• Previous call tries 2 | • 193.60 of 350.00 AH used of 24V (44.68% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -68.5 deg, depth 0.04 m | • Intended pitch -31.8 deg, speed -15.000 cm/s | |
• VBD pumped to 475.15 (SM_CC=475) | ||
• GPS1 time: 11 s, HDOP was 4.0 m | ||
• GPS2 time: 12 s | • Transponder ping count: 0 | |
• 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 | |||||
19 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
19 | begin dive | ||||||||||||||||||||||||||||
22 | - | - | - | 107 | VBD | -1.99 | - | - | 215 | - | - | - | 2833 | - | -194.6 | -81.80 | - | 3087 | - | - | - | - | - | - | - | - | - | - | - |
112 | 4.1 | -13.9 | 15 | 137 | roll | -1.99 | 8.07 | 0.355 | 2018 | 223.4 | 1.65 | 0.096 | 3789 | 579.4 | -194.6 | -11.77 | - | 3734 | -55.0 | - | - | - | - | - | - | - | 14.02 | 14.57 | 14.88 |
231 | 44.6 | -32.2 | 31 | 238 | done | -1.99 | - | - | 2018 | - | 1.50 | 0.031 | 2817 | -648.0 | -194.6 | - | - | 3735 | - | - | - | - | - | - | - | - | - | 14.64 | - |
418 | 100.5 | -26.3 | 50 | 423 | roll | -1.99 | - | - | 2018 | - | 1.58 | 0.031 | 1773 | -660.8 | -194.6 | - | - | 3735 | - | - | - | - | - | - | - | - | - | 14.69 | - |
442 | 106.9 | -26.7 | 52 | 447 | done | -1.99 | - | - | 2010 | - | 1.73 | 0.056 | 2835 | 613.9 | -194.6 | - | - | 3735 | - | - | - | - | - | - | - | - | - | 14.63 | - |
635 | 155.7 | -24.2 | 71 | 640 | roll | -1.99 | - | - | 2003 | - | 1.55 | 0.064 | 3785 | 612.9 | -194.6 | - | - | 3735 | - | - | - | - | - | - | - | - | - | 14.62 | - |
755 | 183.4 | -24.0 | 82 | 761 | done | -1.99 | - | - | 2003 | - | 1.48 | 0.031 | 2798 | -666.9 | -194.6 | - | - | 3736 | - | - | - | - | - | - | - | - | - | 14.66 | - |
941 | 228.5 | -23.1 | 101 | 946 | roll | -1.99 | - | - | 2003 | - | 1.50 | 0.032 | 1809 | -659.3 | -194.6 | - | - | 3736 | - | - | - | - | - | - | - | - | - | 14.70 | - |
965 | 233.9 | -22.7 | 103 | 971 | done | -1.99 | 0.15 | 0.327 | 2025 | 146.7 | 1.62 | 0.050 | 2830 | 630.2 | -194.6 | - | - | 3736 | - | - | - | - | - | - | - | - | 14.22 | 14.66 | - |
1159 | 274.7 | -19.8 | 122 | 1164 | roll | -1.99 | - | - | 2020 | - | 1.52 | 0.063 | 3783 | 627.0 | -194.6 | - | - | 3737 | - | - | - | - | - | - | - | - | - | 14.65 | - |
1177 | 277.2 | -19.7 | 123 | 1184 | done | -1.99 | - | - | 2020 | - | 1.42 | 0.031 | 2824 | -675.4 | -194.6 | - | - | 3736 | - | - | - | - | - | - | - | - | - | 14.73 | - |
1363 | 316.0 | -21.0 | 142 | 1368 | roll | -1.99 | - | - | 2012 | - | 1.58 | 0.064 | 3785 | 608.2 | -194.6 | - | - | 3736 | - | - | - | - | - | - | - | - | - | 14.66 | - |
