• Previous call tries 1 | • 13.89 of 350.00 AH used of 24V (96.03% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -71.6 deg, depth 2.20 m | • Intended pitch -19.8 deg, speed -11.000 cm/s | |
• VBD pumped to 313.24 (SM_CC=313) | ||
• GPS1 time: 35 s | ||
• GPS2 time: 16 s | • Transponder ping count: 7 | |
• 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 | |||||
4 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
4 | begin dive | ||||||||||||||||||||||||||||
6 | - | - | - | 73 | VBD | -1.50 | - | - | 94 | - | - | - | 2087 | - | -146.0 | -64.35 | - | 3182 | - | - | - | - | - | - | - | - | 14.92 | - | 14.95 |
75 | 4.2 | -6.6 | 11 | 101 | roll | -1.50 | 14.62 | 0.459 | 2846 | 188.2 | 2.62 | 2.128 | 641 | -551.9 | -146.0 | -3.65 | - | 3387 | -56.2 | - | - | - | - | - | - | - | 14.52 | 13.80 | 14.75 |
138 | 22.8 | -20.8 | 22 | 145 | done | -1.37 | 0.17 | 0.291 | 2875 | 170.6 | 2.33 | 0.043 | 2038 | 599.6 | -146.0 | - | - | 3387 | - | - | - | - | - | - | - | - | 14.54 | 14.69 | 14.71 |
447 | 76.9 | -18.5 | 68 | 452 | roll | -1.37 | - | - | 2866 | - | 2.38 | 0.066 | 3449 | 592.9 | -146.0 | - | - | 3387 | - | - | - | - | - | - | - | - | 15.00 | 14.78 | 15.02 |
478 | 82.5 | -18.0 | 74 | 483 | done | -1.37 | - | - | 2866 | - | 2.35 | 0.044 | 2037 | -600.9 | -146.0 | - | - | 3388 | - | - | - | - | - | - | - | - | 14.87 | 14.81 | 14.88 |
784 | 133.1 | -12.3 | 105 | 793 | roll | -1.37 | - | - | 2866 | - | 2.30 | 0.061 | 640 | -607.4 | -146.0 | - | - | 3388 | - | - | - | - | - | - | - | - | 15.07 | 14.84 | 15.09 |
847 | 141.0 | -11.1 | 118 | 854 | done | -1.43 | - | - | 2856 | - | 2.35 | 0.042 | 2060 | 604.3 | -146.0 | - | - | 3388 | - | - | - | - | - | - | - | - | 14.93 | 14.86 | 14.95 |
1155 | 174.6 | -14.4 | 149 | 1164 | roll | -1.47 | - | - | 2846 | - | 2.30 | 0.065 | 3453 | 605.7 | -146.0 | - | - | 3389 | - | - | - | - | - | - | - | - | 15.10 | 14.88 | 15.12 |
1209 | 183.4 | -14.7 | 160 | 1217 | done | -1.57 | - | - | 2846 | - | 2.33 | 0.042 | 2039 | -606.9 | -146.0 | - | - | 3390 | - | - | - | - | - | - | - | - | 14.97 | 14.90 | 14.98 |
1516 | 228.1 | -13.1 | 191 | 1526 | roll | -1.63 | 0.10 | 0.160 | 2809 | -370.0 | 2.30 | 0.061 | 640 | -608.3 | -146.0 | - | - | 3389 | - | - | - | - | - | - | - | - | 14.92 | 14.90 | 14.97 |
1550 | 232.6 | -14.3 | 197 | 1559 | done | -1.63 | 0.08 | 0.261 | 2819 | 125.0 | 2.28 | 0.044 | 2058 | 621.9 | -146.0 | - | - | 3389 | - | - | - | - | - | - | - | - | 14.79 | 14.90 | 14.90 |
1869 | 272.2 | -12.0 | 218 | 1875 | roll | -1.63 | - | - | 2820 | - | 2.35 | 0.064 | 653 | -597.9 | -146.0 | - | - | 3389 | - | - | - | - | - | - | - | - | 15.14 | 14.92 | 15.16 |
