753 | - | - | - | - | - | - | - | - | 14.99 | 14.61 | 15.02 |
18875 | 5.8 | 10.4 | 994 | 18880 | done | 0.65 | - | - | 2910 | - | 2.22 | 0.033 | 2472 | -632.0 | 582.1 | - | - | 753 | - | - | - | - | - | - | - | - | 14.69 | 14.66 | 14.72 |
18907 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
18907 | begin surface coast | ||||||||||||||||||||||||||||
18940 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
18940 | begin surface | ||||||||||||||||||||||||||||
SM | 3.64 | - | - | - | - | -8.30 | 7.97 | 0.048 | 33 | 4.1 | 0.30 | 0.083 | 2666 | 5453.3 | 582.34 | - | - | 753 | - | - | - | - | - | - | - | - |