1441 | 332.1 | -22.7 | 149 | 1448 | done | -1.99 | - | - | 2012 | - | 1.42 | 0.031 | 2834 | -669.7 | -194.6 | - | - | 3737 | - | - | - | - | - | - | - | - | - | 14.73 | - |
1627 | 374.4 | -22.8 | 168 | 1632 | roll | -1.99 | - | - | 2012 | - | 1.55 | 0.031 | 1784 | -677.4 | -194.6 | - | - | 3737 | - | - | - | - | - | - | - | - | - | 14.77 | - |
1645 | 377.4 | -22.7 | 169 | 1652 | done | -1.99 | - | - | 2005 | - | 1.67 | 0.054 | 2824 | 622.8 | -194.6 | - | - | 3737 | - | - | - | - | - | - | - | - | - | 14.66 | - |
1831 | 420.0 | -22.1 | 188 | 1837 | roll | -1.99 | 0.12 | 0.351 | 2026 | 175.0 | 1.55 | 0.061 | 3781 | 617.4 | -194.6 | - | - | 3737 | - | - | - | - | - | - | - | - | 14.28 | 14.66 | - |
1869 | 427.4 | -21.3 | 191 | 1876 | done | -1.99 | - | - | 2026 | - | 1.45 | 0.033 | 2811 | -669.0 | -194.6 | - | - | 3737 | - | - | - | - | - | - | - | - | - | 14.74 | - |
2055 | 464.9 | -18.8 | 210 | 2060 | roll | -1.99 | - | - | 2019 | - | 1.60 | 0.065 | 3783 | 607.5 | -194.6 | - | - | 3736 | - | - | - | - | - | - | - | - | - | 14.66 | - |
2073 | 467.4 | -18.8 | 211 | 2079 | done | -1.99 | - | - | 2019 | - | 1.42 | 0.032 | 2828 | -672.5 | -194.6 | - | - | 3736 | - | - | - | - | - | - | - | - | - | 14.74 | - |
2259 | 504.7 | -19.7 | 230 | 2264 | roll | -1.99 | - | - | 2012 | - | 1.58 | 0.067 | 3780 | 602.5 | -194.6 | - | - | 3735 | - | - | - | - | - | - | - | - | - | 14.64 | - |
2287 | 509.3 | -19.6 | 232 | 2294 | done | -1.99 | - | - | 2012 | - | 1.42 | 0.034 | 2838 | -663.4 | -194.6 | - | - | 3736 | - | - | - | - | - | - | - | - | - | 14.73 | - |
2474 | 545.6 | -18.9 | 251 | 2480 | done | -1.99 | - | - | 2011 | - | - | - | 2839 | - | -194.6 | - | - | 3735 | - | - | - | - | - | - | - | - | - | - | - |
2663 | 581.2 | -18.6 | 270 | 2668 | roll | -1.99 | - | - | 2011 | - | 1.58 | 0.035 | 1806 | -653.8 | -194.6 | - | - | 3734 | - | - | - | - | - | - | - | - | - | 14.73 | - |
2700 | 587.5 | -18.3 | 273 | 2707 | done | -1.99 | - | - | 2004 | - | 1.65 | 0.057 | 2825 | 617.6 | -194.6 | - | - | 3733 | - | - | - | - | - | - | - | - | - | 14.65 | - |
2891 | 625.3 | -20.2 | 286 | 2896 | roll | -1.99 | - | - | 1997 | - | 1.58 | 0.071 | 3783 | 606.3 | -194.6 | - | - | 3732 | - | - | - | - | - | - | - | - | - | 14.62 | - |
2955 | 640.1 | -21.1 | 289 | 2961 | done | -1.99 | 0.08 | 0.289 | 2026 | 362.5 | 1.48 | 0.034 | 2837 | -639.2 | -194.6 | - | - | 3731 | - | - | - | - | - | - | - | - | 14.18 | 14.71 | - |
3163 | 683.8 | -21.4 | 299 | 3168 | roll | -1.99 | - | - | 2026 | - | 1.65 | 0.035 | 1785 | -637.6 | -194.6 | - | - | 3729 | - | - | - | - | - | - | - | - | - | 14.69 | - |
