• Previous call tries 1 | • 63.53 of 150.00 AH used of 24V (57.65% remains) | |
• Previous NAKs 0, Timeouts 0 | • 55.48 of 110.00 AH used of 10V (49.56% remains) | |
• Surface angle -74.1 deg, depth 6.62 m | • Intended pitch -15.3 deg, speed -9.706 cm/s | |
• No surface pump (final VBD was 588.23, SM_CC=400) | ||
• GPS1 time: 31 s | ||
• GPS2 time: 10 s | • Transponder ping count: 16 | |
• 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 | |||||
14 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
14 | begin dive | ||||||||||||||||||||||||||||
17 | - | - | - | 89 | VBD | -0.65 | - | - | 102 | - | - | - | 2035 | - | -194.6 | -70.18 | - | 3055 | - | - | - | - | - | - | - | - | - | - | - |
92 | 8.8 | -6.7 | 11 | 119 | roll | -0.65 | 7.05 | 0.193 | 2031 | 273.6 | 2.25 | 0.053 | 617 | -630.2 | -194.6 | -10.98 | - | 3750 | -63.3 | - | - | - | - | - | - | - | 24.98 | 25.85 | 26.40 |
251 | 70.7 | -32.7 | 39 | 258 | done | -0.58 | 0.15 | 0.157 | 2062 | 206.7 | 2.12 | 0.033 | 2017 | 660.4 | -194.6 | - | - | 3751 | - | - | - | - | - | - | - | - | 25.67 | 26.00 | - |
584 | 157.6 | -19.8 | 100 | 592 | roll | -0.54 | 0.05 | 0.239 | 2076 | 280.0 | 2.22 | 0.042 | 614 | -632.0 | -194.6 | - | - | 3752 | - | - | - | - | - | - | - | - | 26.34 | 26.01 | - |
649 | 169.3 | -14.3 | 111 | 656 | done | -0.53 | - | - | 2066 | - | 2.12 | 0.031 | 2028 | 667.0 | -194.6 | - | - | 3752 | - | - | - | - | - | - | - | - | - | 26.15 | - |
978 | 221.9 | -16.7 | 160 | 983 | roll | -0.50 | 0.10 | 0.160 | 2087 | 210.0 | 2.20 | 0.037 | 3437 | 640.5 | -194.6 | - | - | 3754 | - | - | - | - | - | - | - | - | 26.29 | 26.14 | - |
1021 | 227.7 | -13.5 | 164 | 1025 | done | -0.50 | - | - | 2087 | - | 2.15 | 0.031 | 2016 | -660.9 | -194.6 | - | - | 3754 | - | - | - | - | - | - | - | - | - | 26.17 | - |
1333 | 265.5 | -12.2 | 195 | 1342 | roll | -0.50 | - | - | 2086 | - | 2.17 | 0.047 | 618 | -644.2 | -194.6 | - | - | 3754 | - | - | - | - | - | - | - | - | - | 26.06 | - |
1379 | 270.4 | -11.6 | 199 | 1386 | done | -0.51 | - | - | 2086 | - | 2.12 | 0.034 | 2031 | 666.5 | -194.6 | - | - | 3753 | - | - | - | - | - | - | - | - | - | 26.19 | - |
1687 | 298.8 | -8.6 | 230 | 1699 | roll | -0.52 | - | - | 2078 | - | 2.15 | 0.041 | 3439 | 654.9 | -194.6 | - | - | 3753 | - | - | - | - | - | - | - | - | - | 26.15 | - |
1722 | 301.7 | -8.3 | 233 | 1731 | done | -0.53 | - | - | 2077 | - | 2.12 | 0.031 | 2030 | -664.6 | -194.6 | - | - | 3753 | - | - | - | - | - | - | - | - | - | 26.21 | - |
2032 | 329.5 | -9.1 | 264 | 2041 | roll | -0.54 | - | - | 2077 | - | 2.17 | 0.046 | 604 | -657.1 | -194.6 | - | - | 3751 | - | - | - | - | - | - | - | - | - | 26.07 | - |