1906 | 276.9 | -11.4 | 226 | 1911 | done | -1.63 | - | - | 2811 | - | 2.28 | 0.045 | 2056 | 615.4 | -146.0 | - | - | 3389 | - | - | - | - | - | - | - | - | 15.00 | 14.94 | 15.02 |
2228 | 317.7 | -13.7 | 240 | 2229 | done | -1.63 | - | - | 2811 | - | - | - | 2056 | - | -146.0 | - | - | 3389 | - | - | - | - | - | - | - | - | 15.16 | 15.19 | 15.18 |
2528 | 355.5 | -12.1 | 250 | 2532 | roll | -1.63 | - | - | 2811 | - | 2.35 | 0.067 | 654 | -596.6 | -146.0 | - | - | 3389 | - | - | - | - | - | - | - | - | 15.17 | 14.95 | 15.19 |
2584 | 362.7 | -12.9 | 261 | 2591 | done | -1.63 | - | - | 2801 | - | 2.30 | 0.047 | 2050 | 607.0 | -146.0 | - | - | 3389 | - | - | - | - | - | - | - | - | 15.03 | 14.97 | 15.04 |
2915 | 401.9 | -11.9 | 277 | 2921 | roll | -1.63 | - | - | 2801 | - | 2.35 | 0.071 | 656 | -593.2 | -146.0 | - | - | 3388 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.18 |
2953 | 406.9 | -12.5 | 285 | 2958 | done | -1.63 | 0.12 | 0.289 | 2817 | 133.3 | 2.30 | 0.047 | 2057 | 609.1 | -146.0 | - | - | 3388 | - | - | - | - | - | - | - | - | 14.85 | 14.97 | 15.00 |
3271 | 441.9 | -11.2 | 298 | 3277 | roll | -1.67 | - | - | 2809 | - | 2.33 | 0.070 | 3450 | 597.9 | -146.0 | - | - | 3387 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.19 |
3308 | 446.6 | -11.5 | 306 | 3312 | done | -1.72 | - | - | 2809 | - | 2.33 | 0.047 | 2047 | -602.1 | -146.0 | - | - | 3387 | - | - | - | - | - | - | - | - | 15.04 | 14.97 | 15.05 |
3631 | 481.6 | -11.0 | 320 | 3632 | done | -1.76 | - | - | 2808 | - | - | - | 2046 | - | -146.0 | - | - | 3386 | - | - | - | - | - | - | - | - | 15.16 | 15.19 | 15.19 |
3930 | 515.7 | -11.7 | 330 | 3932 | done | -1.79 | 0.10 | 0.199 | 2781 | -270.0 | - | - | 2045 | - | -146.0 | - | - | 3385 | - | - | - | - | - | - | - | - | 14.94 | 15.06 | 15.04 |
4229 | 556.8 | -14.1 | 340 | 4230 | done | -1.79 | - | - | 2780 | - | - | - | 2044 | - | -146.0 | - | - | 3385 | - | - | - | - | - | - | - | - | 15.19 | 15.21 | 15.21 |
4529 | 599.5 | -14.2 | 350 | 4534 | roll | -1.79 | - | - | 2770 | - | 2.40 | 0.073 | 3446 | 584.2 | -146.0 | - | - | 3383 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.22 |
4594 | 609.0 | -14.0 | 363 | 4598 | done | -1.79 | - | - | 2770 | - | 2.35 | 0.051 | 2042 | -597.4 | -146.0 | - | - | 3383 | - | - | - | - | - | - | - | - | 15.05 | 14.98 | 15.07 |
4921 | 652.8 | -13.2 | 378 | 4923 | done | -1.76 | 0.10 | 0.305 | 2787 | 170.0 | - | - | 2040 | - | -146.0 | - | - | 3382 | - | - | - | - | - | - | - | - | 14.85 | 15.05 | 15.02 |
