• Previous call tries 1 | • 121.98 of 150.00 AH used of 24V (18.68% remains) | |
• Previous NAKs 0, Timeouts 0 | • 87.94 of 110.00 AH used of 10V (20.06% remains) | |
• Surface angle -58.9 deg, depth 1.38 m | • Intended pitch -14.3 deg, speed -10.312 cm/s | |
• No surface pump (final VBD was 595.10, SM_CC=475) | ||
• GPS1 time: 37 s | ||
• GPS2 time: 11 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 | |||||
13 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
13 | begin dive | ||||||||||||||||||||||||||||
16 | - | - | - | 86 | VBD | -0.61 | - | - | 141 | - | - | - | 2485 | - | -219.0 | -67.57 | - | 2344 | - | - | - | - | - | - | - | - | - | - | - |
90 | 3.2 | -3.0 | 12 | 137 | roll | -0.61 | 8.45 | 0.220 | 2170 | 240.1 | 0.73 | 0.060 | 1961 | -717.8 | -219.0 | -31.70 | - | 3760 | -44.7 | - | - | - | - | - | - | - | - | - | - |
236 | 35.0 | -21.2 | 37 | 243 | done | -0.48 | 0.15 | 0.138 | 2213 | 286.7 | 0.80 | 0.035 | 2491 | 662.5 | -219.0 | - | - | 3760 | - | - | - | - | - | - | - | - | - | - | - |
584 | 96.6 | -16.9 | 98 | 591 | roll | -0.38 | 0.12 | 0.160 | 2246 | 275.0 | 0.82 | 0.037 | 3033 | 661.0 | -219.0 | - | - | 3758 | - | - | - | - | - | - | - | - | - | - | - |
632 | 103.5 | -13.0 | 106 | 639 | done | -0.32 | - | - | 2245 | - | 0.77 | 0.024 | 2472 | -728.6 | -219.0 | - | - | 3758 | - | - | - | - | - | - | - | - | - | - | - |
979 | 136.5 | -8.6 | 167 | 986 | roll | -0.46 | - | - | 2245 | - | 0.82 | 0.035 | 3024 | 673.2 | -219.0 | - | - | 3758 | - | - | - | - | - | - | - | - | - | - | - |
1062 | 144.1 | -9.6 | 181 | 1069 | done | -0.63 | 0.17 | 0.055 | 2166 | -464.7 | 0.73 | 0.024 | 2494 | -726.0 | -219.0 | - | - | 3758 | - | - | - | - | - | - | - | - | - | - | - |
1411 | 177.7 | -7.2 | 242 | 1418 | roll | -0.66 | - | - | 2166 | - | 0.68 | 0.025 | 1967 | -775.0 | -219.0 | - | - | 3758 | - | - | - | - | - | - | - | - | - | - | - |
1476 | 182.9 | -7.9 | 253 | 1483 | done | -0.66 | - | - | 2166 | - | 0.80 | 0.033 | 2505 | 672.5 | -219.0 | - | - | 3759 | - | - | - | - | - | - | - | - | - | - | - |
1817 | 218.6 | -11.4 | 299 | 1821 | roll | -0.69 | - | - | 2166 | - | 0.70 | 0.024 | 1975 | -757.1 | -219.0 | - | - | 3758 | - | - | - | - | - | - | - | - | - | - | - |
1857 | 223.5 | -11.2 | 302 | 1863 | done | -0.71 | - | - | 2165 | - | 0.77 | 0.034 | 2499 | 680.5 | -219.0 | - | - | 3759 | - | - | - | - | - | - | - | - | - | - | - |
2183 | 250.3 | -7.9 | 333 | 2187 | roll | -0.75 | - | - | 2165 | - | 0.70 | 0.025 | 1973 | -751.4 | -219.0 | - | - | 3758 | - | - | - | - | - | - | - | - | - | - | - |