2056 | 331.5 | -9.3 | 266 | 2063 | done | -0.55 | - | - | 2076 | - | 2.15 | 0.034 | 2031 | 663.7 | -194.6 | - | - | 3751 | - | - | - | - | - | - | - | - | - | 26.17 | - |
2364 | 360.8 | -9.7 | 297 | 2373 | roll | -0.56 | - | - | 2069 | - | 2.15 | 0.042 | 3424 | 647.9 | -194.6 | - | - | 3750 | - | - | - | - | - | - | - | - | - | 26.14 | - |
2406 | 364.6 | -9.3 | 301 | 2415 | done | -0.58 | - | - | 2069 | - | 2.12 | 0.031 | 2021 | -661.8 | -194.6 | - | - | 3749 | - | - | - | - | - | - | - | - | - | 26.20 | - |
2716 | 395.2 | -10.5 | 332 | 2726 | roll | -0.59 | - | - | 2063 | - | 2.17 | 0.041 | 3426 | 647.5 | -194.6 | - | - | 3748 | - | - | - | - | - | - | - | - | - | 26.14 | - |
2742 | 397.5 | -10.3 | 334 | 2749 | done | -0.60 | - | - | 2063 | - | 2.12 | 0.033 | 2026 | -660.4 | -194.6 | - | - | 3748 | - | - | - | - | - | - | - | - | - | 26.17 | - |
3049 | 428.7 | -9.7 | 365 | 3058 | roll | -0.60 | - | - | 2063 | - | 2.20 | 0.046 | 613 | -642.3 | -194.6 | - | - | 3746 | - | - | - | - | - | - | - | - | - | 26.04 | - |
3071 | 430.8 | -9.6 | 367 | 3080 | done | -0.61 | - | - | 2057 | - | 2.15 | 0.034 | 2025 | 656.7 | -194.6 | - | - | 3746 | - | - | - | - | - | - | - | - | - | 26.19 | - |
3380 | 461.5 | -9.9 | 398 | 3384 | roll | -0.61 | - | - | 2048 | - | 2.17 | 0.043 | 3434 | 649.3 | -194.6 | - | - | 3743 | - | - | - | - | - | - | - | - | - | 26.10 | - |
3402 | 463.4 | -9.5 | 400 | 3412 | done | -0.62 | - | - | 2048 | - | 2.15 | 0.034 | 2024 | -655.8 | -194.6 | - | - | 3743 | - | - | - | - | - | - | - | - | - | 26.15 | - |
3712 | 493.6 | -9.7 | 431 | 3713 | done | -0.62 | - | - | 2048 | - | - | - | 2023 | - | -194.6 | - | - | 3741 | - | - | - | - | - | - | - | - | - | - | - |
4013 | 523.7 | -10.8 | 461 | 4014 | done | -0.62 | - | - | 2048 | - | - | - | 2024 | - | -194.6 | - | - | 3739 | - | - | - | - | - | - | - | - | - | - | - |
4315 | 553.4 | -9.3 | 491 | 4320 | done | -0.62 | - | - | 2048 | - | - | - | 2023 | - | -194.6 | - | - | 3737 | - | - | - | - | - | - | - | - | - | - | - |
4624 | 578.7 | -7.5 | 522 | 4632 | roll | -0.63 | - | - | 2041 | - | 2.22 | 0.042 | 3433 | 635.1 | -194.6 | - | - | 3735 | - | - | - | - | - | - | - | - | - | 26.07 | - |
4649 | 580.3 | -7.1 | 524 | 4656 | done | -0.63 | - | - | 2041 | - | 2.17 | 0.035 | 2026 | -648.4 | -194.6 | - | - | 3734 | - | - | - | - | - | - | - | - | - | 26.11 | - |
4957 | 603.2 | -7.2 | 553 | 4962 | roll | -0.64 | - | - | 2041 | - | 2.17 | 0.049 | 619 | -648.4 | -194.6 | - | - | 3732 | - | - | - | - | - | - | - | - | - | 25.96 | - |
