• Previous call tries 1 | • 101.12 of 150.00 AH used of 24V (32.59% remains) | |
• Previous NAKs 0, Timeouts 0 | • 74.31 of 100.00 AH used of 10V (25.69% remains) | |
• Surface angle -65.8 deg, depth 0.27 m | • Intended pitch -5.1 deg, speed -9.706 cm/s | |
• VBD pumped to 592.89 (SM_CC=592.89008) | ||
• GPS1 time: 38 s | ||
• GPS2 time: 15 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 | |||||
22 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
22 | begin dive | ||||||||||||||||||||||||||||
27 | - | - | - | 122 | VBD | -0.71 | - | - | 122 | - | - | - | 2575 | - | -194.6 | -93.20 | - | 2838 | - | - | - | - | - | - | - | - | - | - | - |
134 | 3.8 | -10.1 | 12 | 160 | roll | -0.71 | 8.68 | 0.229 | 2117 | 229.8 | 2.20 | 0.058 | 3848 | 578.6 | -194.6 | -11.80 | - | 3649 | -68.7 | - | - | - | - | - | - | - | 24.62 | 25.83 | 26.56 |
297 | 64.4 | -32.8 | 24 | 305 | done | -0.71 | - | - | 2117 | - | 2.10 | 0.027 | 2517 | -633.8 | -194.6 | - | - | 3649 | - | - | - | - | - | - | - | - | - | 26.19 | - |
602 | 152.2 | -23.4 | 40 | 608 | roll | -0.71 | - | - | 2107 | - | 2.25 | 0.046 | 3846 | 590.7 | -194.6 | - | - | 3646 | - | - | - | - | - | - | - | - | - | 25.91 | - |
655 | 162.8 | -22.2 | 42 | 661 | done | -0.71 | - | - | 2107 | - | 2.08 | 0.025 | 2512 | -641.3 | -194.6 | - | - | 3649 | - | - | - | - | - | - | - | - | - | 26.29 | - |
985 | 233.2 | -20.9 | 58 | 992 | roll | -0.71 | - | - | 2102 | - | 2.28 | 0.049 | 3822 | 574.6 | -194.6 | - | - | 3649 | - | - | - | - | - | - | - | - | - | 25.90 | - |
1042 | 243.3 | -19.9 | 60 | 1048 | done | -0.71 | 0.12 | 0.151 | 2139 | 308.3 | 2.05 | 0.024 | 2502 | -643.9 | -194.6 | - | - | 3649 | - | - | - | - | - | - | - | - | 25.96 | 26.34 | - |
1367 | 292.2 | -13.8 | 76 | 1373 | roll | -0.71 | - | - | 2128 | - | 2.25 | 0.044 | 3827 | 588.9 | -194.6 | - | - | 3649 | - | - | - | - | - | - | - | - | - | 25.96 | - |
1460 | 305.5 | -14.0 | 80 | 1466 | done | -0.71 | - | - | 2129 | - | 2.05 | 0.022 | 2498 | -648.3 | -194.6 | - | - | 3649 | - | - | - | - | - | - | - | - | - | 26.36 | - |
1793 | 350.0 | -13.5 | 96 | 1799 | roll | -0.71 | - | - | 2125 | - | 2.25 | 0.044 | 3839 | 596.0 | -194.6 | - | - | 3648 | - | - | - | - | - | - | - | - | - | 25.95 | - |
1897 | 363.7 | -14.0 | 100 | 1904 | done | -0.71 | - | - | 2125 | - | 2.05 | 0.023 | 2506 | -650.2 | -194.6 | - | - | 3647 | - | - | - | - | - | - | - | - | - | 26.34 | - |
2217 | 407.4 | -13.3 | 116 | 2223 | roll | -0.71 | - | - | 2125 | - | 2.25 | 0.047 | 3833 | 589.8 | -194.6 | - | - | 3645 | - | - | - | - | - | - | - | - | - | 25.93 | - |
