• Previous call tries 1 | • 83.77 of 150.00 AH used of 24V (44.16% remains) | |
• Previous NAKs 0, Timeouts 0 | • 44.68 of 100.00 AH used of 10V (55.32% remains) | |
• Surface angle -56.6 deg, depth 2.52 m | • Intended pitch -24.8 deg, speed -13.043 cm/s | |
• No surface pump (final VBD was 577.93, SM_CC=475) | ||
• GPS1 time: 40 s | ||
• GPS2 time: 8 s, HDOP was 99.0 m | • Transponder ping count: 3 | |
• 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 | |||||
13 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
13 | begin dive | ||||||||||||||||||||||||||||
16 | - | - | - | 58 | VBD | -1.49 | - | - | 141 | - | - | - | 2362 | - | -121.7 | -39.10 | - | 2312 | - | - | - | - | - | - | - | - | - | - | - |
62 | 3.0 | -1.8 | 6 | 129 | roll | -1.49 | 8.05 | 0.235 | 2053 | 237.5 | 2.17 | 0.055 | 3747 | 638.2 | -121.7 | -51.78 | - | 3988 | -32.4 | - | - | - | - | - | - | - | - | - | - |
212 | 25.1 | -20.8 | 31 | 219 | done | -0.86 | 0.75 | 0.170 | 2264 | 281.3 | 1.95 | 0.020 | 2350 | -716.4 | -121.7 | - | - | 3989 | - | - | - | - | - | - | - | - | - | - | - |
560 | 68.3 | -11.1 | 92 | 566 | roll | -1.15 | 0.22 | 0.061 | 2164 | -454.5 | 1.90 | 0.022 | 1018 | -701.1 | -121.7 | - | - | 3990 | - | - | - | - | - | - | - | - | - | - | - |
607 | 74.7 | -14.3 | 100 | 614 | done | -1.06 | 0.17 | 0.163 | 2201 | 217.6 | 2.00 | 0.025 | 2387 | 684.5 | -121.7 | - | - | 3990 | - | - | - | - | - | - | - | - | - | - | - |
954 | 111.5 | -11.6 | 161 | 961 | roll | -1.22 | 0.15 | 0.067 | 2137 | -426.7 | 2.08 | 0.041 | 3757 | 658.7 | -121.7 | - | - | 3991 | - | - | - | - | - | - | - | - | - | - | - |
1010 | 118.9 | -14.6 | 170 | 1018 | done | -0.99 | 0.32 | 0.160 | 2227 | 281.2 | 1.90 | 0.020 | 2381 | -724.2 | -121.7 | - | - | 3992 | - | - | - | - | - | - | - | - | - | - | - |
1359 | 159.7 | -10.3 | 231 | 1365 | done | -1.30 | 0.25 | 0.058 | 2119 | -432.0 | - | - | 2381 | - | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
1704 | 197.2 | -10.2 | 292 | 1710 | roll | -1.22 | 0.12 | 0.157 | 2142 | 191.7 | 2.10 | 0.039 | 3760 | 656.7 | -121.7 | - | - | 3994 | - | - | - | - | - | - | - | - | - | - | - |
1742 | 201.6 | -12.0 | 298 | 1750 | done | -1.09 | 0.17 | 0.160 | 2187 | 264.7 | 1.88 | 0.021 | 2405 | -720.7 | -121.7 | - | - | 3994 | - | - | - | - | - | - | - | - | - | - | - |
2091 | 240.1 | -10.8 | 359 | 2097 | roll | -1.31 | 0.17 | 0.064 | 2109 | -458.8 | 1.98 | 0.022 | 1014 | -702.5 | -121.7 | - | - | 3995 | - | - | - | - | - | - | - | - | - | - | - |
2155 | 248.5 | -13.3 | 370 | 2164 | done | -1.10 | 0.32 | 0.161 | 2189 | 250.0 | 2.03 | 0.026 | 2398 | 681.8 | -121.7 | - | - | 3994 | - | - | - | - | - | - | - | - | - | - | - |
