• Previous call tries 2 | • 81.35 of 150.00 AH used of 24V (45.77% remains) | |
• Previous NAKs 0, Timeouts 0 | • 49.84 of 100.00 AH used of 10V (50.16% remains) | |
• Surface angle -58.8 deg, depth 1.98 m | • Intended pitch -18.3 deg, speed -10.312 cm/s | |
• VBD pumped to 564.93 (SM_CC=564.9259) | ||
• GPS1 time: 72 s, HDOP was 2.6 m | ||
• GPS2 time: 7 s, HDOP was 2.2 m | • Transponder ping count: 4 | |
• 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 | |||||
23 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
23 | begin dive | ||||||||||||||||||||||||||||
27 | - | - | - | 90 | VBD | -1.05 | - | - | 109 | - | - | - | 2210 | - | -194.6 | -60.38 | - | 2176 | - | - | - | - | - | - | - | - | - | - | - |
95 | 3.2 | -3.2 | 11 | 153 | roll | -1.05 | 10.90 | 0.234 | 2652 | 233.3 | 2.12 | 0.047 | 792 | -668.9 | -194.6 | -38.38 | - | 3766 | -41.4 | - | - | - | - | - | - | - | 24.81 | 25.98 | 26.48 |
235 | 30.4 | -25.4 | 34 | 240 | done | -1.05 | - | - | 2645 | - | 2.12 | 0.033 | 2218 | 672.6 | -194.6 | - | - | 3766 | - | - | - | - | - | - | - | - | - | 26.05 | - |
560 | 102.8 | -19.8 | 54 | 561 | done | -1.05 | - | - | 2644 | - | - | - | 2219 | - | -194.6 | - | - | 3766 | - | - | - | - | - | - | - | - | - | - | - |
864 | 157.0 | -17.6 | 69 | 869 | roll | -1.05 | - | - | 2645 | - | 2.10 | 0.031 | 793 | -679.0 | -194.6 | - | - | 3767 | - | - | - | - | - | - | - | - | - | 26.22 | - |
898 | 162.2 | -18.0 | 70 | 903 | done | -1.05 | - | - | 2635 | - | 2.08 | 0.028 | 2218 | 685.1 | -194.6 | - | - | 3766 | - | - | - | - | - | - | - | - | - | 26.26 | - |
1212 | 217.3 | -16.6 | 86 | 1218 | roll | -1.05 | - | - | 2624 | - | 2.05 | 0.037 | 3605 | 676.6 | -194.6 | - | - | 3767 | - | - | - | - | - | - | - | - | - | 26.20 | - |
1272 | 225.1 | -16.9 | 88 | 1279 | done | -1.05 | 0.12 | 0.183 | 2654 | 250.0 | 2.05 | 0.016 | 2145 | -712.2 | -194.6 | - | - | 3767 | - | - | - | - | - | - | - | - | 25.94 | 26.41 | - |
1577 | 274.9 | -14.4 | 104 | 1582 | roll | -1.05 | - | - | 2654 | - | 1.95 | 0.030 | 793 | -693.3 | -194.6 | - | - | 3766 | - | - | - | - | - | - | - | - | - | 26.25 | - |
1617 | 278.4 | -14.2 | 105 | 1623 | done | -1.05 | - | - | 2647 | - | 2.05 | 0.028 | 2206 | 689.3 | -194.6 | - | - | 3767 | - | - | - | - | - | - | - | - | - | 26.30 | - |
1922 | 325.7 | -15.3 | 121 | 1927 | roll | -1.05 | - | - | 2637 | - | 2.08 | 0.037 | 3605 | 672.6 | -194.6 | - | - | 3766 | - | - | - | - | - | - | - | - | - | 26.20 | - |
1948 | 329.7 | -15.2 | 122 | 1953 | done | -1.05 | - | - | 2637 | - | 2.05 | 0.017 | 2167 | -701.5 | -194.6 | - | - | 3767 | - | - | - | - | - | - | - | - | - | 26.42 | - |