2271 | 414.1 | -13.5 | 118 | 2277 | done | -0.71 | - | - | 2125 | - | 2.08 | 0.023 | 2499 | -641.3 | -194.6 | - | - | 3645 | - | - | - | - | - | - | - | - | - | 26.34 | - |
2599 | 458.5 | -13.2 | 134 | 2606 | roll | -0.71 | - | - | 2125 | - | 2.25 | 0.046 | 3829 | 591.1 | -194.6 | - | - | 3642 | - | - | - | - | - | - | - | - | - | 25.93 | - |
2734 | 476.3 | -12.2 | 140 | 2741 | done | -0.71 | - | - | 2127 | - | 2.05 | 0.023 | 2500 | -648.3 | -194.6 | - | - | 3641 | - | - | - | - | - | - | - | - | - | 26.34 | - |
3067 | 514.5 | -11.7 | 156 | 3073 | roll | -0.71 | - | - | 2125 | - | 2.28 | 0.046 | 3831 | 583.8 | -194.6 | - | - | 3638 | - | - | - | - | - | - | - | - | - | 25.91 | - |
3176 | 526.3 | -12.4 | 160 | 3184 | done | -0.71 | - | - | 2125 | - | 2.05 | 0.023 | 2500 | -649.3 | -194.6 | - | - | 3636 | - | - | - | - | - | - | - | - | - | 26.32 | - |
3477 | 566.7 | -13.2 | 176 | 3483 | roll | -0.71 | - | - | 2124 | - | 2.28 | 0.047 | 3836 | 586.0 | -194.6 | - | - | 3634 | - | - | - | - | - | - | - | - | - | 25.89 | - |
3588 | 579.0 | -13.6 | 180 | 3596 | done | -0.71 | - | - | 2124 | - | 2.08 | 0.024 | 2500 | -642.3 | -194.6 | - | - | 3632 | - | - | - | - | - | - | - | - | - | 26.30 | - |
3911 | 624.7 | -13.1 | 194 | 3917 | roll | -0.71 | - | - | 2115 | - | 2.28 | 0.045 | 3829 | 582.9 | -194.6 | - | - | 3629 | - | - | - | - | - | - | - | - | - | 25.88 | - |
3996 | 634.6 | -13.3 | 196 | 4002 | done | -0.71 | - | - | 2115 | - | 2.05 | 0.024 | 2507 | -644.9 | -194.6 | - | - | 3627 | - | - | - | - | - | - | - | - | - | 26.29 | - |
4323 | 677.4 | -12.0 | 207 | 4324 | done | -0.71 | - | - | 2115 | - | - | - | 2508 | - | -194.6 | - | - | 3625 | - | - | - | - | - | - | - | - | - | - | - |
4620 | 712.5 | -11.6 | 217 | 4626 | roll | -0.71 | - | - | 2112 | - | 2.28 | 0.050 | 3827 | 578.5 | -194.6 | - | - | 3621 | - | - | - | - | - | - | - | - | - | 25.79 | - |
4669 | 717.3 | -11.8 | 218 | 4675 | done | -0.71 | - | - | 2112 | - | 2.08 | 0.024 | 2502 | -637.0 | -194.6 | - | - | 3621 | - | - | - | - | - | - | - | - | - | 26.26 | - |
4996 | 760.7 | -13.4 | 229 | 5002 | roll | -0.71 | - | - | 2111 | - | 2.53 | 0.031 | 1072 | -565.2 | -194.6 | - | - | 3619 | - | - | - | - | - | - | - | - | - | 25.97 | - |
5041 | 765.6 | -13.3 | 230 | 5048 | done | -0.71 | 0.12 | 0.130 | 2140 | 241.7 | 2.65 | 0.033 | 2564 | 563.0 | -194.6 | - | - | 3618 | - | - | - | - | - | - | - | - | 25.78 | 25.95 | - |
5374 | 802.7 | -10.6 | 241 | 5380 | roll | -0.71 | - | - | 2138 | - | 2.15 | 0.052 | 3828 | 587.9 | -194.6 | - | - | 3614 | - | - | - | - | - | - | - | - | - | 25.73 | - |