2509 | 282.0 | -8.4 | 431 | 2515 | roll | -1.32 | 0.17 | 0.066 | 2111 | -458.8 | 2.00 | 0.021 | 1010 | -694.0 | -121.7 | - | - | 3995 | - | - | - | - | - | - | - | - | - | - | - |
2558 | 287.1 | -10.7 | 439 | 2565 | done | -1.16 | 0.22 | 0.163 | 2170 | 268.2 | 1.98 | 0.027 | 2353 | 678.3 | -121.7 | - | - | 3994 | - | - | - | - | - | - | - | - | - | - | - |
2899 | 318.7 | -10.5 | 483 | 2903 | roll | -1.33 | 0.17 | 0.067 | 2096 | -435.3 | 2.12 | 0.042 | 3751 | 659.4 | -121.7 | - | - | 3995 | - | - | - | - | - | - | - | - | - | - | - |
2934 | 323.1 | -13.2 | 485 | 2940 | done | -1.11 | 0.32 | 0.161 | 2187 | 284.4 | 1.98 | 0.021 | 2336 | -714.6 | -121.7 | - | - | 3994 | - | - | - | - | - | - | - | - | - | - | - |
3260 | 356.8 | -10.3 | 516 | 3264 | roll | -1.35 | 0.20 | 0.063 | 2098 | -445.0 | 1.88 | 0.023 | 1018 | -701.1 | -121.7 | - | - | 3995 | - | - | - | - | - | - | - | - | - | - | - |
3323 | 364.7 | -13.0 | 521 | 3330 | done | -1.17 | 0.25 | 0.162 | 2165 | 268.0 | 1.95 | 0.028 | 2341 | 678.5 | -121.7 | - | - | 3995 | - | - | - | - | - | - | - | - | - | - | - |
3650 | 398.0 | -9.1 | 552 | 3652 | done | -1.36 | 0.17 | 0.071 | 2095 | -411.8 | - | - | 2344 | - | -121.7 | - | - | 3994 | - | - | - | - | - | - | - | - | - | - | - |
3967 | 430.7 | -10.4 | 582 | 3972 | roll | -1.25 | 0.17 | 0.157 | 2147 | 305.9 | 1.92 | 0.024 | 1022 | -688.5 | -121.7 | - | - | 3994 | - | - | - | - | - | - | - | - | - | - | - |
4007 | 434.8 | -10.0 | 585 | 4013 | done | -1.25 | - | - | 2147 | - | 1.92 | 0.028 | 2324 | 678.1 | -121.7 | - | - | 3994 | - | - | - | - | - | - | - | - | - | - | - |
4336 | 467.8 | -10.1 | 616 | 4342 | done | -1.35 | 0.12 | 0.077 | 2095 | -433.3 | - | - | 2327 | - | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
4665 | 503.2 | -11.2 | 646 | 4668 | roll | -1.35 | - | - | 2094 | - | 2.17 | 0.044 | 3753 | 657.1 | -121.7 | - | - | 3993 | - | - | - | - | - | - | - | - | - | - | - |
4721 | 510.6 | -13.2 | 648 | 4725 | done | -1.13 | 0.30 | 0.160 | 2177 | 276.7 | 2.03 | 0.021 | 2321 | -705.4 | -121.7 | - | - | 3992 | - | - | - | - | - | - | - | - | - | - | - |
5044 | 542.7 | -10.3 | 664 | 5049 | roll | -1.40 | 0.20 | 0.066 | 2094 | -415.0 | 2.22 | 0.044 | 3751 | 644.1 | -121.7 | - | - | 3991 | - | - | - | - | - | - | - | - | - | - | - |
5073 | 546.3 | -12.4 | 665 | 5077 | done | -1.40 | - | - | 2093 | - | 2.00 | 0.022 | 2330 | -710.5 | -121.7 | - | - | 3991 | - | - | - | - | - | - | - | - | - | - | - |
5395 | 584.2 | -11.8 | 681 | 5398 | roll | -1.40 | - | - | 2094 | - | 1.88 | 0.025 | 1018 | -697.9 | -121.7 | - | - | 3990 | - | - | - | - | - | - | - | - | - | - | - |