2273 | 380.2 | -15.2 | 138 | 2278 | roll | -1.05 | - | - | 2637 | - | 1.95 | 0.030 | 816 | -692.8 | -194.6 | - | - | 3765 | - | - | - | - | - | - | - | - | - | 26.26 | - |
2322 | 387.1 | -15.4 | 140 | 2328 | done | -1.05 | 0.12 | 0.181 | 2657 | 166.7 | 2.03 | 0.027 | 2211 | 687.2 | -194.6 | - | - | 3765 | - | - | - | - | - | - | - | - | 25.92 | 26.31 | - |
2643 | 435.6 | -14.4 | 156 | 2648 | roll | -1.05 | - | - | 2648 | - | 2.08 | 0.038 | 3604 | 669.7 | -194.6 | - | - | 3764 | - | - | - | - | - | - | - | - | - | 26.20 | - |
2698 | 442.1 | -14.6 | 158 | 2703 | done | -1.05 | - | - | 2648 | - | 1.98 | 0.017 | 2196 | -711.1 | -194.6 | - | - | 3764 | - | - | - | - | - | - | - | - | - | 26.43 | - |
3012 | 486.8 | -12.8 | 174 | 3018 | roll | -1.05 | - | - | 2647 | - | 1.98 | 0.031 | 832 | -688.9 | -194.6 | - | - | 3762 | - | - | - | - | - | - | - | - | - | 26.25 | - |
3092 | 494.8 | -12.5 | 177 | 3099 | done | -1.05 | - | - | 2640 | - | 2.00 | 0.028 | 2201 | 684.5 | -194.6 | - | - | 3761 | - | - | - | - | - | - | - | - | - | 26.29 | - |
3397 | 534.8 | -12.7 | 193 | 3402 | roll | -1.05 | - | - | 2640 | - | 2.10 | 0.039 | 3604 | 668.1 | -194.6 | - | - | 3759 | - | - | - | - | - | - | - | - | - | 26.18 | - |
3452 | 540.9 | -13.3 | 195 | 3457 | done | -1.05 | - | - | 2640 | - | 1.98 | 0.018 | 2200 | -709.1 | -194.6 | - | - | 3759 | - | - | - | - | - | - | - | - | - | 26.42 | - |
3767 | 586.1 | -13.8 | 211 | 3772 | roll | -1.05 | - | - | 2640 | - | 2.00 | 0.031 | 826 | -687.0 | -194.6 | - | - | 3756 | - | - | - | - | - | - | - | - | - | 26.24 | - |
3856 | 597.9 | -14.0 | 215 | 3861 | done | -1.05 | - | - | 2631 | - | 2.03 | 0.028 | 2212 | 682.8 | -194.6 | - | - | 3755 | - | - | - | - | - | - | - | - | - | 26.29 | - |
4179 | 643.8 | -14.2 | 226 | 4180 | done | -1.05 | - | - | 2631 | - | - | - | 2213 | - | -194.6 | - | - | 3753 | - | - | - | - | - | - | - | - | - | - | - |
4477 | 685.8 | -14.0 | 236 | 4479 | done | -1.05 | 0.12 | 0.184 | 2661 | 250.0 | - | - | 2213 | - | -194.6 | - | - | 3750 | - | - | - | - | - | - | - | - | 26.15 | - | - |
4776 | 724.0 | -12.7 | 246 | 4781 | roll | -1.05 | - | - | 2661 | - | 2.05 | 0.031 | 831 | -674.1 | -194.6 | - | - | 3747 | - | - | - | - | - | - | - | - | - | 26.21 | - |
4825 | 728.4 | -12.7 | 247 | 4830 | done | -1.05 | - | - | 2656 | - | 2.03 | 0.029 | 2203 | 675.9 | -194.6 | - | - | 3747 | - | - | - | - | - | - | - | - | - | 26.25 | - |
5148 | 771.1 | -13.0 | 258 | 5154 | roll | -1.05 | - | - | 2656 | - | 2.05 | 0.031 | 823 | -673.2 | -194.6 | - | - | 3744 | - | - | - | - | - | - | - | - | - | 26.20 | - |