4990 | 604.7 | -7.3 | 554 | 4997 | done | -0.65 | - | - | 2038 | - | 2.15 | 0.036 | 2026 | 654.4 | -194.6 | - | - | 3732 | - | - | - | - | - | - | - | - | - | 26.11 | - |
5297 | 630.3 | -8.2 | 570 | 5302 | roll | -0.65 | - | - | 2028 | - | 2.17 | 0.044 | 3433 | 648.4 | -194.6 | - | - | 3729 | - | - | - | - | - | - | - | - | - | 26.03 | - |
5344 | 633.6 | -8.2 | 572 | 5348 | done | -0.65 | - | - | 2028 | - | 2.17 | 0.035 | 2015 | -653.5 | -194.6 | - | - | 3729 | - | - | - | - | - | - | - | - | - | 26.08 | - |
5651 | 662.4 | -9.3 | 587 | 5653 | done | -0.65 | - | - | 2028 | - | - | - | 2014 | - | -194.6 | - | - | 3727 | - | - | - | - | - | - | - | - | - | - | - |
5952 | 690.4 | -9.3 | 602 | 5957 | roll | -0.65 | - | - | 2019 | - | 2.22 | 0.045 | 3437 | 641.0 | -194.6 | - | - | 3725 | - | - | - | - | - | - | - | - | - | 26.00 | - |
5973 | 692.3 | -9.4 | 603 | 5977 | done | -0.65 | 0.05 | 0.100 | 2045 | 520.0 | 2.22 | 0.036 | 2031 | -633.3 | -194.6 | - | - | 3725 | - | - | - | - | - | - | - | - | 25.91 | 26.04 | - |
6293 | 717.4 | -7.8 | 619 | 6294 | done | -0.67 | - | - | 2045 | - | - | - | 2030 | - | -194.6 | - | - | 3723 | - | - | - | - | - | - | - | - | - | - | - |
6592 | 741.4 | -8.0 | 634 | 6598 | roll | -0.68 | - | - | 2045 | - | 2.22 | 0.051 | 617 | -636.5 | -194.6 | - | - | 3721 | - | - | - | - | - | - | - | - | - | 25.86 | - |
6626 | 743.1 | -8.1 | 635 | 6634 | done | -0.69 | - | - | 2042 | - | 2.15 | 0.037 | 2025 | 654.9 | -194.6 | - | - | 3721 | - | - | - | - | - | - | - | - | - | 26.06 | - |
6931 | 770.9 | -9.0 | 651 | 6938 | roll | -0.70 | 0.08 | 0.124 | 1954 | -1100.0 | 2.20 | 0.044 | 3426 | 636.8 | -194.6 | - | - | 3718 | - | - | - | - | - | - | - | - | 26.47 | 25.95 | - |
6996 | 779.1 | -12.6 | 654 | 7001 | done | -0.70 | 0.22 | 0.109 | 2026 | 327.3 | 2.17 | 0.037 | 2024 | -646.1 | -194.6 | - | - | 3718 | - | - | - | - | - | - | - | - | 25.73 | 25.98 | - |
7308 | 813.6 | -10.6 | 670 | 7309 | done | -0.70 | - | - | 2025 | - | - | - | 2023 | - | -194.6 | - | - | 3716 | - | - | - | - | - | - | - | - | - | - | - |
7608 | 844.4 | -10.1 | 685 | 7614 | roll | -0.70 | - | - | 2026 | - | 2.22 | 0.052 | 614 | -634.7 | -194.6 | - | - | 3715 | - | - | - | - | - | - | - | - | - | 25.79 | - |
7643 | 846.4 | -10.0 | 686 | 7651 | done | -0.70 | - | - | 2018 | - | 2.17 | 0.037 | 2033 | 653.9 | -194.6 | - | - | 3715 | - | - | - | - | - | - | - | - | - | 26.02 | - |
7950 | 877.3 | -9.5 | 702 | 7956 | roll | -0.70 | - | - | 2009 | - | 2.17 | 0.044 | 3429 | 643.3 | -194.6 | - | - | 3713 | - | - | - | - | - | - | - | - | - | 25.93 | - |
7988 | 880.9 | -9.2 | 704 | 7994 | done | -0.70 | - | - | 2009 | - | 2.20 | 0.036 | 2011 | -644.5 | -194.6 | - | - | 3713 | - | - | - | - | - | - | - | - | - | 25.98 | - |