5423 | 588.0 | -13.2 | 682 | 5428 | done | -1.31 | 0.15 | 0.164 | 2125 | 206.7 | 1.98 | 0.028 | 2350 | 672.7 | -121.7 | - | - | 3990 | - | - | - | - | - | - | - | - | - | - | - |
5754 | 621.8 | -9.3 | 698 | 5758 | roll | -1.40 | - | - | 2125 | - | 2.15 | 0.046 | 3751 | 651.6 | -121.7 | - | - | 3988 | - | - | - | - | - | - | - | - | - | - | - |
5789 | 625.5 | -10.1 | 699 | 5792 | done | -1.40 | - | - | 2125 | - | 2.03 | 0.022 | 2329 | -700.5 | -121.7 | - | - | 3988 | - | - | - | - | - | - | - | - | - | - | - |
6113 | 653.6 | -8.8 | 715 | 6117 | roll | -1.52 | 0.17 | 0.073 | 2047 | -458.8 | 1.88 | 0.025 | 1022 | -695.2 | -121.7 | - | - | 3986 | - | - | - | - | - | - | - | - | - | - | - |
6231 | 667.0 | -11.3 | 720 | 6235 | done | -1.25 | 0.30 | 0.161 | 2141 | 313.3 | 1.92 | 0.031 | 2292 | 661.5 | -121.7 | - | - | 3984 | - | - | - | - | - | - | - | - | - | - | - |
6562 | 697.1 | -9.3 | 736 | 6566 | roll | -1.46 | 0.17 | 0.074 | 2066 | -441.2 | 1.88 | 0.025 | 1014 | -679.8 | -121.7 | - | - | 3982 | - | - | - | - | - | - | - | - | - | - | - |
6585 | 699.9 | -10.2 | 737 | 6590 | done | -1.46 | - | - | 2058 | - | 1.90 | 0.028 | 2270 | 661.1 | -121.7 | - | - | 3982 | - | - | - | - | - | - | - | - | - | - | - |
6919 | 739.4 | -11.9 | 753 | 6924 | roll | -1.29 | 0.22 | 0.167 | 2123 | 295.5 | 2.30 | 0.046 | 3749 | 643.0 | -121.7 | - | - | 3980 | - | - | - | - | - | - | - | - | - | - | - |
7016 | 750.2 | -10.8 | 757 | 7019 | done | -1.24 | - | - | 2123 | - | 2.08 | 0.024 | 2306 | -693.8 | -121.7 | - | - | 3979 | - | - | - | - | - | - | - | - | - | - | - |
7338 | 783.2 | -10.3 | 773 | 7342 | roll | -1.36 | - | - | 2123 | - | 1.85 | 0.028 | 1025 | -692.4 | -121.7 | - | - | 3977 | - | - | - | - | - | - | - | - | - | - | - |
7412 | 791.5 | -11.1 | 776 | 7416 | done | -1.36 | - | - | 2123 | - | 1.88 | 0.032 | 2272 | 663.3 | -121.7 | - | - | 3976 | - | - | - | - | - | - | - | - | - | - | - |
7741 | 826.2 | -10.4 | 792 | 7745 | roll | -1.49 | 0.17 | 0.074 | 2054 | -405.9 | 1.85 | 0.025 | 1017 | -678.4 | -121.7 | - | - | 3974 | - | - | - | - | - | - | - | - | - | - | - |
7804 | 834.3 | -13.5 | 794 | 7812 | done | -1.27 | 0.30 | 0.166 | 2133 | 263.3 | 1.83 | 0.033 | 2233 | 664.5 | -121.7 | - | - | 3974 | - | - | - | - | - | - | - | - | - | - | - |
8120 | 866.7 | -10.1 | 810 | 8124 | roll | -1.37 | - | - | 2124 | - | 2.38 | 0.048 | 3761 | 642.0 | -121.7 | - | - | 3972 | - | - | - | - | - | - | - | - | - | - | - |
8240 | 879.5 | -11.4 | 815 | 8244 | done | -1.32 | - | - | 2124 | - | 2.17 | 0.024 | 2254 | -694.5 | -121.7 | - | - | 3971 | - | - | - | - | - | - | - | - | - | - | - |