5172 | 771.1 | -13.0 | 258 | 5177 | done | -1.05 | - | - | 2656 | - | 2.05 | 0.031 | 2206 | 674.6 | -194.6 | - | - | 3744 | - | - | - | - | - | - | - | - | - | 26.24 | - |
5489 | 814.9 | -12.8 | 269 | 5494 | roll | -1.05 | - | - | 2656 | - | 2.12 | 0.042 | 3603 | 659.0 | -194.6 | - | - | 3741 | - | - | - | - | - | - | - | - | - | 26.10 | - |
5538 | 819.5 | -12.7 | 270 | 5543 | done | -1.05 | - | - | 2656 | - | 2.00 | 0.021 | 2192 | -705.5 | -194.6 | - | - | 3740 | - | - | - | - | - | - | - | - | - | 26.37 | - |
5861 | 861.0 | -12.5 | 281 | 5866 | roll | -1.05 | - | - | 2656 | - | 2.00 | 0.032 | 830 | -681.0 | -194.6 | - | - | 3737 | - | - | - | - | - | - | - | - | - | 26.17 | - |
5880 | 861.0 | -12.5 | 281 | 5885 | done | -1.05 | - | - | 2656 | - | 2.05 | 0.031 | 2207 | 671.7 | -194.6 | - | - | 3737 | - | - | - | - | - | - | - | - | - | 26.21 | - |
6200 | 903.1 | -12.3 | 292 | 6205 | roll | -1.05 | - | - | 2656 | - | 2.12 | 0.043 | 3599 | 656.6 | -194.6 | - | - | 3735 | - | - | - | - | - | - | - | - | - | 26.06 | - |
6316 | 915.1 | -12.5 | 295 | 6321 | done | -1.05 | - | - | 2656 | - | 2.00 | 0.021 | 2198 | -700.5 | -194.6 | - | - | 3733 | - | - | - | - | - | - | - | - | - | 26.34 | - |
6631 | 955.2 | -11.9 | 306 | 6632 | done | -1.05 | - | - | 2656 | - | - | - | 2198 | - | -194.6 | - | - | 3731 | - | - | - | - | - | - | - | - | - | - | - |
6928 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
6928 | begin apogee | ||||||||||||||||||||||||||||
6937 | 992.1 | -12.2 | 316 | 7113 | done | -0.21 | 0.85 | 0.134 | 2922 | 312.9 | - | - | 1945 | - | - | 167.15 | 1.211 | 2959 | -4.6 | 0.397 | - | - | - | - | - | - | 25.34 | - | 23.41 |
7115 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7115 | begin climb | ||||||||||||||||||||||||||||
7120 | 1000.7 | - | 322 | 7304 | roll | 1.05 | 1.17 | 0.070 | 3345 | 361.5 | 2.15 | 0.038 | 597 | -627.0 | 194.6 | 174.10 | 1.170 | 2165 | -4.6 | 0.409 | - | - | - | - | - | - | 25.14 | 24.98 | 23.55 |
7394 | 984.3 | 10.3 | 331 | 7400 | done | 1.05 | - | - | 3345 | - | 2.08 | 0.031 | 1958 | 654.3 | 194.6 | - | - | 2143 | - | - | - | - | - | - | - | - | - | 25.78 | - |
7723 | 949.0 | 10.8 | 342 | 7728 | roll | 1.05 | - | - | 3345 | - | 2.15 | 0.041 | 3359 | 651.6 | 194.6 | - | - | 2139 | - | - | - | - | - | - | - | - | - | 26.03 | - |
7768 | 944.6 | 11.0 | 343 | 7773 | done | 1.05 | - | - | 3354 | - | 2.03 | 0.025 | 1989 | -674.9 | 194.6 | - | - | 2138 | - | - | - | - | - | - | - | - | - | 26.18 | - |
8095 | 907.6 | 11.2 | 354 | 8100 | roll | 1.05 | - | - | 3364 | - | 2.17 | 0.041 | 560 | -658.5 | 194.6 | - | - | 2136 | - | - | - | - | - | - | - | - | - | 26.09 | - |