5446 | 809.9 | -10.3 | 243 | 5452 | done | -0.71 | - | - | 2138 | - | 2.12 | 0.025 | 2507 | -623.1 | -194.6 | - | - | 3614 | - | - | - | - | - | - | - | - | - | 26.22 | - |
5789 | 842.9 | -9.4 | 254 | 5794 | roll | -0.71 | - | - | 2138 | - | 2.35 | 0.050 | 3838 | 566.4 | -194.6 | - | - | 3611 | - | - | - | - | - | - | - | - | - | 25.70 | - |
5854 | 846.9 | -9.6 | 255 | 5863 | done | -0.71 | - | - | 2138 | - | 2.15 | 0.024 | 2499 | -622.8 | -194.6 | - | - | 3610 | - | - | - | - | - | - | - | - | - | 26.23 | - |
6167 | 882.3 | -10.8 | 266 | 6172 | roll | -0.71 | - | - | 2137 | - | 2.33 | 0.047 | 3844 | 577.3 | -194.6 | - | - | 3608 | - | - | - | - | - | - | - | - | - | 25.72 | - |
6192 | 882.3 | -10.8 | 266 | 6198 | done | -0.71 | - | - | 2137 | - | 2.15 | 0.025 | 2499 | -625.6 | -194.6 | - | - | 3608 | - | - | - | - | - | - | - | - | - | 26.20 | - |
6512 | 919.0 | -10.4 | 277 | 6518 | roll | -0.71 | - | - | 2126 | - | 2.30 | 0.047 | 3826 | 577.0 | -194.6 | - | - | 3605 | - | - | - | - | - | - | - | - | - | 25.73 | - |
6563 | 923.3 | -10.4 | 278 | 6569 | done | -0.71 | - | - | 2126 | - | 2.10 | 0.025 | 2510 | -626.7 | -194.6 | - | - | 3604 | - | - | - | - | - | - | - | - | - | 26.19 | - |
6891 | 960.6 | -11.0 | 289 | 6892 | done | -0.71 | - | - | 2126 | - | - | - | 2510 | - | -194.6 | - | - | 3603 | - | - | - | - | - | - | - | - | - | - | - |
7156 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7156 | begin apogee | ||||||||||||||||||||||||||||
7165 | 990.3 | -10.9 | 298 | 7351 | done | -0.12 | 0.55 | 0.093 | 2318 | 349.1 | 0.10 | 0.070 | 2526 | 160.0 | - | 174.27 | 0.946 | 2850 | -4.3 | 0.472 | - | - | - | - | - | - | 25.53 | 24.89 | 23.45 |
7353 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7353 | begin climb | ||||||||||||||||||||||||||||
7357 | 1001.0 | - | 303 | 7558 | roll | 0.71 | 0.70 | 0.027 | 2646 | 468.6 | 2.67 | 0.024 | 1091 | -537.5 | 194.6 | 190.38 | 0.958 | 2044 | -4.2 | 0.462 | - | - | - | - | - | - | 25.48 | 25.20 | 23.56 |
7638 | 981.8 | 13.3 | 311 | 7644 | done | 0.71 | 0.15 | 0.164 | 2596 | -333.3 | 2.70 | 0.024 | 2604 | 560.4 | 194.6 | - | - | 2026 | - | - | - | - | - | - | - | - | 25.35 | 25.72 | - |
7967 | 942.1 | 11.6 | 322 | 7973 | roll | 0.71 | - | - | 2587 | - | 2.05 | 0.039 | 3854 | 609.8 | 194.6 | - | - | 2022 | - | - | - | - | - | - | - | - | - | 25.89 | - |
8037 | 932.7 | 12.6 | 324 | 8043 | done | 0.71 | - | - | 2597 | - | 2.08 | 0.015 | 2518 | -642.3 | 194.6 | - | - | 2020 | - | - | - | - | - | - | - | - | - | 26.25 | - |
8376 | 893.1 | 11.5 | 335 | 8382 | roll | 0.71 | - | - | 2587 | - | 2.28 | 0.038 | 3854 | 586.0 | 194.6 | - | - | 2019 | - | - | - | - | - | - | - | - | - | 25.91 | - |