3182 | 683.8 | -21.4 | 299 | 3189 | done | -1.99 | - | - | 2020 | - | 1.73 | 0.061 | 2829 | 603.5 | -194.6 | - | - | 3729 | - | - | - | - | - | - | - | - | - | 14.63 | - |
3368 | 728.2 | -21.1 | 309 | 3373 | roll | -1.99 | - | - | 2013 | - | 1.58 | 0.074 | 3781 | 602.5 | -194.6 | - | - | 3726 | - | - | - | - | - | - | - | - | - | 14.60 | - |
3447 | 742.7 | -22.6 | 312 | 3454 | done | -1.99 | - | - | 2013 | - | 1.50 | 0.036 | 2789 | -661.3 | -194.6 | - | - | 3725 | - | - | - | - | - | - | - | - | - | 14.72 | - |
3632 | 785.5 | -21.2 | 322 | 3637 | roll | -1.99 | - | - | 2013 | - | 1.52 | 0.037 | 1796 | -653.3 | -194.6 | - | - | 3723 | - | - | - | - | - | - | - | - | - | 14.67 | - |
3651 | 785.5 | -21.2 | 322 | 3658 | done | -1.99 | - | - | 2006 | - | 1.70 | 0.062 | 2825 | 605.3 | -194.6 | - | - | 3723 | - | - | - | - | - | - | - | - | - | 14.62 | - |
3837 | 829.4 | -21.6 | 332 | 3842 | roll | -1.99 | - | - | 1997 | - | 1.60 | 0.077 | 3784 | 599.4 | -194.6 | - | - | 3721 | - | - | - | - | - | - | - | - | - | 14.55 | - |
3895 | 839.7 | -22.3 | 334 | 3903 | done | -1.99 | 0.15 | 0.339 | 2025 | 186.7 | 1.50 | 0.037 | 2805 | -652.7 | -194.6 | - | - | 3722 | - | - | - | - | - | - | - | - | 14.12 | 14.70 | - |
4084 | 882.7 | -21.3 | 344 | 4089 | roll | -1.99 | - | - | 2020 | - | 1.70 | 0.075 | 3777 | 571.8 | -194.6 | - | - | 3720 | - | - | - | - | - | - | - | - | - | 14.45 | - |
4108 | 888.6 | -21.3 | 345 | 4113 | done | -1.99 | - | - | 2026 | - | 1.52 | 0.038 | 2792 | -648.0 | -194.6 | - | - | 3719 | - | - | - | - | - | - | - | - | - | 14.69 | - |
4313 | 931.8 | -20.9 | 355 | 4318 | roll | -1.99 | - | - | 2012 | - | 1.70 | 0.078 | 3785 | 584.1 | -194.6 | - | - | 3716 | - | - | - | - | - | - | - | - | - | 14.53 | - |
4346 | 937.2 | -21.3 | 356 | 4352 | done | -1.99 | - | - | 2008 | - | 1.52 | 0.039 | 2830 | -628.3 | -194.6 | - | - | 3715 | - | - | - | - | - | - | - | - | - | 14.65 | - |
4541 | 982.7 | -22.0 | 366 | 4546 | roll | -1.99 | - | - | 2012 | - | 1.65 | 0.041 | 1783 | -634.5 | -194.6 | - | - | 3712 | - | - | - | - | - | - | - | - | - | 14.65 | - |
4576 | 987.8 | -21.8 | 367 | 4581 | done | -1.99 | - | - | 2005 | - | 1.75 | 0.066 | 2823 | 594.3 | -194.6 | - | - | 3712 | - | - | - | - | - | - | - | - | - | 14.54 | - |
4586 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
4586 | begin apogee | ||||||||||||||||||||||||||||
4594 | 993.1 | -21.5 | 368 | 4782 | done | -0.25 | 2.30 | 0.294 | 2578 | 249.1 | - | - | 2086 | - | - | 178.48 | 1.821 | 2935 | -4.4 | 0.441 | - | - | - | - | - | - | 13.91 | - | 13.25 |
4784 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
4784 | begin climb | ||||||||||||||||||||||||||||