2222 | 253.8 | -8.2 | 336 | 2229 | done | -0.77 | 0.08 | 0.052 | 2103 | -775.0 | 0.77 | 0.034 | 2496 | 679.2 | -219.0 | - | - | 3758 | - | - | - | - | - | - | - | - | - | - | - |
2548 | 302.9 | -16.1 | 367 | 2552 | roll | -0.66 | 0.20 | 0.140 | 2159 | 280.0 | 0.80 | 0.035 | 3021 | 656.2 | -219.0 | - | - | 3756 | - | - | - | - | - | - | - | - | - | - | - |
2663 | 316.7 | -11.1 | 377 | 2666 | done | -0.63 | - | - | 2159 | - | 0.73 | 0.026 | 2494 | -721.9 | -219.0 | - | - | 3756 | - | - | - | - | - | - | - | - | - | - | - |
2995 | 348.3 | -7.3 | 408 | 2996 | done | -0.68 | - | - | 2159 | - | - | - | 2492 | - | -219.0 | - | - | 3754 | - | - | - | - | - | - | - | - | - | - | - |
3316 | 371.9 | -8.7 | 438 | 3320 | roll | -0.73 | - | - | 2159 | - | 0.68 | 0.026 | 1975 | -760.3 | -219.0 | - | - | 3751 | - | - | - | - | - | - | - | - | - | - | - |
3408 | 381.2 | -9.9 | 446 | 3412 | done | -0.77 | - | - | 2156 | - | 0.80 | 0.034 | 2506 | 663.8 | -219.0 | - | - | 3750 | - | - | - | - | - | - | - | - | - | - | - |
3739 | 411.6 | -9.0 | 477 | 3744 | roll | -0.83 | 0.15 | 0.071 | 2072 | -560.0 | 0.73 | 0.026 | 1988 | -709.6 | -219.0 | - | - | 3747 | - | - | - | - | - | - | - | - | - | - | - |
3775 | 415.7 | -11.3 | 480 | 3779 | done | -0.78 | 0.15 | 0.133 | 2117 | 300.0 | 0.77 | 0.037 | 2499 | 663.6 | -219.0 | - | - | 3747 | - | - | - | - | - | - | - | - | - | - | - |
4105 | 459.7 | -12.6 | 511 | 4110 | roll | -0.71 | 0.10 | 0.170 | 2141 | 240.0 | 0.82 | 0.042 | 3030 | 647.6 | -219.0 | - | - | 3744 | - | - | - | - | - | - | - | - | - | - | - |
4232 | 473.5 | -10.5 | 522 | 4236 | done | -0.66 | - | - | 2141 | - | 0.73 | 0.027 | 2515 | -705.5 | -219.0 | - | - | 3743 | - | - | - | - | - | - | - | - | - | - | - |
4564 | 504.4 | -9.0 | 551 | 4568 | roll | -0.62 | 0.12 | 0.148 | 2175 | 283.3 | 0.80 | 0.041 | 3020 | 631.2 | -219.0 | - | - | 3740 | - | - | - | - | - | - | - | - | - | - | - |
4592 | 506.7 | -8.8 | 552 | 4596 | done | -0.61 | - | - | 2175 | - | 0.75 | 0.028 | 2493 | -702.7 | -219.0 | - | - | 3740 | - | - | - | - | - | - | - | - | - | - | - |
4921 | 525.2 | -6.4 | 568 | 4925 | roll | -0.71 | - | - | 2174 | - | 0.82 | 0.041 | 3029 | 653.7 | -219.0 | - | - | 3737 | - | - | - | - | - | - | - | - | - | - | - |
5029 | 533.5 | -7.9 | 572 | 5036 | done | -0.78 | 0.12 | 0.044 | 2099 | -625.0 | 0.75 | 0.027 | 2503 | -701.3 | -219.0 | - | - | 3736 | - | - | - | - | - | - | - | - | - | - | - |
5346 | 569.5 | -11.7 | 588 | 5350 | roll | -0.78 | - | - | 2096 | - | 0.80 | 0.041 | 3018 | 643.8 | -219.0 | - | - | 3734 | - | - | - | - | - | - | - | - | - | - | - |
5396 | 576.1 | -13.4 | 590 | 5400 | done | -0.70 | 0.15 | 0.128 | 2144 | 320.0 | 0.75 | 0.028 | 2495 | -697.3 | -219.0 | - | - | 3733 | - | - | - | - | - | - | - | - | - | - | - |
