• Previous call tries 1 | • 102.97 of 150.00 AH used of 24V (31.35% remains) | |
• Previous NAKs 0, Timeouts 0 | • 75.51 of 100.00 AH used of 10V (24.49% remains) | |
• Surface angle -67.5 deg, depth 0.25 m | • Intended pitch -5.0 deg, speed -9.429 cm/s | |
• VBD pumped to 592.89 (SM_CC=592.89008) | ||
• GPS1 time: 94 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 | |||||
22 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
22 | begin dive | ||||||||||||||||||||||||||||
27 | - | - | - | 122 | VBD | -0.68 | - | - | 120 | - | - | - | 2509 | - | -184.9 | -92.78 | - | 2880 | - | - | - | - | - | - | - | - | - | - | - |
134 | 4.4 | -10.7 | 12 | 160 | roll | -0.68 | 8.75 | 0.230 | 2137 | 230.5 | 2.65 | 0.044 | 1079 | -539.6 | -184.9 | -10.48 | - | 3609 | -69.6 | - | - | - | - | - | - | - | 24.63 | 25.88 | 26.53 |
197 | 34.7 | -39.8 | 18 | 203 | done | -0.68 | - | - | 2127 | - | 2.70 | 0.033 | 2565 | 550.4 | -184.9 | - | - | 3609 | - | - | - | - | - | - | - | - | - | 25.87 | - |
518 | 123.8 | -25.8 | 36 | 519 | done | -0.68 | - | - | 2127 | - | - | - | 2563 | - | -184.9 | - | - | 3608 | - | - | - | - | - | - | - | - | - | - | - |
816 | 185.3 | -19.7 | 51 | 822 | roll | -0.68 | - | - | 2119 | - | 2.08 | 0.047 | 3833 | 610.6 | -184.9 | - | - | 3608 | - | - | - | - | - | - | - | - | - | 25.89 | - |
860 | 191.1 | -19.7 | 52 | 868 | done | -0.68 | - | - | 2121 | - | 2.05 | 0.023 | 2499 | -650.7 | -184.9 | - | - | 3608 | - | - | - | - | - | - | - | - | - | 26.32 | - |
1165 | 247.2 | -16.4 | 68 | 1166 | done | -0.68 | - | - | 2121 | - | - | - | 2500 | - | -184.9 | - | - | 3608 | - | - | - | - | - | - | - | - | - | - | - |
1464 | 293.5 | -14.8 | 83 | 1469 | roll | -0.68 | - | - | 2116 | - | 2.30 | 0.044 | 3846 | 585.2 | -184.9 | - | - | 3608 | - | - | - | - | - | - | - | - | - | 25.90 | - |
1591 | 311.9 | -16.5 | 88 | 1599 | done | -0.68 | - | - | 2116 | - | 2.08 | 0.024 | 2505 | -644.7 | -184.9 | - | - | 3608 | - | - | - | - | - | - | - | - | - | 26.31 | - |
1899 | 360.4 | -14.0 | 104 | 1901 | done | -0.68 | 0.10 | 0.155 | 2144 | 280.0 | - | - | 2505 | - | -184.9 | - | - | 3607 | - | - | - | - | - | - | - | - | 26.34 | - | - |
2198 | 399.9 | -13.6 | 119 | 2204 | roll | -0.68 | - | - | 2141 | - | 2.28 | 0.048 | 3824 | 578.5 | -184.9 | - | - | 3604 | - | - | - | - | - | - | - | - | - | 25.85 | - |
2260 | 406.5 | -13.7 | 121 | 2266 | done | -0.68 | - | - | 2141 | - | 2.05 | 0.021 | 2498 | -646.8 | -184.9 | - | - | 3602 | - | - | - | - | - | - | - | - | - | 26.34 | - |
2576 | 450.4 | -12.8 | 137 | 2583 | roll | -0.68 | - | - | 2141 | - | 2.25 | 0.045 | 3825 | 589.8 | -184.9 | - | - | 3602 | - | - | - | - | - | - | - | - | - | 25.89 | - |
2649 | 459.2 | -12.2 | 140 | 2656 | done | -0.68 | - | - | 2141 | - | 2.05 | 0.021 | 2491 | -650.7 | -184.9 | - | - | 3604 | - | - | - | - | - | - | - | - | - | 26.33 | - |