4789 | 1005.7 | - | 377 | 4978 | roll | 1.99 | 2.12 | 0.087 | 3330 | 354.7 | 1.90 | 0.064 | 1018 | -562.1 | 194.6 | 180.88 | 1.794 | 2141 | -4.4 | 0.457 | - | - | - | - | - | - | 14.33 | 14.25 | 13.31 |
5183 | 946.2 | 20.1 | 397 | 5188 | done | 1.99 | - | - | 3330 | - | 1.80 | 0.068 | 2078 | 588.9 | 194.6 | - | - | 2128 | - | - | - | - | - | - | - | - | - | 14.54 | - |
5378 | 904.2 | 20.9 | 407 | 5383 | roll | 1.99 | - | - | 3337 | - | 1.77 | 0.063 | 1009 | -604.0 | 194.6 | - | - | 2126 | - | - | - | - | - | - | - | - | - | 14.64 | - |
5573 | 865.7 | 20.7 | 416 | 5579 | done | 1.99 | - | - | 3337 | - | 1.80 | 0.068 | 2077 | 593.3 | 194.6 | - | - | 2125 | - | - | - | - | - | - | - | - | - | 14.55 | - |
5768 | 823.3 | 20.6 | 426 | 5774 | roll | 1.99 | - | - | 3345 | - | 1.77 | 0.061 | 1011 | -602.3 | 194.6 | - | - | 2123 | - | - | - | - | - | - | - | - | - | 14.66 | - |
5821 | 814.3 | 20.1 | 428 | 5827 | done | 1.99 | 0.17 | 0.363 | 3313 | -188.2 | 1.80 | 0.067 | 2082 | 595.0 | 194.6 | - | - | 2123 | - | - | - | - | - | - | - | - | 14.12 | 14.62 | - |
6020 | 774.6 | 19.4 | 438 | 6025 | roll | 1.99 | - | - | 3318 | - | 1.77 | 0.054 | 998 | -612.4 | 194.6 | - | - | 2122 | - | - | - | - | - | - | - | - | - | 14.69 | - |
6103 | 758.4 | 18.3 | 442 | 6108 | done | 1.99 | - | - | 3318 | - | 1.83 | 0.062 | 2083 | 592.9 | 194.6 | - | - | 2121 | - | - | - | - | - | - | - | - | - | 14.60 | - |
6308 | 720.6 | 18.4 | 452 | 6313 | roll | 1.99 | - | - | 3325 | - | 1.75 | 0.050 | 1007 | -614.9 | 194.6 | - | - | 2120 | - | - | - | - | - | - | - | - | - | 14.69 | - |
6453 | 693.3 | 18.5 | 459 | 6459 | done | 1.99 | - | - | 3325 | - | 1.80 | 0.059 | 2085 | 598.9 | 194.6 | - | - | 2118 | - | - | - | - | - | - | - | - | - | 14.60 | - |
6659 | 655.9 | 18.4 | 469 | 6664 | roll | 1.99 | - | - | 3325 | - | 1.77 | 0.074 | 3139 | 595.5 | 194.6 | - | - | 2117 | - | - | - | - | - | - | - | - | - | 14.59 | - |
6682 | 651.2 | 18.6 | 470 | 6688 | done | 1.99 | - | - | 3333 | - | 1.77 | 0.037 | 2052 | -614.1 | 194.6 | - | - | 2117 | - | - | - | - | - | - | - | - | - | 14.66 | - |
6889 | 614.2 | 18.6 | 480 | 6894 | roll | 1.99 | - | - | 3339 | - | 1.65 | 0.050 | 1017 | -627.3 | 194.6 | - | - | 2116 | - | - | - | - | - | - | - | - | - | 14.66 | - |
7005 | 593.5 | 17.8 | 487 | 7011 | done | 1.99 | 0.15 | 0.352 | 3314 | -166.7 | 1.77 | 0.055 | 2082 | 601.7 | 194.6 | - | - | 2115 | - | - | - | - | - | - | - | - | 14.06 | 14.57 | - |
7199 | 559.3 | 17.4 | 506 | 7205 | roll | 1.99 | - | - | 3319 | - | 1.77 | 0.048 | 1018 | -601.1 | 194.6 | - | - | 2114 | - | - | - | - | - | - | - | - | - | 14.58 | - |