8556 | 913.1 | -10.6 | 830 | 8560 | roll | -1.32 | - | - | 2124 | - | 2.38 | 0.049 | 3751 | 629.0 | -121.7 | - | - | 3969 | - | - | - | - | - | - | - | - | - | - | - |
8676 | 927.3 | -12.4 | 835 | 8680 | done | -1.26 | - | - | 2124 | - | 2.12 | 0.024 | 2287 | -690.6 | -121.7 | - | - | 3968 | - | - | - | - | - | - | - | - | - | - | - |
8999 | 963.7 | -11.2 | 851 | 9003 | roll | -1.39 | - | - | 2124 | - | 2.35 | 0.050 | 3760 | 626.8 | -121.7 | - | - | 3967 | - | - | - | - | - | - | - | - | - | - | - |
9039 | 968.7 | -12.6 | 853 | 9043 | done | -1.34 | - | - | 2124 | - | 2.15 | 0.025 | 2281 | -687.9 | -121.7 | - | - | 3966 | - | - | - | - | - | - | - | - | - | - | - |
9142 | end dive: HALF_MISSION_TIME_EXCEEDED | ||||||||||||||||||||||||||||
9142 | begin apogee | ||||||||||||||||||||||||||||
9151 | 981.7 | 12.2 | 858 | 9255 | done | -0.27 | 1.12 | 0.160 | 2452 | 292.9 | - | - | 2375 | - | - | 95.05 | 1.390 | 3532 | -4.6 | 0.341 | - | - | - | - | - | - | - | - | - |
9255 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9255 | begin climb | ||||||||||||||||||||||||||||
9258 | 989.9 | - | 863 | 9370 | roll | 1.49 | 1.60 | 0.066 | 3018 | 353.8 | 2.28 | 0.045 | 3750 | 603.1 | 121.7 | 104.50 | 1.374 | 3034 | -4.8 | 0.363 | - | - | - | - | - | - | - | - | - |
9466 | 992.0 | 8.1 | 872 | 9530 | done | 0.70 | 1.00 | 0.219 | 2778 | -240.0 | 2.03 | 0.022 | 2378 | -675.9 | 190.3 | 57.47 | 1.350 | 2756 | -4.8 | 0.376 | - | - | - | - | - | - | - | - | - |
9848 | 967.6 | 6.6 | 891 | 9932 | roll | 0.81 | - | - | 2777 | - | 2.30 | 0.051 | 3745 | 594.3 | 279.7 | 75.35 | 1.349 | 2390 | -4.9 | 0.368 | - | - | - | - | - | - | - | - | - |
10034 | 950.4 | 9.8 | 899 | 10080 | done | 0.92 | 0.17 | 0.078 | 2844 | 394.1 | 2.00 | 0.024 | 2405 | -670.0 | 324.7 | 38.80 | 1.312 | 2207 | -4.7 | 0.361 | - | - | - | - | - | - | - | - | - |
10397 | 908.3 | 11.6 | 917 | 10418 | done | 0.94 | - | - | 2844 | - | - | - | 2405 | - | 345.5 | 18.38 | 1.262 | 2123 | -4.6 | 0.348 | - | - | - | - | - | - | - | - | - |
10725 | 868.6 | 12.2 | 933 | 10741 | roll | 0.96 | - | - | 2844 | - | 2.17 | 0.049 | 3758 | 623.5 | 357.2 | 11.35 | 1.197 | 2074 | -4.3 | 0.331 | - | - | - | - | - | - | - | - | - |
10770 | 862.2 | 14.9 | 934 | 10774 | done | 0.91 | - | - | 2852 | - | 2.03 | 0.023 | 2383 | -677.3 | 357.2 | - | - | 2072 | - | - | - | - | - | - | - | - | - | - | - |
11098 | 818.9 | 13.2 | 950 | 11100 | done | 0.91 | - | - | 2853 | - | - | - | 2382 | - | 357.2 | - | - | 2070 | - | - | - | - | - | - | - | - | - | - | - |