2982 | 494.5 | -10.5 | 156 | 2988 | roll | -0.68 | - | - | 2138 | - | 2.28 | 0.045 | 3835 | 589.5 | -184.9 | - | - | 3599 | - | - | - | - | - | - | - | - | - | 25.87 | - |
3068 | 502.8 | -10.9 | 159 | 3076 | done | -0.68 | - | - | 2138 | - | 2.05 | 0.023 | 2504 | -649.3 | -184.9 | - | - | 3598 | - | - | - | - | - | - | - | - | - | 26.32 | - |
3373 | 539.8 | -11.6 | 175 | 3374 | done | -0.68 | - | - | 2138 | - | - | - | 2504 | - | -184.9 | - | - | 3595 | - | - | - | - | - | - | - | - | - | - | - |
3673 | 574.4 | -11.6 | 190 | 3679 | roll | -0.68 | - | - | 2138 | - | 2.28 | 0.049 | 3829 | 581.1 | -184.9 | - | - | 3590 | - | - | - | - | - | - | - | - | - | 25.79 | - |
3771 | 585.6 | -11.8 | 194 | 3777 | done | -0.68 | - | - | 2138 | - | 2.05 | 0.023 | 2499 | -648.8 | -184.9 | - | - | 3591 | - | - | - | - | - | - | - | - | - | 26.29 | - |
4105 | 623.8 | -11.3 | 207 | 4111 | roll | -0.68 | - | - | 2138 | - | 2.28 | 0.047 | 3829 | 583.3 | -184.9 | - | - | 3588 | - | - | - | - | - | - | - | - | - | 25.81 | - |
4175 | 631.6 | -11.1 | 209 | 4181 | done | -0.68 | - | - | 2138 | - | 2.08 | 0.024 | 2496 | -640.9 | -184.9 | - | - | 3587 | - | - | - | - | - | - | - | - | - | 26.27 | - |
4514 | 668.1 | -10.5 | 220 | 4520 | roll | -0.68 | - | - | 2126 | - | 2.28 | 0.044 | 3843 | 590.8 | -184.9 | - | - | 3583 | - | - | - | - | - | - | - | - | - | 25.82 | - |
4572 | 672.4 | -10.7 | 221 | 4578 | done | -0.68 | - | - | 2127 | - | 2.10 | 0.025 | 2505 | -637.1 | -184.9 | - | - | 3583 | - | - | - | - | - | - | - | - | - | 26.23 | - |
4892 | 710.4 | -11.2 | 232 | 4894 | done | -0.68 | - | - | 2127 | - | - | - | 2505 | - | -184.9 | - | - | 3580 | - | - | - | - | - | - | - | - | - | - | - |
5189 | 744.4 | -11.5 | 242 | 5195 | roll | -0.68 | - | - | 2125 | - | 2.30 | 0.050 | 3843 | 581.7 | -184.9 | - | - | 3578 | - | - | - | - | - | - | - | - | - | 25.69 | - |
5265 | 753.4 | -12.3 | 244 | 5270 | done | -0.68 | - | - | 2125 | - | 2.08 | 0.027 | 2511 | -640.4 | -184.9 | - | - | 3577 | - | - | - | - | - | - | - | - | - | 26.19 | - |
5597 | 795.3 | -12.3 | 255 | 5603 | roll | -0.68 | - | - | 2121 | - | 2.25 | 0.046 | 3844 | 592.4 | -184.9 | - | - | 3574 | - | - | - | - | - | - | - | - | - | 25.74 | - |
5625 | 795.3 | -12.3 | 255 | 5631 | done | -0.68 | - | - | 2121 | - | 2.10 | 0.025 | 2505 | -637.6 | -184.9 | - | - | 3573 | - | - | - | - | - | - | - | - | - | 26.20 | - |
5950 | 838.9 | -12.2 | 266 | 5956 | roll | -0.68 | - | - | 2121 | - | 2.55 | 0.032 | 1079 | -559.2 | -184.9 | - | - | 3570 | - | - | - | - | - | - | - | - | - | 25.86 | - |
5980 | 838.9 | -12.2 | 266 | 5988 | done | -0.68 | - | - | 2116 | - | 2.65 | 0.031 | 2564 | 560.4 | -184.9 | - | - | 3570 | - | - | - | - | - | - | - | - | - | 25.89 | - |
6290 | 882.7 | -12.6 | 277 | 6292 | done | -0.68 | - | - | 2116 | - | - | - | 2563 | - | -184.9 | - | - | 3568 | - | - | - | - | - | - | - | - | - | - | - |