5221 | 688.0 | -11.7 | 388 | 5225 | roll | -1.76 | - | - | 2788 | - | 2.35 | 0.076 | 640 | -595.7 | -146.0 | - | - | 3381 | - | - | - | - | - | - | - | - | 15.19 | 14.96 | 15.21 |
5255 | 692.7 | -12.5 | 395 | 5260 | done | -1.76 | - | - | 2779 | - | 2.33 | 0.053 | 2049 | 604.7 | -146.0 | - | - | 3381 | - | - | - | - | - | - | - | - | 15.04 | 14.98 | 15.07 |
5582 | 733.7 | -12.7 | 410 | 5583 | done | -1.76 | - | - | 2779 | - | - | - | 2049 | - | -146.0 | - | - | 3379 | - | - | - | - | - | - | - | - | 15.19 | 15.21 | 15.21 |
5882 | 771.4 | -12.5 | 420 | 5883 | done | -1.76 | - | - | 2780 | - | - | - | 2049 | - | -146.0 | - | - | 3378 | - | - | - | - | - | - | - | - | 15.19 | 15.22 | 15.21 |
6182 | 806.3 | -11.4 | 430 | 6186 | roll | -1.76 | - | - | 2780 | - | 2.40 | 0.073 | 639 | -587.5 | -146.0 | - | - | 3377 | - | - | - | - | - | - | - | - | 15.19 | 14.96 | 15.21 |
6201 | 809.1 | -12.9 | 434 | 6209 | done | -1.76 | 0.12 | 0.334 | 2792 | 100.0 | 2.35 | 0.054 | 2062 | 605.5 | -146.0 | - | - | 3376 | - | - | - | - | - | - | - | - | 14.83 | 14.98 | 15.02 |
6509 | 843.0 | -11.3 | 445 | 6515 | roll | -1.76 | - | - | 2784 | - | 2.35 | 0.075 | 3450 | 590.6 | -146.0 | - | - | 3375 | - | - | - | - | - | - | - | - | 15.17 | 14.95 | 15.19 |
6551 | 848.3 | -12.0 | 454 | 6556 | done | -1.76 | - | - | 2784 | - | 2.35 | 0.050 | 2040 | -600.0 | -146.0 | - | - | 3375 | - | - | - | - | - | - | - | - | 15.04 | 14.97 | 15.06 |
6868 | 886.3 | -12.5 | 467 | 6872 | roll | -1.76 | - | - | 2783 | - | 2.33 | 0.073 | 650 | -596.6 | -146.0 | - | - | 3375 | - | - | - | - | - | - | - | - | 15.19 | 14.96 | 15.21 |
6954 | 897.7 | -12.8 | 484 | 6959 | done | -1.76 | - | - | 2774 | - | 2.30 | 0.050 | 2051 | 609.1 | -146.0 | - | - | 3374 | - | - | - | - | - | - | - | - | 15.04 | 14.97 | 15.05 |
7286 | 941.2 | -13.2 | 500 | 7287 | done | -1.76 | - | - | 2774 | - | - | - | 2051 | - | -146.0 | - | - | 3373 | - | - | - | - | - | - | - | - | 15.16 | 15.19 | 15.19 |
7585 | 979.5 | -12.7 | 510 | 7590 | roll | -1.76 | - | - | 2774 | - | 2.38 | 0.071 | 647 | -589.9 | -146.0 | - | - | 3373 | - | - | - | - | - | - | - | - | 15.19 | 14.96 | 15.21 |
7630 | 985.8 | -13.3 | 519 | 7635 | done | -1.72 | 0.17 | 0.324 | 2800 | 152.9 | 2.35 | 0.054 | 2056 | 599.6 | -146.0 | - | - | 3372 | - | - | - | - | - | - | - | - | 14.82 | 14.97 | 15.01 |
7672 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7672 | begin apogee | ||||||||||||||||||||||||||||
7676 | 990.5 | -11.7 | 522 | 7809 | done | -0.33 | 1.12 | 0.280 | 3096 | 264.3 | - | - | 1784 | - | - | 128.75 | 2.647 | 2789 | -4.5 | 0.319 | - | - | - | - | - | - | 14.82 | 14.04 | 13.08 |