8211 | 895.8 | 11.8 | 357 | 8216 | done | 1.05 | - | - | 3364 | - | 2.10 | 0.031 | 1961 | 667.1 | 194.6 | - | - | 2136 | - | - | - | - | - | - | - | - | - | 26.20 | - |
8526 | 858.7 | 10.6 | 368 | 8531 | roll | 1.05 | - | - | 3364 | - | 2.12 | 0.042 | 3349 | 654.7 | 194.6 | - | - | 2135 | - | - | - | - | - | - | - | - | - | 26.10 | - |
8570 | 854.8 | 10.7 | 369 | 8576 | done | 1.05 | 0.12 | 0.173 | 3345 | -158.3 | 2.08 | 0.025 | 1947 | -674.0 | 194.6 | - | - | 2134 | - | - | - | - | - | - | - | - | 25.88 | 26.26 | - |
8899 | 822.6 | 9.4 | 380 | 8930 | roll | 1.09 | - | - | 3353 | - | 2.20 | 0.041 | 557 | -631.8 | 221.0 | 22.73 | 1.084 | 2057 | -3.4 | 0.269 | - | - | - | - | - | - | - | 25.82 | 24.08 |
9037 | 809.9 | 10.2 | 384 | 9042 | done | 1.10 | - | - | 3353 | - | 2.12 | 0.031 | 1960 | 661.8 | 225.1 | - | - | 2044 | - | - | - | - | - | - | - | - | - | 25.98 | - |
9360 | 779.8 | 8.8 | 395 | 9416 | roll | 1.16 | - | - | 3353 | - | 2.28 | 0.042 | 3350 | 609.6 | 268.0 | 49.75 | 1.035 | 1866 | -3.6 | 0.283 | - | - | - | - | - | - | - | 25.37 | 23.82 |
9454 | 769.8 | 10.2 | 398 | 9460 | done | 1.17 | - | - | 3363 | - | 2.15 | 0.026 | 1946 | -653.0 | 271.1 | - | - | 1851 | - | - | - | - | - | - | - | - | - | 25.68 | - |
9792 | 733.4 | 11.0 | 409 | 9797 | roll | 1.17 | - | - | 3373 | - | 2.15 | 0.041 | 546 | -651.2 | 271.1 | - | - | 1847 | - | - | - | - | - | - | - | - | - | 25.94 | - |
9902 | 721.5 | 11.9 | 412 | 9907 | done | 1.17 | - | - | 3373 | - | 2.12 | 0.031 | 1958 | 666.0 | 271.1 | - | - | 1845 | - | - | - | - | - | - | - | - | - | 26.08 | - |
10222 | 681.7 | 11.7 | 423 | 10223 | done | 1.17 | - | - | 3373 | - | - | - | 1957 | - | 271.1 | - | - | 1844 | - | - | - | - | - | - | - | - | - | - | - |
10522 | 646.5 | 11.6 | 433 | 10528 | roll | 1.17 | - | - | 3373 | - | 2.15 | 0.044 | 3355 | 650.2 | 271.1 | - | - | 1844 | - | - | - | - | - | - | - | - | - | 26.03 | - |
10566 | 642.2 | 11.7 | 434 | 10571 | done | 1.17 | - | - | 3383 | - | 2.10 | 0.027 | 1942 | -672.9 | 271.1 | - | - | 1843 | - | - | - | - | - | - | - | - | - | 26.21 | - |
10896 | 601.8 | 12.0 | 445 | 10901 | roll | 1.17 | - | - | 3393 | - | 2.12 | 0.042 | 552 | -655.7 | 271.1 | - | - | 1843 | - | - | - | - | - | - | - | - | - | 26.03 | - |
10982 | 590.8 | 12.5 | 449 | 10987 | done | 1.17 | - | - | 3393 | - | 2.12 | 0.031 | 1951 | 659.9 | 271.1 | - | - | 1842 | - | - | - | - | - | - | - | - | - | 26.17 | - |
11307 | 552.1 | 11.3 | 465 | 11313 | roll | 1.17 | - | - | 3393 | - | 2.15 | 0.042 | 3352 | 651.6 | 271.1 | - | - | 1842 | - | - | - | - | - | - | - | - | - | 26.03 | - |