8426 | 888.8 | 11.2 | 336 | 8432 | done | 0.71 | - | - | 2597 | - | 2.05 | 0.015 | 2523 | -649.3 | 194.6 | - | - | 2017 | - | - | - | - | - | - | - | - | - | 26.32 | - |
8753 | 851.7 | 10.6 | 347 | 8759 | roll | 0.71 | - | - | 2610 | - | 2.47 | 0.025 | 1105 | -574.1 | 194.6 | - | - | 2017 | - | - | - | - | - | - | - | - | - | 26.01 | - |
8798 | 847.3 | 11.0 | 348 | 8804 | done | 0.71 | - | - | 2598 | - | 2.65 | 0.026 | 2603 | 565.3 | 194.6 | - | - | 2015 | - | - | - | - | - | - | - | - | - | 26.01 | - |
9130 | 812.0 | 10.3 | 359 | 9136 | roll | 0.71 | - | - | 2588 | - | 2.05 | 0.040 | 3846 | 606.3 | 194.6 | - | - | 2015 | - | - | - | - | - | - | - | - | - | 25.87 | - |
9211 | 804.0 | 10.7 | 361 | 9217 | done | 0.71 | - | - | 2598 | - | 2.05 | 0.015 | 2516 | -648.8 | 194.6 | - | - | 2017 | - | - | - | - | - | - | - | - | - | 26.34 | - |
9538 | 770.3 | 10.1 | 372 | 9544 | roll | 0.71 | - | - | 2588 | - | 2.25 | 0.039 | 3830 | 584.0 | 194.6 | - | - | 2014 | - | - | - | - | - | - | - | - | - | 25.84 | - |
9598 | 766.2 | 10.4 | 373 | 9604 | done | 0.71 | - | - | 2598 | - | 2.03 | 0.015 | 2520 | -645.3 | 194.6 | - | - | 2014 | - | - | - | - | - | - | - | - | - | 26.34 | - |
9921 | 731.1 | 10.2 | 384 | 9927 | roll | 0.71 | - | - | 2589 | - | 2.25 | 0.040 | 3837 | 585.3 | 194.6 | - | - | 2014 | - | - | - | - | - | - | - | - | - | 25.81 | - |
9971 | 726.4 | 10.3 | 385 | 9977 | done | 0.71 | - | - | 2599 | - | 2.03 | 0.015 | 2522 | -647.8 | 194.6 | - | - | 2014 | - | - | - | - | - | - | - | - | - | 26.34 | - |
10300 | 690.9 | 10.3 | 396 | 10306 | roll | 0.71 | - | - | 2613 | - | 2.47 | 0.024 | 1089 | -580.2 | 194.6 | - | - | 2014 | - | - | - | - | - | - | - | - | - | 25.96 | - |
10325 | 690.9 | 10.3 | 396 | 10332 | done | 0.71 | - | - | 2604 | - | 2.65 | 0.024 | 2596 | 568.7 | 194.6 | - | - | 2013 | - | - | - | - | - | - | - | - | - | 25.96 | - |
10646 | 655.5 | 10.3 | 407 | 10652 | roll | 0.71 | - | - | 2594 | - | 2.05 | 0.039 | 3837 | 605.4 | 194.6 | - | - | 2013 | - | - | - | - | - | - | - | - | - | 25.78 | - |
10687 | 650.6 | 10.6 | 408 | 10693 | done | 0.71 | - | - | 2605 | - | 2.05 | 0.015 | 2514 | -645.4 | 194.6 | - | - | 2013 | - | - | - | - | - | - | - | - | - | 26.33 | - |
11023 | 615.2 | 10.8 | 419 | 11029 | roll | 0.71 | - | - | 2594 | - | 2.28 | 0.039 | 3853 | 587.3 | 194.6 | - | - | 2013 | - | - | - | - | - | - | - | - | - | 25.75 | - |
11087 | 611.0 | 11.0 | 420 | 11099 | done | 0.71 | - | - | 2605 | - | 2.08 | 0.015 | 2512 | -644.7 | 194.6 | - | - | 2013 | - | - | - | - | - | - | - | - | - | 26.30 | - |