7810 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7810 | begin climb | ||||||||||||||||||||||||||||
7811 | 992.7 | - | 526 | 7953 | roll | 1.50 | 1.42 | 0.183 | 3509 | 290.8 | 2.58 | 0.081 | 400 | -536.4 | 146.0 | 132.82 | 2.577 | 2188 | -4.5 | 0.328 | - | - | - | - | - | - | 14.02 | 13.81 | 13.03 |
7989 | 976.8 | 15.3 | 560 | 7994 | done | 1.33 | 0.20 | 0.354 | 3465 | -220.0 | 2.47 | 0.055 | 1793 | 564.0 | 146.0 | - | - | 2182 | - | - | - | - | - | - | - | - | 14.06 | 14.22 | 14.27 |
8302 | 932.3 | 14.1 | 572 | 8306 | roll | 1.25 | - | - | 3474 | - | 2.50 | 0.085 | 407 | -554.4 | 146.0 | - | - | 2177 | - | - | - | - | - | - | - | - | 14.85 | 14.62 | 14.87 |
8327 | 928.4 | 14.6 | 577 | 8335 | done | 1.15 | 0.20 | 0.365 | 3431 | -215.0 | 2.40 | 0.055 | 1805 | 582.5 | 146.0 | - | - | 2176 | - | - | - | - | - | - | - | - | 14.48 | 14.66 | 14.71 |
8633 | 890.2 | 12.3 | 588 | 8638 | roll | 1.15 | - | - | 3429 | - | 2.38 | 0.072 | 3204 | 587.8 | 146.0 | - | - | 2175 | - | - | - | - | - | - | - | - | 14.97 | 14.75 | 15.00 |
8658 | 886.9 | 12.2 | 593 | 8665 | done | 1.15 | - | - | 3437 | - | 2.38 | 0.063 | 1811 | -585.3 | 146.0 | - | - | 2175 | - | - | - | - | - | - | - | - | 14.84 | 14.76 | 14.86 |
8965 | 848.6 | 12.6 | 604 | 8969 | roll | 1.15 | - | - | 3448 | - | 2.50 | 0.087 | 387 | -569.6 | 146.0 | - | - | 2174 | - | - | - | - | - | - | - | - | 15.04 | 14.81 | 15.06 |
8984 | 846.0 | 12.6 | 608 | 8990 | done | 1.11 | 0.17 | 0.376 | 3417 | -182.4 | 2.40 | 0.056 | 1807 | 591.7 | 146.0 | - | - | 2174 | - | - | - | - | - | - | - | - | 14.65 | 14.83 | 14.88 |
9297 | 808.9 | 11.9 | 620 | 9302 | roll | 1.11 | - | - | 3412 | - | 2.38 | 0.073 | 3215 | 591.6 | 146.0 | - | - | 2173 | - | - | - | - | - | - | - | - | 15.07 | 14.85 | 15.09 |
9351 | 802.0 | 13.0 | 631 | 9358 | done | 1.11 | - | - | 3421 | - | 2.40 | 0.063 | 1800 | -589.6 | 146.0 | - | - | 2173 | - | - | - | - | - | - | - | - | 14.93 | 14.86 | 14.95 |
9658 | 763.7 | 12.4 | 642 | 9663 | roll | 1.11 | - | - | 3429 | - | 2.45 | 0.084 | 383 | -578.4 | 146.0 | - | - | 2172 | - | - | - | - | - | - | - | - | 15.09 | 14.87 | 15.12 |
9677 | 761.2 | 11.6 | 646 | 9685 | done | 1.11 | - | - | 3429 | - | 2.40 | 0.054 | 1803 | 591.7 | 146.0 | - | - | 2172 | - | - | - | - | - | - | - | - | 14.96 | 14.89 | 14.98 |
9985 | 722.8 | 12.5 | 657 | 9991 | roll | 1.11 | - | - | 3429 | - | 2.35 | 0.076 | 3203 | 595.7 | 146.0 | - | - | 2172 | - | - | - | - | - | - | - | - | 15.11 | 14.89 | 15.14 |