11366 | 546.6 | 11.5 | 467 | 11373 | done | 1.17 | - | - | 3402 | - | 2.10 | 0.027 | 1945 | -670.0 | 271.1 | - | - | 1841 | - | - | - | - | - | - | - | - | - | 26.21 | - |
11673 | 512.2 | 11.0 | 483 | 11678 | roll | 1.17 | - | - | 3413 | - | 2.12 | 0.041 | 552 | -657.1 | 271.1 | - | - | 1840 | - | - | - | - | - | - | - | - | - | 26.01 | - |
11712 | 509.3 | 11.0 | 484 | 11719 | done | 1.17 | 0.15 | 0.161 | 3376 | -246.7 | 2.10 | 0.031 | 1956 | 668.6 | 271.1 | - | - | 1841 | - | - | - | - | - | - | - | - | 25.72 | 26.15 | - |
12019 | 472.9 | 11.7 | 500 | 12024 | roll | 1.17 | - | - | 3376 | - | 2.15 | 0.043 | 3352 | 649.3 | 271.1 | - | - | 1840 | - | - | - | - | - | - | - | - | - | 26.00 | - |
12073 | 467.5 | 11.8 | 502 | 12078 | done | 1.17 | - | - | 3384 | - | 2.10 | 0.027 | 1939 | -672.9 | 271.1 | - | - | 1840 | - | - | - | - | - | - | - | - | - | 26.20 | - |
12389 | 434.6 | 9.6 | 518 | 12416 | roll | 1.20 | - | - | 3393 | - | 2.20 | 0.041 | 549 | -631.8 | 289.6 | 19.23 | 0.866 | 1777 | -3.3 | 0.172 | - | - | - | - | - | - | - | 25.90 | 24.13 |
12460 | 428.4 | 9.8 | 521 | 12479 | done | 1.22 | - | - | 3394 | - | 2.12 | 0.030 | 1957 | 664.2 | 303.8 | 12.32 | 0.860 | 1727 | -4.1 | 0.212 | - | - | - | - | - | - | - | 25.98 | 24.12 |
12793 | 394.3 | 10.3 | 538 | 12799 | roll | 1.22 | - | - | 3394 | - | 2.15 | 0.041 | 3352 | 648.8 | 303.8 | - | - | 1712 | - | - | - | - | - | - | - | - | - | 25.89 | - |
12822 | 391.6 | 10.4 | 539 | 12827 | done | 1.22 | - | - | 3403 | - | 2.10 | 0.026 | 1943 | -671.0 | 303.8 | - | - | 1711 | - | - | - | - | - | - | - | - | - | 26.08 | - |
13142 | 357.9 | 10.1 | 555 | 13147 | roll | 1.23 | - | - | 3403 | - | 2.17 | 0.041 | 3351 | 648.8 | 309.4 | - | - | 1711 | - | - | - | - | - | - | - | - | - | 25.96 | - |
13259 | 346.1 | 11.2 | 560 | 13264 | done | 1.23 | - | - | 3413 | - | 2.08 | 0.026 | 1950 | -673.6 | 309.4 | - | - | 1711 | - | - | - | - | - | - | - | - | - | 26.17 | - |
13574 | 313.8 | 9.8 | 576 | 13601 | roll | 1.25 | - | - | 3423 | - | 2.15 | 0.039 | 548 | -652.1 | 324.9 | 22.33 | 0.779 | 1637 | -3.3 | 0.140 | - | - | - | - | - | - | - | 25.89 | 24.36 |
13640 | 307.0 | 10.7 | 579 | 13645 | done | 1.25 | - | - | 3424 | - | 2.10 | 0.028 | 1951 | 668.1 | 324.9 | - | - | 1621 | - | - | - | - | - | - | - | - | - | 25.96 | - |
13960 | 269.7 | 11.5 | 595 | 13961 | done | 1.25 | - | - | 3424 | - | - | - | 1951 | - | 324.9 | - | - | 1618 | - | - | - | - | - | - | - | - | - | - | - |
14263 | 235.7 | 10.8 | 610 | 14269 | roll | 1.25 | - | - | 3423 | - | 2.15 | 0.041 | 3360 | 655.3 | 324.9 | - | - | 1618 | - | - | - | - | - | - | - | - | - | 25.98 | - |