5726 | 613.7 | -11.7 | 606 | 5729 | roll | -0.67 | - | - | 2141 | - | 0.82 | 0.041 | 3024 | 645.1 | -219.0 | - | - | 3730 | - | - | - | - | - | - | - | - | - | - | - |
5811 | 624.9 | -12.6 | 609 | 5819 | done | -0.63 | 0.10 | 0.122 | 2175 | 340.0 | 0.75 | 0.028 | 2501 | -697.3 | -219.0 | - | - | 3730 | - | - | - | - | - | - | - | - | - | - | - |
6128 | 659.2 | -10.9 | 625 | 6132 | roll | -0.73 | - | - | 2175 | - | 0.80 | 0.041 | 3017 | 645.0 | -219.0 | - | - | 3727 | - | - | - | - | - | - | - | - | - | - | - |
6257 | 673.2 | -10.4 | 630 | 6265 | done | -0.82 | 0.15 | 0.043 | 2096 | -526.7 | 0.75 | 0.027 | 2499 | -690.7 | -219.0 | - | - | 3726 | - | - | - | - | - | - | - | - | - | - | - |
6575 | 720.3 | -15.0 | 646 | 6580 | roll | -0.73 | 0.15 | 0.150 | 2135 | 260.0 | 0.85 | 0.044 | 3021 | 614.1 | -219.0 | - | - | 3724 | - | - | - | - | - | - | - | - | - | - | - |
6638 | 728.8 | -12.2 | 648 | 6645 | done | -0.70 | - | - | 2135 | - | 0.77 | 0.026 | 2485 | -696.1 | -219.0 | - | - | 3723 | - | - | - | - | - | - | - | - | - | - | - |
6955 | 765.0 | -11.0 | 664 | 6958 | roll | -0.66 | - | - | 2131 | - | 0.85 | 0.043 | 3024 | 634.1 | -219.0 | - | - | 3722 | - | - | - | - | - | - | - | - | - | - | - |
7094 | 780.4 | -11.3 | 670 | 7098 | done | -0.62 | 0.12 | 0.123 | 2172 | 341.7 | 0.75 | 0.027 | 2496 | -704.0 | -219.0 | - | - | 3721 | - | - | - | - | - | - | - | - | - | - | - |
7429 | 811.1 | -9.0 | 686 | 7433 | roll | -0.72 | - | - | 2171 | - | 0.82 | 0.041 | 3029 | 650.0 | -219.0 | - | - | 3719 | - | - | - | - | - | - | - | - | - | - | - |
7545 | 821.2 | -8.8 | 691 | 7549 | done | -0.80 | 0.12 | 0.048 | 2101 | -583.3 | 0.75 | 0.026 | 2505 | -698.7 | -219.0 | - | - | 3718 | - | - | - | - | - | - | - | - | - | - | - |
7879 | 866.4 | -13.9 | 707 | 7884 | roll | -0.72 | 0.15 | 0.149 | 2142 | 273.3 | 0.75 | 0.028 | 1975 | -706.7 | -219.0 | - | - | 3717 | - | - | - | - | - | - | - | - | - | - | - |
7936 | 873.2 | -10.4 | 709 | 7940 | done | -0.71 | - | - | 2139 | - | 0.80 | 0.037 | 2491 | 645.0 | -219.0 | - | - | 3717 | - | - | - | - | - | - | - | - | - | - | - |
8258 | 905.0 | -9.8 | 725 | 8262 | roll | -0.69 | - | - | 2135 | - | 0.82 | 0.043 | 3029 | 656.1 | -219.0 | - | - | 3714 | - | - | - | - | - | - | - | - | - | - | - |
8374 | 916.4 | -9.7 | 730 | 8378 | done | -0.67 | - | - | 2135 | - | 0.77 | 0.028 | 2497 | -690.9 | -219.0 | - | - | 3714 | - | - | - | - | - | - | - | - | - | - | - |
8708 | 949.4 | -9.9 | 746 | 8711 | roll | -0.65 | - | - | 2132 | - | 0.85 | 0.043 | 3036 | 634.1 | -219.0 | - | - | 3712 | - | - | - | - | - | - | - | - | - | - | - |