11406 | 777.6 | 13.4 | 965 | 11410 | roll | 0.91 | - | - | 2853 | - | 2.17 | 0.050 | 3752 | 631.3 | 357.2 | - | - | 2069 | - | - | - | - | - | - | - | - | - | - | - |
11440 | 772.5 | 15.5 | 966 | 11445 | done | 0.84 | 0.17 | 0.183 | 2818 | -205.9 | 1.98 | 0.023 | 2401 | -682.3 | 357.2 | - | - | 2068 | - | - | - | - | - | - | - | - | - | - | - |
11763 | 731.8 | 12.4 | 982 | 11778 | roll | 0.98 | 0.12 | 0.086 | 2868 | 416.7 | 2.20 | 0.050 | 3750 | 613.2 | 366.5 | 8.45 | 1.111 | 2038 | -3.6 | 0.247 | - | - | - | - | - | - | - | - | - |
11840 | 719.5 | 15.5 | 985 | 11845 | done | 0.89 | 0.15 | 0.185 | 2836 | -213.3 | 1.90 | 0.023 | 2459 | -679.5 | 366.5 | - | - | 2036 | - | - | - | - | - | - | - | - | - | - | - |
12163 | 674.5 | 14.7 | 1001 | 12165 | done | 0.99 | - | - | 2835 | - | - | - | 2457 | - | 366.5 | - | - | 2035 | - | - | - | - | - | - | - | - | - | - | - |
12472 | 632.8 | 12.7 | 1016 | 12482 | roll | 1.22 | 0.25 | 0.070 | 2945 | 440.0 | 2.20 | 0.029 | 978 | -672.3 | 370.6 | 4.97 | 0.904 | 2020 | -3.0 | 0.223 | - | - | - | - | - | - | - | - | - |
12617 | 611.5 | 13.0 | 1022 | 12622 | done | 1.04 | 0.25 | 0.187 | 2880 | -260.0 | 2.28 | 0.032 | 2465 | 652.2 | 371.5 | - | - | 2020 | - | - | - | - | - | - | - | - | - | - | - |
12933 | 577.0 | 10.5 | 1037 | 12976 | roll | 1.08 | - | - | 2880 | - | 2.12 | 0.050 | 3757 | 609.4 | 406.6 | 32.17 | 1.143 | 1873 | -4.6 | 0.244 | - | - | - | - | - | - | - | - | - |
13016 | 566.7 | 14.1 | 1040 | 13022 | done | 1.08 | - | - | 2887 | - | 1.92 | 0.025 | 2454 | -678.6 | 406.6 | - | - | 1870 | - | - | - | - | - | - | - | - | - | - | - |
13333 | 523.5 | 13.3 | 1056 | 13336 | roll | 1.17 | - | - | 2897 | - | 2.20 | 0.029 | 983 | -668.6 | 406.6 | - | - | 1867 | - | - | - | - | - | - | - | - | - | - | - |
13407 | 513.4 | 13.1 | 1059 | 13412 | done | 1.21 | 0.10 | 0.094 | 2934 | 370.0 | 2.20 | 0.031 | 2422 | 654.1 | 406.6 | - | - | 1867 | - | - | - | - | - | - | - | - | - | - | - |
13735 | 467.0 | 13.4 | 1086 | 13740 | roll | 1.09 | 0.15 | 0.178 | 2904 | -200.0 | 2.17 | 0.028 | 972 | -668.2 | 406.6 | - | - | 1866 | - | - | - | - | - | - | - | - | - | - | - |
13872 | 451.3 | 10.5 | 1097 | 13911 | done | 1.14 | - | - | 2904 | - | 2.30 | 0.031 | 2480 | 655.7 | 442.1 | 30.30 | 1.039 | 1728 | -4.6 | 0.209 | - | - | - | - | - | - | - | - | - |
14231 | 409.8 | 13.4 | 1131 | 14235 | roll | 1.29 | 0.15 | 0.078 | 2964 | 400.0 | 2.00 | 0.048 | 3758 | 639.0 | 442.1 | - | - | 1722 | - | - | - | - | - | - | - | - | - | - | - |
14255 | 406.2 | 15.0 | 1133 | 14259 | done | 1.29 | - | - | 2973 | - | 1.90 | 0.023 | 2449 | -688.9 | 442.1 | - | - | 1722 | - | - | - | - | - | - | - | - | - | - | - |