10045 | 714.8 | 13.7 | 669 | 10052 | done | 1.08 | 0.15 | 0.397 | 3410 | -126.7 | 2.40 | 0.059 | 1789 | -589.2 | 146.0 | - | - | 2171 | - | - | - | - | - | - | - | - | 14.73 | 14.90 | 14.95 |
10375 | 675.9 | 11.8 | 685 | 10377 | done | 1.11 | - | - | 3410 | - | - | - | 1789 | - | 146.0 | - | - | 2172 | - | - | - | - | - | - | - | - | 15.13 | 15.15 | 15.15 |
10675 | 642.7 | 10.6 | 695 | 10679 | roll | 1.12 | - | - | 3419 | - | 2.42 | 0.086 | 387 | -579.3 | 153.5 | - | - | 2171 | - | - | - | - | - | - | - | - | 15.14 | 14.90 | 15.16 |
10701 | 639.9 | 11.0 | 700 | 10705 | done | 1.12 | - | - | 3419 | - | 2.35 | 0.054 | 1803 | 602.6 | 153.8 | - | - | 2170 | - | - | - | - | - | - | - | - | 15.00 | 14.93 | 15.02 |
11032 | 603.9 | 10.7 | 716 | 11043 | done | 1.12 | - | - | 3418 | - | - | - | 1803 | - | 159.0 | 9.10 | 1.960 | 2140 | -3.3 | 0.191 | - | - | - | - | - | - | 15.14 | 14.85 | 13.98 |
11332 | 570.0 | 11.4 | 726 | 11333 | done | 1.12 | - | - | 3418 | - | - | - | 1803 | - | 159.0 | - | - | 2134 | - | - | - | - | - | - | - | - | 15.09 | 15.11 | 15.11 |
11632 | 535.6 | 11.4 | 736 | 11633 | done | 1.12 | - | - | 3418 | - | - | - | 1803 | - | 159.0 | - | - | 2134 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
11932 | 502.7 | 10.8 | 746 | 11934 | done | 1.13 | - | - | 3418 | - | - | - | 1803 | - | 162.6 | - | - | 2134 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.15 |
12233 | 469.0 | 11.9 | 756 | 12238 | roll | 1.16 | - | - | 3419 | - | 2.33 | 0.070 | 3210 | 603.9 | 162.6 | - | - | 2134 | - | - | - | - | - | - | - | - | 15.14 | 14.91 | 15.16 |
12268 | 464.3 | 13.1 | 763 | 12272 | done | 1.16 | - | - | 3426 | - | 2.40 | 0.060 | 1795 | -589.6 | 162.6 | - | - | 2134 | - | - | - | - | - | - | - | - | 15.00 | 14.92 | 15.02 |
12595 | 422.0 | 13.3 | 778 | 12599 | roll | 1.16 | - | - | 3426 | - | 2.42 | 0.072 | 3211 | 585.1 | 162.6 | - | - | 2134 | - | - | - | - | - | - | - | - | 15.15 | 14.92 | 15.17 |
12629 | 417.3 | 13.3 | 785 | 12633 | done | 1.16 | - | - | 3435 | - | 2.40 | 0.060 | 1797 | -589.2 | 162.6 | - | - | 2134 | - | - | - | - | - | - | - | - | 15.00 | 14.93 | 15.02 |
12946 | 378.9 | 11.5 | 798 | 12947 | done | 1.16 | - | - | 3435 | - | - | - | 1797 | - | 162.6 | - | - | 2134 | - | - | - | - | - | - | - | - | 15.15 | 15.18 | 15.17 |
13245 | 345.4 | 11.3 | 808 | 13250 | roll | 1.16 | - | - | 3431 | - | 2.40 | 0.072 | 3210 | 588.8 | 162.6 | - | - | 2134 | - | - | - | - | - | - | - | - | 15.16 | 14.93 | 15.19 |
13325 | 335.8 | 11.0 | 824 | 13330 | done | 1.16 | - | - | 3439 | - | 2.40 | 0.059 | 1790 | -591.7 | 162.6 | - | - | 2134 | - | - | - | - | - | - | - | - | 15.02 | 14.94 | 15.03 |