8810 | 960.0 | -10.7 | 750 | 8814 | done | -0.63 | 0.10 | 0.127 | 2165 | 330.0 | 0.77 | 0.028 | 2501 | -694.8 | -219.0 | - | - | 3711 | - | - | - | - | - | - | - | - | - | - | - |
8840 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8840 | begin apogee | ||||||||||||||||||||||||||||
8846 | 963.0 | 9.3 | 752 | 9017 | done | -0.19 | 0.43 | 0.103 | 2312 | 341.9 | - | - | 2095 | - | - | 165.15 | 1.046 | 2869 | -5.1 | 0.482 | - | - | - | - | - | - | - | - | - |
9017 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9017 | begin climb | ||||||||||||||||||||||||||||
9020 | 975.3 | - | 760 | 9201 | done | 0.61 | 0.70 | 0.050 | 2584 | 388.6 | - | - | 2095 | - | 219.0 | 174.77 | 1.033 | 1976 | -5.1 | 0.495 | - | - | - | - | - | - | - | - | - |
9499 | 936.2 | 11.4 | 783 | 9503 | roll | 0.50 | 0.17 | 0.168 | 2541 | -252.9 | 0.77 | 0.033 | 1579 | -670.1 | 219.0 | - | - | 1973 | - | - | - | - | - | - | - | - | - | - | - |
9560 | 929.7 | 9.4 | 785 | 9588 | done | 0.47 | - | - | 2541 | - | 0.82 | 0.031 | 2121 | 661.0 | 246.4 | 22.88 | 0.959 | 1864 | -4.8 | 0.474 | - | - | - | - | - | - | - | - | - |
9900 | 897.5 | 9.6 | 802 | 9925 | roll | 0.45 | - | - | 2541 | - | 0.77 | 0.037 | 2622 | 650.6 | 270.2 | 20.00 | 0.942 | 1767 | -4.8 | 0.474 | - | - | - | - | - | - | - | - | - |
10062 | 880.2 | 10.2 | 809 | 10072 | done | 0.40 | 0.10 | 0.147 | 2512 | -290.0 | 0.77 | 0.028 | 2098 | -680.5 | 275.1 | 5.55 | 0.713 | 1747 | -3.6 | 0.457 | - | - | - | - | - | - | - | - | - |
10392 | 855.2 | 7.2 | 825 | 10477 | roll | 0.51 | - | - | 2512 | - | 0.80 | 0.030 | 2632 | 667.5 | 373.3 | 77.43 | 0.970 | 1346 | -5.2 | 0.469 | - | - | - | - | - | - | - | - | - |
10527 | 845.6 | 6.9 | 831 | 10622 | done | 0.66 | 0.17 | 0.054 | 2593 | 476.5 | 0.80 | 0.029 | 2097 | -668.8 | 481.3 | 86.97 | 0.950 | 906 | -5.1 | 0.462 | - | - | - | - | - | - | - | - | - |
10945 | 802.4 | 10.9 | 851 | 10955 | roll | 0.66 | - | - | 2593 | - | 0.82 | 0.035 | 2625 | 643.9 | 481.3 | 4.55 | 0.641 | 906 | - | - | - | - | - | - | - | - | - | - | - |
11017 | 794.0 | 11.4 | 854 | 11021 | done | 0.64 | - | - | 2596 | - | 0.77 | 0.028 | 2098 | -684.4 | 481.3 | - | - | 907 | - | - | - | - | - | - | - | - | - | - | - |
11345 | 755.0 | 12.7 | 870 | 11349 | roll | 0.63 | - | - | 2596 | - | 0.80 | 0.034 | 2630 | 665.0 | 481.3 | - | - | 910 | - | - | - | - | - | - | - | - | - | - | - |
11392 | 748.5 | 13.6 | 872 | 11396 | done | 0.61 | - | - | 2599 | - | 0.77 | 0.028 | 2101 | -687.0 | 481.3 | - | - | 910 | - | - | - | - | - | - | - | - | - | - | - |