7253 | 550.1 | 16.8 | 511 | 7259 | done | 1.99 | - | - | 3319 | - | 1.80 | 0.056 | 2072 | 585.6 | 194.6 | - | - | 2114 | - | - | - | - | - | - | - | - | - | 14.51 | - |
7447 | 517.1 | 16.9 | 530 | 7452 | roll | 1.99 | - | - | 3326 | - | 1.73 | 0.047 | 1010 | -613.9 | 194.6 | - | - | 2115 | - | - | - | - | - | - | - | - | - | 14.62 | - |
7501 | 508.2 | 16.4 | 535 | 7506 | done | 1.99 | - | - | 3326 | - | 1.77 | 0.054 | 2075 | 601.7 | 194.6 | - | - | 2114 | - | - | - | - | - | - | - | - | - | 14.54 | - |
7695 | 478.9 | 15.1 | 554 | 7700 | roll | 1.99 | - | - | 3326 | - | 1.77 | 0.072 | 3137 | 600.0 | 194.6 | - | - | 2114 | - | - | - | - | - | - | - | - | - | 14.56 | - |
7719 | 475.4 | 14.9 | 556 | 7724 | done | 1.99 | - | - | 3333 | - | 1.73 | 0.035 | 2058 | -623.7 | 197.1 | - | - | 2114 | - | - | - | - | - | - | - | - | - | 14.67 | - |
7913 | 447.8 | 13.7 | 575 | 7943 | roll | 2.05 | - | - | 3334 | - | 1.83 | 0.075 | 3131 | 586.3 | 222.7 | 22.23 | 1.271 | 2026 | -4.0 | 0.259 | - | - | - | - | - | - | - | 14.66 | 13.77 |
8038 | 428.5 | 16.2 | 587 | 8043 | done | 2.05 | - | - | 3341 | - | 1.67 | 0.034 | 2074 | -632.9 | 222.7 | - | - | 2023 | - | - | - | - | - | - | - | - | - | 14.66 | - |
8232 | 400.7 | 14.4 | 606 | 8253 | roll | 2.07 | - | - | 3349 | - | 1.73 | 0.052 | 1026 | -605.8 | 234.9 | 12.73 | 1.260 | 1974 | -3.8 | 0.227 | - | - | - | - | - | - | - | 14.66 | 13.82 |
8373 | 380.7 | 14.3 | 619 | 8394 | done | 2.10 | - | - | 3349 | - | 1.75 | 0.055 | 2085 | 605.1 | 249.1 | 14.23 | 1.222 | 1918 | -3.9 | 0.228 | - | - | - | - | - | - | - | 14.50 | 13.81 |
8582 | 348.4 | 15.6 | 640 | 8588 | roll | 2.10 | - | - | 3348 | - | 1.80 | 0.073 | 3125 | 577.8 | 249.1 | - | - | 1911 | - | - | - | - | - | - | - | - | - | 14.50 | - |
8637 | 339.6 | 16.6 | 645 | 8642 | done | 2.10 | - | - | 3356 | - | 1.70 | 0.034 | 2078 | -615.9 | 249.1 | - | - | 1911 | - | - | - | - | - | - | - | - | - | 14.60 | - |
8832 | 309.3 | 16.0 | 664 | 8837 | roll | 2.10 | - | - | 3364 | - | 1.67 | 0.046 | 1027 | -629.3 | 249.1 | - | - | 1910 | - | - | - | - | - | - | - | - | - | 14.62 | - |
8845 | 306.9 | 16.0 | 665 | 8850 | done | 2.10 | - | - | 3364 | - | 1.75 | 0.051 | 2091 | 608.0 | 249.1 | - | - | 1910 | - | - | - | - | - | - | - | - | - | 14.57 | - |
9039 | 277.4 | 13.9 | 684 | 9064 | roll | 2.14 | - | - | 3364 | - | 1.77 | 0.074 | 3122 | 582.5 | 269.2 | 18.15 | 1.084 | 1835 | -4.1 | 0.197 | - | - | - | - | - | - | - | 14.64 | 13.93 |
9209 | 251.1 | 17.1 | 700 | 9215 | done | 2.14 | - | - | 3371 | - | 1.65 | 0.034 | 2065 | -640.6 | 269.2 | - | - | 1832 | - | - | - | - | - | - | - | - | - | 14.66 | - |