13637 | 304.1 | 9.7 | 836 | 13668 | roll | 1.19 | - | - | 3437 | - | 2.53 | 0.072 | 3211 | 561.7 | 187.7 | 24.62 | 1.686 | 2018 | -4.7 | 0.160 | - | - | - | - | - | - | 15.16 | 14.72 | 14.04 |
13708 | 296.8 | 10.5 | 850 | 13724 | done | 1.20 | - | - | 3446 | - | 2.42 | 0.060 | 1789 | -587.6 | 196.6 | 8.45 | 1.554 | 1982 | -4.3 | 0.153 | - | - | - | - | - | - | 14.81 | 14.73 | 13.96 |
14031 | 259.5 | 11.8 | 864 | 14032 | done | 1.20 | - | - | 3446 | - | - | - | 1789 | - | 196.6 | - | - | 1979 | - | - | - | - | - | - | - | - | 15.00 | 15.03 | 15.02 |
14331 | 220.5 | 13.5 | 888 | 14335 | roll | 1.20 | - | - | 3438 | - | 2.42 | 0.071 | 3207 | 586.0 | 196.6 | - | - | 1979 | - | - | - | - | - | - | - | - | 15.05 | 14.83 | 15.07 |
14372 | 214.5 | 14.7 | 896 | 14377 | done | 1.20 | - | - | 3447 | - | 2.40 | 0.057 | 1793 | -589.2 | 196.6 | - | - | 1978 | - | - | - | - | - | - | - | - | 14.91 | 14.83 | 14.93 |
14683 | 174.8 | 11.3 | 928 | 14688 | roll | 1.20 | - | - | 3457 | - | 2.42 | 0.083 | 394 | -578.1 | 196.6 | - | - | 1978 | - | - | - | - | - | - | - | - | 15.08 | 14.84 | 15.10 |
14729 | 170.0 | 10.6 | 937 | 14739 | done | 1.21 | - | - | 3455 | - | 2.35 | 0.051 | 1810 | 602.6 | 204.1 | 5.03 | 1.261 | 1958 | -4.0 | 0.101 | - | - | - | - | - | - | 14.94 | 14.87 | 14.10 |
15046 | 144.2 | 8.3 | 970 | 15100 | roll | 1.32 | - | - | 3453 | - | 2.45 | 0.070 | 3210 | 571.4 | 257.6 | 45.78 | 1.380 | 1732 | -4.9 | 0.097 | - | - | - | - | - | - | 15.07 | 14.53 | 13.97 |
15151 | 132.7 | 11.5 | 991 | 15158 | done | 1.37 | - | - | 3461 | - | 2.45 | 0.057 | 1790 | -579.6 | 257.6 | - | - | 1729 | - | - | - | - | - | - | - | - | 14.66 | 14.59 | 14.69 |
15457 | 95.4 | 13.4 | 1022 | 15459 | done | 1.42 | 0.10 | 0.135 | 3497 | 360.0 | - | - | 1788 | - | 257.6 | - | - | 1727 | - | - | - | - | - | - | - | - | 14.77 | 14.84 | 14.83 |
15757 | 54.6 | 13.4 | 1052 | 15761 | roll | 1.42 | - | - | 3494 | - | 2.45 | 0.069 | 3209 | 580.0 | 257.6 | - | - | 1727 | - | - | - | - | - | - | - | - | 15.02 | 14.80 | 15.04 |
15843 | 42.7 | 13.2 | 1069 | 15850 | done | 1.42 | - | - | 3503 | - | 2.38 | 0.056 | 1790 | -596.2 | 257.6 | - | - | 1727 | - | - | - | - | - | - | - | - | 14.89 | 14.82 | 14.91 |
16136 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16136 | begin surface coast | ||||||||||||||||||||||||||||
16158 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16158 | begin surface | ||||||||||||||||||||||||||||
SM | 2.03 | - | - | - | - | -14.12 | 10.02 | 0.091 | 94 | 9.4 | 0.45 | 0.056 | 2074 | 2320.0 | 313.24 | 22.48 | 0.079 | 1512 | 67.3 | -0.177 | - | - | - | - | - | - |