8311 | 911.7 | -9.6 | 720 | 8313 | done | -0.70 | 0.05 | 0.209 | 2028 | 380.0 | - | - | 2010 | - | -194.6 | - | - | 3711 | - | - | - | - | - | - | - | - | 26.44 | - | - |
8626 | 936.6 | -8.1 | 735 | 8631 | done | -0.71 | - | - | 2028 | - | - | - | 2010 | - | -194.6 | - | - | 3710 | - | - | - | - | - | - | - | - | - | - | - |
8932 | 962.6 | -8.3 | 751 | 8933 | done | -0.72 | - | - | 2028 | - | - | - | 2010 | - | -194.6 | - | - | 3710 | - | - | - | - | - | - | - | - | - | - | - |
9250 | 987.2 | -8.1 | 766 | 9256 | done | -0.73 | - | - | 2028 | - | - | - | 2010 | - | -194.6 | - | - | 3709 | - | - | - | - | - | - | - | - | - | - | - |
9270 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
9271 | begin apogee | ||||||||||||||||||||||||||||
9275 | 990.4 | -7.9 | 768 | 9448 | done | -0.22 | 0.43 | 0.090 | 2184 | 362.8 | - | - | 2010 | - | - | 165.65 | 1.047 | 2953 | -4.6 | 0.456 | - | - | - | - | - | - | 25.79 | - | 23.51 |
9449 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9449 | begin climb | ||||||||||||||||||||||||||||
9451 | 997.8 | - | 776 | 9629 | done | 0.65 | 0.73 | 0.044 | 2476 | 400.0 | - | - | 2009 | - | 194.6 | 173.35 | 1.013 | 2159 | -4.6 | 0.477 | - | - | - | - | - | - | 24.94 | - | 23.19 |
9945 | 927.4 | 19.8 | 800 | 9950 | roll | 0.60 | 0.12 | 0.168 | 2437 | -325.0 | 2.15 | 0.030 | 3387 | 640.9 | 194.6 | - | - | 2127 | - | - | - | - | - | - | - | - | 25.66 | 25.82 | - |
9978 | 920.5 | 19.8 | 801 | 9985 | done | 0.54 | 0.10 | 0.168 | 2422 | -150.0 | 2.22 | 0.036 | 1975 | -636.0 | 194.6 | - | - | 2125 | - | - | - | - | - | - | - | - | 25.60 | 25.79 | - |
10285 | 870.7 | 15.4 | 817 | 10286 | done | 0.52 | - | - | 2422 | - | - | - | 1975 | - | 194.6 | - | - | 2123 | - | - | - | - | - | - | - | - | - | - | - |
10586 | 826.7 | 14.2 | 832 | 10587 | done | 0.49 | - | - | 2422 | - | - | - | 1975 | - | 194.6 | - | - | 2122 | - | - | - | - | - | - | - | - | - | - | - |
10885 | 784.8 | 13.9 | 847 | 10892 | roll | 0.46 | 0.10 | 0.173 | 2394 | -280.0 | 2.17 | 0.031 | 3394 | 653.9 | 194.6 | - | - | 2121 | - | - | - | - | - | - | - | - | 26.10 | 26.03 | - |
10914 | 782.1 | 13.7 | 848 | 10918 | done | 0.44 | - | - | 2405 | - | 2.22 | 0.035 | 1972 | -640.5 | 194.6 | - | - | 2120 | - | - | - | - | - | - | - | - | - | 25.98 | - |
11222 | 745.0 | 11.4 | 863 | 11224 | done | 0.43 | 0.08 | 0.191 | 2386 | -237.5 | - | - | 1972 | - | 194.6 | - | - | 2119 | - | - | - | - | - | - | - | - | 26.24 | - | - |
11521 | 715.7 | 9.4 | 878 | 11527 | roll | 0.44 | - | - | 2397 | - | 2.17 | 0.051 | 579 | -641.9 | 204.3 | - | - | 2119 | - | - | - | - | - | - | - | - | - | 25.86 | - |