9396 | 221.6 | 15.0 | 719 | 9401 | roll | 2.14 | - | - | 3371 | - | 1.77 | 0.068 | 3125 | 598.9 | 269.6 | - | - | 1829 | - | - | - | - | - | - | - | - | - | 14.58 | - |
9415 | 219.4 | 14.8 | 720 | 9422 | done | 2.15 | - | - | 3379 | - | 1.65 | 0.034 | 2074 | -637.0 | 273.3 | - | - | 1831 | - | - | - | - | - | - | - | - | - | 14.68 | - |
9602 | 190.5 | 14.3 | 739 | 9623 | roll | 2.17 | - | - | 3387 | - | 1.73 | 0.048 | 1027 | -605.2 | 287.4 | 16.50 | 0.983 | 1761 | -4.2 | 0.153 | - | - | - | - | - | - | - | 14.73 | 13.97 |
9698 | 175.5 | 15.2 | 748 | 9703 | done | 2.17 | - | - | 3387 | - | 1.70 | 0.052 | 2071 | 614.1 | 287.4 | - | - | 1757 | - | - | - | - | - | - | - | - | - | 14.60 | - |
9892 | 146.3 | 14.7 | 767 | 9898 | roll | 2.19 | - | - | 3394 | - | 1.75 | 0.043 | 1020 | -600.6 | 293.2 | 1.65 | 0.202 | 1744 | -7.9 | 1.060 | - | - | - | - | - | - | - | 14.62 | 14.13 |
9983 | 135.1 | 12.8 | 775 | 10019 | done | 2.27 | - | - | 3394 | - | 1.73 | 0.049 | 2078 | 611.6 | 335.6 | 27.38 | 0.546 | 1573 | -6.2 | 0.287 | - | - | - | - | - | - | - | 14.52 | 14.07 |
10198 | 101.0 | 14.4 | 797 | 10211 | roll | 2.29 | - | - | 3401 | - | 1.67 | 0.041 | 1025 | -630.5 | 346.2 | 7.40 | 0.396 | 1526 | -6.4 | 0.301 | - | - | - | - | - | - | - | 14.65 | 13.97 |
10225 | 97.8 | 14.9 | 799 | 10232 | done | 2.30 | - | - | 3401 | - | 1.73 | 0.051 | 2083 | 611.6 | 349.0 | 2.12 | 0.356 | 1517 | -4.2 | 0.217 | - | - | - | - | - | - | - | 14.58 | 13.95 |
10411 | 68.5 | 14.6 | 818 | 10420 | done | 2.31 | - | - | 3400 | - | - | - | 2083 | - | 356.1 | 5.57 | 0.300 | 1486 | -5.6 | 0.236 | - | - | - | - | - | - | - | - | 14.00 |
10601 | 44.0 | 13.7 | 837 | 10622 | roll | 2.36 | - | - | 3398 | - | 1.73 | 0.063 | 3129 | 604.6 | 380.8 | 14.48 | 0.254 | 1384 | -7.0 | 0.227 | - | - | - | - | - | - | - | 14.59 | 14.13 |
10668 | 35.2 | 13.9 | 843 | 10683 | done | 2.40 | - | - | 3408 | - | 1.65 | 0.031 | 2058 | -649.1 | 401.1 | 11.20 | 0.233 | 1301 | -7.4 | 0.208 | - | - | - | - | - | - | - | 14.68 | 14.23 |
10872 | 4.1 | 16.8 | 875 | 10879 | roll | 2.40 | - | - | 3416 | - | 1.65 | 0.047 | 1036 | -619.4 | 401.1 | - | - | 1310 | - | - | - | - | - | - | - | - | - | 14.58 | - |
10884 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
10884 | begin surface coast | ||||||||||||||||||||||||||||
10900 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
10901 | begin surface | ||||||||||||||||||||||||||||
SM | -0.31 | - | - | - | - | -7.54 | 8.98 | 0.065 | 232 | 25.8 | 3.05 | 0.060 | 2814 | 753.4 | 475.15 | 36.12 | 0.138 | 1000 | 27.7 | 0.006 | - | - | - | - | - | - |