11725 | 703.6 | 13.2 | 888 | 11730 | roll | 0.59 | 0.12 | 0.152 | 2564 | -291.7 | 0.80 | 0.036 | 2619 | 647.5 | 481.3 | - | - | 912 | - | - | - | - | - | - | - | - | - | - | - |
11795 | 695.5 | 11.8 | 891 | 11799 | done | 0.59 | - | - | 2565 | - | 0.75 | 0.029 | 2105 | -685.3 | 481.3 | - | - | 912 | - | - | - | - | - | - | - | - | - | - | - |
12128 | 663.1 | 9.5 | 907 | 12155 | roll | 0.68 | - | - | 2569 | - | 0.82 | 0.035 | 1572 | -650.0 | 507.4 | 23.00 | 0.834 | 800 | -4.9 | 0.397 | - | - | - | - | - | - | - | - | - |
12239 | 653.1 | 10.0 | 912 | 12254 | done | 0.73 | 0.08 | 0.057 | 2622 | 662.5 | 0.80 | 0.028 | 2111 | 673.8 | 515.7 | 8.73 | 0.716 | 766 | -3.9 | 0.365 | - | - | - | - | - | - | - | - | - |
12571 | 611.6 | 12.4 | 928 | 12574 | roll | 0.75 | - | - | 2622 | - | 0.75 | 0.035 | 2623 | 682.7 | 515.7 | - | - | 765 | - | - | - | - | - | - | - | - | - | - | - |
12673 | 597.9 | 13.8 | 932 | 12676 | done | 0.71 | - | - | 2625 | - | 0.77 | 0.028 | 2093 | -688.3 | 515.7 | - | - | 765 | - | - | - | - | - | - | - | - | - | - | - |
12995 | 561.4 | 10.6 | 948 | 12999 | roll | 0.69 | - | - | 2625 | - | 0.77 | 0.034 | 2610 | 671.4 | 515.7 | - | - | 765 | - | - | - | - | - | - | - | - | - | - | - |
13075 | 552.6 | 11.1 | 951 | 13079 | done | 0.66 | 0.10 | 0.135 | 2594 | -310.0 | 0.75 | 0.029 | 2099 | -681.3 | 515.7 | - | - | 765 | - | - | - | - | - | - | - | - | - | - | - |
13398 | 521.5 | 10.0 | 967 | 13409 | roll | 0.76 | - | - | 2594 | - | 0.82 | 0.031 | 2629 | 646.3 | 524.0 | 7.78 | 0.671 | 733 | -4.1 | 0.328 | - | - | - | - | - | - | - | - | - |
13497 | 510.5 | 11.3 | 971 | 13501 | done | 0.79 | - | - | 2594 | - | 0.77 | 0.029 | 2105 | -680.5 | 524.0 | - | - | 733 | - | - | - | - | - | - | - | - | - | - | - |
13826 | 470.3 | 12.3 | 998 | 13830 | roll | 0.84 | 0.15 | 0.079 | 2666 | 480.0 | 0.80 | 0.035 | 1572 | -666.2 | 524.0 | - | - | 733 | - | - | - | - | - | - | - | - | - | - | - |
13935 | 453.6 | 16.9 | 1007 | 13942 | done | 0.79 | 0.08 | 0.127 | 2641 | -312.5 | 0.80 | 0.031 | 2100 | 660.0 | 524.0 | - | - | 733 | - | - | - | - | - | - | - | - | - | - | - |
14262 | 406.5 | 13.4 | 1038 | 14266 | roll | 0.76 | - | - | 2641 | - | 0.80 | 0.037 | 2630 | 662.5 | 524.0 | - | - | 733 | - | - | - | - | - | - | - | - | - | - | - |
14387 | 390.3 | 12.9 | 1049 | 14391 | done | 0.72 | 0.10 | 0.136 | 2609 | -320.0 | 0.77 | 0.028 | 2102 | -685.7 | 524.0 | - | - | 733 | - | - | - | - | - | - | - | - | - | - | - |
14719 | 354.6 | 11.6 | 1080 | 14722 | roll | 0.77 | - | - | 2611 | - | 0.77 | 0.035 | 1570 | -690.9 | 524.0 | - | - | 734 | - | - | - | - | - | - | - | - | - | - | - |