11548 | 713.7 | 9.4 | 879 | 11568 | done | 0.45 | - | - | 2397 | - | 2.08 | 0.025 | 1977 | 672.1 | 212.8 | 13.43 | 0.842 | 2082 | -2.8 | 0.247 | - | - | - | - | - | - | - | 26.14 | 24.43 |
11883 | 681.1 | 9.1 | 896 | 11907 | roll | 0.46 | - | - | 2397 | - | 2.25 | 0.035 | 3389 | 627.6 | 229.9 | 17.35 | 0.820 | 2009 | -4.2 | 0.370 | - | - | - | - | - | - | - | 25.89 | 24.54 |
11934 | 677.2 | 9.5 | 898 | 11942 | done | 0.47 | - | - | 2406 | - | 2.25 | 0.037 | 1971 | -630.2 | 236.5 | 1.40 | 0.204 | 1987 | -15.7 | 5.516 | - | - | - | - | - | - | - | 25.83 | 25.35 |
12243 | 644.8 | 10.4 | 914 | 12244 | done | 0.46 | - | - | 2406 | - | - | - | 1970 | - | 236.5 | - | - | 1995 | - | - | - | - | - | - | - | - | - | - | - |
12541 | 613.6 | 10.6 | 929 | 12546 | roll | 0.45 | - | - | 2406 | - | 2.22 | 0.036 | 3395 | 641.9 | 236.5 | - | - | 1994 | - | - | - | - | - | - | - | - | - | 25.97 | - |
12568 | 611.3 | 10.9 | 930 | 12574 | done | 0.45 | 0.10 | 0.156 | 2387 | -190.0 | 2.22 | 0.038 | 1972 | -641.0 | 236.5 | - | - | 1993 | - | - | - | - | - | - | - | - | 25.77 | 25.93 | - |
12876 | 581.6 | 9.1 | 954 | 12906 | roll | 0.47 | - | - | 2397 | - | 2.25 | 0.050 | 567 | -624.4 | 254.2 | 23.77 | 0.766 | 1909 | -3.5 | 0.284 | - | - | - | - | - | - | - | 25.83 | 24.56 |
12932 | 576.7 | 9.3 | 959 | 12950 | done | 0.50 | - | - | 2396 | - | 2.15 | 0.027 | 1977 | 655.8 | 267.1 | 12.18 | 0.752 | 1862 | -3.9 | 0.313 | - | - | - | - | - | - | - | 25.90 | 24.42 |
13249 | 546.4 | 9.4 | 991 | 13259 | done | 0.52 | 0.08 | 0.116 | 2463 | 837.5 | - | - | 1977 | - | 276.6 | 2.78 | 0.464 | 1830 | -11.5 | 1.433 | - | - | - | - | - | - | 26.18 | - | 23.94 |
13560 | 499.2 | 16.5 | 1022 | 13569 | done | 0.49 | 0.17 | 0.132 | 2409 | -317.6 | - | - | 1977 | - | 276.6 | 1.62 | 0.195 | 1825 | -3.1 | 0.835 | - | - | - | - | - | - | 25.89 | - | 25.12 |
13869 | 463.5 | 11.0 | 1053 | 13872 | done | 0.49 | - | - | 2408 | - | - | - | 1977 | - | 276.6 | 1.48 | 0.198 | 1824 | - | - | - | - | - | - | - | - | - | - | 25.12 |
14170 | 431.9 | 10.4 | 1083 | 14180 | roll | 0.49 | - | - | 2419 | - | 2.30 | 0.050 | 572 | -610.9 | 276.6 | 1.50 | 0.194 | 1827 | 2.0 | -0.471 | - | - | - | - | - | - | - | 25.82 | 25.10 |
14207 | 428.5 | 10.2 | 1086 | 14215 | done | 0.50 | - | - | 2420 | - | 2.12 | 0.027 | 1985 | 666.5 | 276.6 | 1.20 | 0.209 | 1825 | - | - | - | - | - | - | - | - | - | 26.09 | 25.14 |
14514 | 396.0 | 10.6 | 1117 | 14517 | done | 0.50 | - | - | 2419 | - | - | - | 1986 | - | 276.6 | 1.30 | 0.210 | 1824 | - | - | - | - | - | - | - | - | - | - | 25.10 |