11403 | 577.9 | 8.9 | 435 | 11436 | roll | 0.79 | - | - | 2595 | - | 2.35 | 0.039 | 3838 | 564.3 | 219.9 | 27.95 | 0.682 | 1949 | -2.3 | 0.203 | - | - | - | - | - | - | - | 25.72 | 24.13 |
11459 | 573.9 | 9.0 | 437 | 11499 | done | 0.85 | 0.10 | 0.091 | 2671 | 760.0 | 2.05 | 0.015 | 2520 | -642.9 | 240.6 | 28.48 | 0.636 | 1867 | -2.9 | 0.271 | - | - | - | - | - | - | 25.93 | 26.08 | 24.07 |
11791 | 533.2 | 11.7 | 454 | 11798 | roll | 0.85 | 0.12 | 0.166 | 2622 | -408.3 | 2.28 | 0.036 | 3853 | 584.6 | 240.6 | - | - | 1850 | - | - | - | - | - | - | - | - | 25.81 | 25.70 | - |
11824 | 529.9 | 11.7 | 455 | 11830 | done | 0.85 | - | - | 2632 | - | 2.08 | 0.016 | 2513 | -644.2 | 240.6 | - | - | 1850 | - | - | - | - | - | - | - | - | - | 26.13 | - |
12151 | 495.9 | 10.4 | 471 | 12158 | roll | 0.85 | - | - | 2622 | - | 2.28 | 0.037 | 3852 | 587.3 | 240.6 | - | - | 1848 | - | - | - | - | - | - | - | - | - | 25.74 | - |
12202 | 490.1 | 10.6 | 473 | 12209 | done | 0.85 | - | - | 2633 | - | 2.08 | 0.015 | 2503 | -648.6 | 240.6 | - | - | 1848 | - | - | - | - | - | - | - | - | - | 26.22 | - |
12536 | 459.0 | 9.6 | 489 | 12542 | roll | 0.86 | - | - | 2623 | - | 2.30 | 0.039 | 3848 | 584.8 | 243.6 | - | - | 1847 | - | - | - | - | - | - | - | - | - | 25.73 | - |
12589 | 453.0 | 10.7 | 491 | 12596 | done | 0.86 | - | - | 2633 | - | 2.05 | 0.016 | 2500 | -657.6 | 243.6 | - | - | 1848 | - | - | - | - | - | - | - | - | - | 26.23 | - |
12917 | 419.1 | 10.6 | 507 | 12923 | roll | 0.86 | - | - | 2645 | - | 2.45 | 0.024 | 1100 | -571.4 | 243.6 | - | - | 1847 | - | - | - | - | - | - | - | - | - | 25.91 | - |
12953 | 415.8 | 10.5 | 508 | 12960 | done | 0.86 | - | - | 2634 | - | 2.65 | 0.024 | 2600 | 566.0 | 243.6 | - | - | 1846 | - | - | - | - | - | - | - | - | - | 25.92 | - |
13273 | 386.0 | 8.6 | 524 | 13326 | roll | 0.96 | 0.12 | 0.076 | 2709 | 625.0 | 2.15 | 0.037 | 3854 | 583.3 | 277.4 | 39.65 | 0.630 | 1708 | -3.5 | 0.223 | - | - | - | - | - | - | 26.41 | 25.67 | 24.15 |
13377 | 372.8 | 12.9 | 528 | 13384 | done | 0.96 | 0.17 | 0.171 | 2672 | -217.6 | 2.10 | 0.015 | 2516 | -637.1 | 277.4 | - | - | 1695 | - | - | - | - | - | - | - | - | 25.33 | 25.97 | - |
13711 | 338.7 | 10.0 | 544 | 13718 | roll | 0.96 | - | - | 2685 | - | 2.47 | 0.024 | 1094 | -575.7 | 277.4 | - | - | 1691 | - | - | - | - | - | - | - | - | - | 25.86 | - |
13749 | 335.3 | 9.9 | 545 | 13755 | done | 0.96 | - | - | 2672 | - | 2.65 | 0.023 | 2597 | 567.2 | 277.4 | - | - | 1691 | - | - | - | - | - | - | - | - | - | 25.89 | - |
14068 | 300.3 | 11.4 | 561 | 14074 | roll | 0.96 | - | - | 2662 | - | 2.05 | 0.037 | 3832 | 602.4 | 277.4 | - | - | 1691 | - | - | - | - | - | - | - | - | - | 25.79 | - |