14591 | 349.8 | 16.0 | 1164 | 14596 | roll | 1.15 | 0.20 | 0.187 | 2928 | -225.0 | 2.17 | 0.028 | 973 | -680.2 | 442.1 | - | - | 1721 | - | - | - | - | - | - | - | - | - | - | - |
14736 | 331.8 | 11.2 | 1176 | 14763 | done | 1.23 | - | - | 2927 | - | 2.22 | 0.031 | 2441 | 661.3 | 467.6 | 21.67 | 0.925 | 1625 | -4.4 | 0.168 | - | - | - | - | - | - | - | - | - |
15087 | 288.8 | 13.6 | 1215 | 15093 | roll | 1.42 | 0.17 | 0.070 | 3010 | 488.2 | 2.20 | 0.027 | 972 | -667.7 | 467.6 | - | - | 1619 | - | - | - | - | - | - | - | - | - | - | - |
15217 | 268.0 | 16.5 | 1237 | 15223 | done | 1.28 | 0.20 | 0.183 | 2961 | -245.0 | 2.10 | 0.031 | 2363 | 662.4 | 467.6 | - | - | 1619 | - | - | - | - | - | - | - | - | - | - | - |
15563 | 217.2 | 11.7 | 1298 | 15587 | roll | 1.30 | - | - | 2968 | - | 2.12 | 0.029 | 982 | -651.4 | 486.1 | 16.00 | 0.811 | 1549 | -4.4 | 0.124 | - | - | - | - | - | - | - | - | - |
15611 | 211.2 | 11.7 | 1306 | 15635 | done | 1.32 | - | - | 2968 | - | 2.10 | 0.028 | 2371 | 661.4 | 504.8 | 17.27 | 0.798 | 1473 | -4.4 | 0.123 | - | - | - | - | - | - | - | - | - |
15978 | 167.0 | 11.8 | 1370 | 16000 | roll | 1.53 | 0.17 | 0.070 | 3050 | 482.4 | 2.10 | 0.028 | 973 | -665.7 | 522.0 | 15.82 | 0.756 | 1402 | -4.5 | 0.105 | - | - | - | - | - | - | - | - | - |
16053 | 157.2 | 13.5 | 1382 | 16061 | done | 1.39 | 0.22 | 0.176 | 2993 | -259.1 | 2.20 | 0.031 | 2423 | 659.1 | 522.0 | - | - | 1399 | - | - | - | - | - | - | - | - | - | - | - |
16403 | 108.1 | 14.3 | 1443 | 16409 | roll | 1.52 | 0.12 | 0.084 | 3039 | 383.3 | 2.05 | 0.045 | 3751 | 647.8 | 522.0 | - | - | 1399 | - | - | - | - | - | - | - | - | - | - | - |
16512 | 92.1 | 12.3 | 1462 | 16527 | done | 1.37 | 0.22 | 0.176 | 2989 | -227.3 | 2.05 | 0.021 | 2328 | -694.1 | 532.5 | 9.55 | 0.654 | 1361 | -4.0 | 0.059 | - | - | - | - | - | - | - | - | - |
16869 | 58.4 | 9.9 | 1524 | 16913 | roll | 1.72 | 0.25 | 0.061 | 3097 | 432.0 | 2.33 | 0.043 | 3760 | 614.6 | 576.4 | 37.47 | 0.670 | 1181 | -4.8 | 0.044 | - | - | - | - | - | - | - | - | - |
16961 | 44.5 | 17.7 | 1539 | 16968 | done | 1.55 | 0.25 | 0.187 | 3043 | -216.0 | 2.17 | 0.021 | 2277 | -683.4 | 576.4 | - | - | 1179 | - | - | - | - | - | - | - | - | - | - | - |
17280 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
17280 | begin surface coast | ||||||||||||||||||||||||||||
17304 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17308 | begin surface | ||||||||||||||||||||||||||||
SM | 2.51 | - | - | - | - | -7.50 | 7.65 | 0.044 | 142 | -379.2 | - | - | 2423 | - | 577.93 | - | - | 1176 | - | - | - | - | - | - | - | - |