14814 | 363.6 | 10.3 | 1147 | 14825 | roll | 0.50 | - | - | 2419 | - | 2.15 | 0.034 | 3380 | 648.4 | 276.6 | 1.30 | 0.199 | 1827 | 2.3 | -0.446 | - | - | - | - | - | - | - | 25.99 | 25.08 |
14848 | 360.2 | 10.4 | 1150 | 14858 | done | 0.50 | 0.08 | 0.173 | 2408 | -137.5 | 2.20 | 0.036 | 1962 | -644.5 | 276.6 | - | - | 1833 | - | - | - | - | - | - | - | - | 25.86 | 25.99 | - |
15158 | 335.5 | 8.1 | 1181 | 15212 | done | 0.57 | 0.10 | 0.095 | 2493 | 850.0 | - | - | 1962 | - | 325.0 | 50.78 | 0.623 | 1627 | -4.1 | 0.231 | - | - | - | - | - | - | 26.42 | - | 24.58 |
15510 | 277.5 | 16.0 | 1216 | 15512 | done | 0.54 | 0.22 | 0.125 | 2423 | -318.2 | - | - | 1962 | - | 325.0 | - | - | 1605 | - | - | - | - | - | - | - | - | 25.70 | - | - |
15810 | 247.3 | 10.1 | 1246 | 15811 | done | 0.56 | - | - | 2422 | - | - | - | 1962 | - | 325.0 | - | - | 1603 | - | - | - | - | - | - | - | - | - | - | - |
16113 | 219.4 | 8.7 | 1276 | 16144 | roll | 0.62 | 0.10 | 0.096 | 2527 | 1050.0 | 2.28 | 0.048 | 570 | -610.5 | 355.6 | 25.38 | 0.538 | 1495 | -4.3 | 0.183 | - | - | - | - | - | - | 26.36 | 25.89 | 24.82 |
16176 | 210.0 | 17.1 | 1282 | 16184 | done | 0.59 | 0.25 | 0.098 | 2436 | -364.0 | 2.12 | 0.024 | 1975 | 662.7 | 355.6 | - | - | 1485 | - | - | - | - | - | - | - | - | 25.63 | 26.01 | - |
16501 | 181.6 | 7.4 | 1335 | 16578 | roll | 0.70 | 0.12 | 0.080 | 2550 | 950.0 | 2.20 | 0.028 | 3385 | 640.9 | 423.1 | 68.18 | 0.470 | 1221 | -3.9 | 0.158 | - | - | - | - | - | - | 26.29 | 25.70 | 24.76 |
16598 | 163.9 | 21.8 | 1350 | 16607 | done | 0.67 | 0.28 | 0.110 | 2467 | -296.4 | 2.25 | 0.037 | 1979 | -624.9 | 423.1 | - | - | 1213 | - | - | - | - | - | - | - | - | 25.38 | 25.67 | - |
16933 | 131.8 | 8.3 | 1411 | 16973 | roll | 0.75 | 0.10 | 0.094 | 2565 | 980.0 | 2.30 | 0.047 | 572 | -611.7 | 465.4 | 34.55 | 0.455 | 1047 | -4.8 | 0.147 | - | - | - | - | - | - | 26.22 | 25.77 | 24.83 |
17051 | 112.0 | 17.5 | 1431 | 17058 | done | 0.75 | 0.25 | 0.100 | 2483 | -328.0 | 2.08 | 0.023 | 1987 | 680.3 | 465.4 | - | - | 1036 | - | - | - | - | - | - | - | - | 25.65 | 25.94 | - |
17383 | 85.7 | 5.4 | 1492 | 17518 | done | 0.95 | 0.17 | 0.060 | 2599 | 682.4 | - | - | 1987 | - | 593.5 | 128.93 | 0.279 | 543 | -3.8 | 0.124 | - | - | - | - | - | - | 26.28 | - | 24.98 |
17787 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
17787 | begin surface coast | ||||||||||||||||||||||||||||
17832 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17832 | begin surface | ||||||||||||||||||||||||||||
SM | 6.40 | - | - | - | - | -6.58 | 6.15 | 0.026 | 103 | -405.9 | - | - | 1987 | - | 588.23 | - | - | 556 | - | - | - | - | - | - | - | - |