14317 | 230.3 | 11.0 | 612 | 14323 | done | 1.25 | 0.12 | 0.171 | 3404 | -158.3 | 2.10 | 0.025 | 1944 | -674.3 | 324.9 | - | - | 1617 | - | - | - | - | - | - | - | - | 25.78 | 26.17 | - |
14634 | 200.3 | 9.4 | 628 | 14665 | roll | 1.29 | - | - | 3404 | - | 2.22 | 0.040 | 3344 | 630.6 | 350.7 | 24.20 | 0.694 | 1529 | -3.6 | 0.110 | - | - | - | - | - | - | - | 25.92 | 24.49 |
14738 | 189.9 | 10.2 | 633 | 14743 | done | 1.29 | - | - | 3412 | - | 2.08 | 0.024 | 1940 | -675.0 | 354.1 | - | - | 1515 | - | - | - | - | - | - | - | - | - | 26.03 | - |
15063 | 156.7 | 9.8 | 649 | 15082 | done | 1.32 | - | - | 3412 | - | - | - | 1939 | - | 369.2 | 17.05 | 0.663 | 1464 | -3.0 | 0.074 | - | - | - | - | - | - | - | - | 24.54 |
15384 | 130.3 | 8.1 | 665 | 15446 | roll | 1.41 | 0.12 | 0.078 | 3488 | 633.3 | 2.20 | 0.035 | 3348 | 640.5 | 430.5 | 55.88 | 0.627 | 1203 | -4.7 | 0.102 | - | - | - | - | - | - | 26.31 | 25.58 | 24.37 |
15497 | 118.6 | 11.4 | 670 | 15504 | done | 1.41 | 0.17 | 0.153 | 3453 | -205.9 | 2.10 | 0.024 | 1948 | -666.7 | 430.5 | - | - | 1184 | - | - | - | - | - | - | - | - | 25.39 | 25.79 | - |
15814 | 88.8 | 8.4 | 686 | 15841 | roll | 1.49 | - | - | 3453 | - | 2.17 | 0.036 | 3361 | 651.2 | 483.9 | 22.30 | 0.284 | 1000 | -8.3 | 0.270 | - | - | - | - | - | - | - | 25.91 | 24.89 |
15860 | 84.9 | 9.3 | 688 | 15883 | done | 1.53 | - | - | 3460 | - | 2.08 | 0.022 | 1945 | -680.8 | 513.2 | 15.85 | 0.288 | 882 | -7.4 | 0.230 | - | - | - | - | - | - | - | 26.04 | 24.89 |
16198 | 57.4 | 10.4 | 705 | 16208 | roll | 1.53 | - | - | 3460 | - | 2.22 | 0.037 | 3356 | 635.6 | 513.2 | 1.92 | 0.165 | 879 | -1.6 | 0.057 | - | - | - | - | - | - | - | 25.96 | 25.24 |
16247 | 53.2 | 9.8 | 707 | 16262 | done | 1.55 | - | - | 3469 | - | 2.05 | 0.023 | 1951 | -685.4 | 527.5 | 8.57 | 0.208 | 821 | -6.8 | 0.181 | - | - | - | - | - | - | - | 26.17 | 24.79 |
16566 | 17.6 | 13.6 | 745 | 16574 | roll | 1.55 | - | - | 3469 | - | 2.20 | 0.034 | 3352 | 636.8 | 527.5 | 2.17 | 0.161 | 820 | - | - | - | - | - | - | - | - | - | 26.06 | 25.25 |
16583 | 15.2 | 14.3 | 747 | 16590 | done | 1.55 | - | - | 3479 | - | 2.05 | 0.022 | 1942 | -687.8 | 527.5 | 1.33 | 0.184 | 818 | - | - | - | - | - | - | - | - | - | 26.22 | 25.35 |
16669 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16669 | begin surface coast | ||||||||||||||||||||||||||||
16690 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16690 | begin surface | ||||||||||||||||||||||||||||
SM | 1.92 | - | - | - | - | -8.88 | 8.55 | 0.029 | 142 | 16.6 | 0.38 | 0.037 | 2226 | -18410.5 | 564.93 | 38.15 | 0.249 | 663 | 17.4 | -0.014 | - | - | - | - | 2 | - |