14788 | 346.4 | 12.0 | 1086 | 14791 | done | 0.83 | - | - | 2611 | - | 0.80 | 0.029 | 2110 | 675.0 | 524.0 | - | - | 733 | - | - | - | - | - | - | - | - | - | - | - |
15119 | 307.5 | 11.3 | 1117 | 15123 | roll | 0.88 | 0.12 | 0.086 | 2676 | 541.7 | 0.75 | 0.036 | 2616 | 674.7 | 524.0 | - | - | 734 | - | - | - | - | - | - | - | - | - | - | - |
15223 | 292.1 | 16.2 | 1126 | 15227 | done | 0.81 | 0.12 | 0.131 | 2639 | -308.3 | 0.77 | 0.029 | 2090 | -683.1 | 524.0 | - | - | 734 | - | - | - | - | - | - | - | - | - | - | - |
15554 | 255.7 | 9.7 | 1157 | 15577 | roll | 0.84 | - | - | 2639 | - | 0.77 | 0.028 | 2631 | 702.6 | 542.8 | 16.50 | 0.592 | 654 | -4.8 | 0.215 | - | - | - | - | - | - | - | - | - |
15647 | 245.4 | 12.0 | 1165 | 15651 | done | 0.84 | - | - | 2641 | - | 0.77 | 0.028 | 2099 | -690.9 | 542.8 | - | - | 654 | - | - | - | - | - | - | - | - | - | - | - |
15979 | 210.0 | 9.5 | 1196 | 16002 | roll | 0.91 | - | - | 2645 | - | 0.80 | 0.034 | 1577 | -652.5 | 566.8 | 19.42 | 0.550 | 558 | -4.9 | 0.194 | - | - | - | - | - | - | - | - | - |
16252 | 182.8 | 11.1 | 1234 | 16260 | done | 1.02 | 0.12 | 0.047 | 2721 | 633.3 | 0.77 | 0.028 | 2103 | 683.1 | 566.8 | - | - | 561 | - | - | - | - | - | - | - | - | - | - | - |
16604 | 138.1 | 11.9 | 1295 | 16611 | roll | 0.97 | 0.12 | 0.148 | 2689 | -266.7 | 0.80 | 0.032 | 1573 | -662.5 | 566.8 | - | - | 563 | - | - | - | - | - | - | - | - | - | - | - |
16724 | 125.2 | 10.6 | 1315 | 16730 | done | 0.95 | - | - | 2688 | - | 0.77 | 0.027 | 2106 | 692.2 | 566.8 | - | - | 563 | - | - | - | - | - | - | - | - | - | - | - |
17072 | 85.3 | 11.3 | 1376 | 17079 | roll | 1.00 | - | - | 2689 | - | 0.75 | 0.033 | 2628 | 696.0 | 566.8 | - | - | 564 | - | - | - | - | - | - | - | - | - | - | - |
17154 | 76.9 | 9.3 | 1390 | 17184 | done | 1.06 | - | - | 2690 | - | 0.77 | 0.028 | 2096 | -690.9 | 598.2 | 23.98 | 0.484 | 439 | -5.2 | 0.085 | - | - | - | - | - | - | - | - | - |
17525 | 46.1 | 9.9 | 1455 | 17532 | roll | 1.16 | 0.17 | 0.068 | 2787 | 570.6 | 0.75 | 0.034 | 1583 | -684.0 | 612.4 | - | - | 440 | - | - | - | - | - | - | - | - | - | - | - |
17580 | 39.4 | 13.2 | 1464 | 17589 | done | 1.13 | 0.15 | 0.122 | 2739 | -320.0 | 0.75 | 0.027 | 2106 | 697.3 | 612.4 | 0.70 | 0.076 | 440 | - | - | - | - | - | - | - | - | - | - | - |
17879 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
17880 | begin surface coast | ||||||||||||||||||||||||||||
17905 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17905 | begin surface | ||||||||||||||||||||||||||||
SM | 1.50 | - | - | - | - | -6.69 | 6.70 | 0.034 | 202 | -378.7 | - | - | 2490 | - | 595.10 | - | - | 443 | - | - | - | - | - | - | - | - |