14098 | 296.7 | 11.8 | 562 | 14104 | done | 0.96 | - | - | 2672 | - | 2.03 | 0.015 | 2501 | -655.7 | 277.4 | - | - | 1691 | - | - | - | - | - | - | - | - | - | 26.24 | - |
14425 | 259.3 | 11.3 | 578 | 14431 | roll | 0.96 | - | - | 2685 | - | 2.45 | 0.025 | 1105 | -569.8 | 277.4 | - | - | 1691 | - | - | - | - | - | - | - | - | - | 25.93 | - |
14474 | 253.6 | 11.0 | 580 | 14481 | done | 0.96 | - | - | 2677 | - | 2.67 | 0.023 | 2599 | 559.6 | 277.4 | - | - | 1689 | - | - | - | - | - | - | - | - | - | 25.94 | - |
14808 | 222.1 | 8.9 | 596 | 14836 | roll | 1.03 | - | - | 2666 | - | 2.05 | 0.036 | 3842 | 606.3 | 301.1 | 22.33 | 0.523 | 1614 | -3.4 | 0.149 | - | - | - | - | - | - | - | 25.88 | 24.38 |
14875 | 217.1 | 8.7 | 598 | 14916 | done | 1.12 | 0.15 | 0.065 | 2765 | 660.0 | 2.05 | 0.015 | 2513 | -648.3 | 331.3 | 28.62 | 0.522 | 1489 | -4.4 | 0.190 | - | - | - | - | - | - | 26.06 | 26.20 | 24.32 |
15239 | 165.9 | 14.5 | 616 | 15246 | roll | 1.12 | 0.12 | 0.172 | 2739 | -216.7 | 2.47 | 0.022 | 1105 | -570.0 | 331.3 | - | - | 1472 | - | - | - | - | - | - | - | - | 25.86 | 25.89 | - |
15320 | 157.5 | 11.9 | 619 | 15326 | done | 1.12 | - | - | 2727 | - | 2.65 | 0.023 | 2599 | 563.8 | 331.3 | - | - | 1470 | - | - | - | - | - | - | - | - | - | 25.93 | - |
15637 | 127.1 | 9.7 | 635 | 15643 | roll | 1.12 | - | - | 2739 | - | 2.67 | 0.023 | 1089 | -565.5 | 332.0 | - | - | 1469 | - | - | - | - | - | - | - | - | - | 25.96 | - |
15665 | 124.3 | 9.9 | 636 | 15671 | done | 1.12 | - | - | 2737 | - | 2.65 | 0.021 | 2603 | 571.3 | 332.0 | - | - | 1470 | - | - | - | - | - | - | - | - | - | 26.01 | - |
15999 | 96.6 | 7.3 | 652 | 16115 | roll | 1.34 | 0.12 | 0.076 | 2834 | 808.3 | 2.80 | 0.023 | 1099 | -537.1 | 404.9 | 100.75 | 0.298 | 1213 | -2.6 | 0.086 | - | - | - | - | - | - | 26.44 | 25.76 | 24.68 |
16226 | 70.9 | 12.6 | 661 | 16235 | done | 1.34 | - | - | 2823 | - | 2.67 | 0.021 | 2607 | 564.8 | 404.9 | 3.15 | 0.144 | 1201 | -3.8 | 0.196 | - | - | - | - | - | - | - | 25.87 | 24.84 |
16538 | 33.6 | 10.1 | 684 | 16547 | done | 1.34 | - | - | 2823 | - | - | - | 2605 | - | 404.9 | 3.90 | 0.133 | 1201 | - | - | - | - | - | - | - | - | - | - | 24.78 |
16761 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16761 | begin surface coast | ||||||||||||||||||||||||||||
16789 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16789 | begin surface | ||||||||||||||||||||||||||||
SM | 0.19 | - | - | - | - | -6.90 | 6.80 | 0.025 | 126 | 18.5 | 0.17 | 0.049 | 2488 | -33588.2 | 592.89 | 112.78 | 0.116 | 433 | 3.8 | -0.001 | - | - | - | - | - | - |