6586 | 920.1 | -12.3 | 287 | 6588 | done | -0.68 | - | - | 2116 | - | - | - | 2563 | - | -184.9 | - | - | 3566 | - | - | - | - | - | - | - | - | - | - | - |
6887 | 957.3 | -12.4 | 297 | 6889 | done | -0.68 | 0.10 | 0.157 | 2144 | 280.0 | - | - | 2563 | - | -184.9 | - | - | 3563 | - | - | - | - | - | - | - | - | 26.27 | - | - |
7186 | 987.2 | -9.8 | 307 | 7188 | done | -0.68 | - | - | 2144 | - | - | - | 2563 | - | -184.9 | - | - | 3561 | - | - | - | - | - | - | - | - | - | - | - |
7212 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7212 | begin apogee | ||||||||||||||||||||||||||||
7223 | 990.2 | -9.8 | 308 | 7401 | done | -0.12 | 0.50 | 0.090 | 2321 | 354.0 | - | - | 2563 | - | - | 166.57 | 0.968 | 2843 | -4.3 | 0.460 | - | - | - | - | - | - | 25.58 | - | 23.51 |
7403 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7403 | begin climb | ||||||||||||||||||||||||||||
7407 | 1000.7 | - | 313 | 7606 | done | 0.68 | 0.68 | 0.030 | 2618 | 436.8 | - | - | 2563 | - | 184.9 | 186.12 | 0.943 | 2082 | -4.1 | 0.453 | - | - | - | - | - | - | 25.45 | - | 23.56 |
7906 | 960.6 | 12.1 | 331 | 7913 | roll | 0.68 | 0.12 | 0.170 | 2570 | -400.0 | 2.15 | 0.037 | 3847 | 597.2 | 184.9 | - | - | 2065 | - | - | - | - | - | - | - | - | 25.81 | 25.83 | - |
7967 | 955.6 | 12.4 | 332 | 7973 | done | 0.68 | - | - | 2579 | - | 2.05 | 0.015 | 2514 | -650.2 | 184.9 | - | - | 2065 | - | - | - | - | - | - | - | - | - | 26.20 | - |
8287 | 922.8 | 9.5 | 343 | 8293 | roll | 0.68 | - | - | 2570 | - | 2.25 | 0.038 | 3835 | 587.1 | 184.9 | - | - | 2062 | - | - | - | - | - | - | - | - | - | 25.87 | - |
8332 | 918.6 | 9.8 | 344 | 8339 | done | 0.68 | - | - | 2581 | - | 2.03 | 0.015 | 2522 | -646.8 | 184.9 | - | - | 2062 | - | - | - | - | - | - | - | - | - | 26.30 | - |
8665 | 886.8 | 9.1 | 355 | 8671 | roll | 0.70 | - | - | 2570 | - | 2.22 | 0.039 | 3850 | 598.2 | 193.6 | - | - | 2061 | - | - | - | - | - | - | - | - | - | 25.86 | - |
8702 | 883.2 | 9.3 | 356 | 8718 | done | 0.72 | - | - | 2583 | - | 2.05 | 0.015 | 2514 | -651.7 | 198.1 | 9.52 | 0.896 | 2042 | -2.0 | 0.205 | - | - | - | - | - | - | - | 26.32 | 24.27 |
9039 | 851.7 | 9.3 | 367 | 9045 | roll | 0.73 | - | - | 2593 | - | 2.47 | 0.024 | 1096 | -574.1 | 201.8 | - | - | 2025 | - | - | - | - | - | - | - | - | - | 25.96 | - |
9092 | 848.8 | 8.9 | 368 | 9126 | done | 0.78 | 0.10 | 0.090 | 2685 | 920.0 | 2.67 | 0.024 | 2595 | 561.4 | 218.6 | 27.12 | 0.774 | 1958 | -2.5 | 0.283 | - | - | - | - | - | - | 25.93 | 25.97 | 24.17 |
9455 | 792.6 | 15.2 | 380 | 9462 | roll | 0.78 | 0.20 | 0.160 | 2614 | -355.0 | 2.05 | 0.037 | 3834 | 604.4 | 218.6 | - | - | 1935 | - | - | - | - | - | - | - | - | 25.56 | 25.81 | - |
9572 | 779.1 | 13.6 | 383 | 9578 | done | 0.78 | - | - | 2623 | - | 2.03 | 0.015 | 2518 | -648.3 | 218.6 | - | - | 1934 | - | - | - | - | - | - | - | - | - | 26.25 | - |
9893 | 740.6 | 11.4 | 394 | 9899 | roll | 0.78 | - | - | 2615 | - | 2.25 | 0.038 | 3838 | 586.7 | 218.6 | - | - | 1934 | - | - | - | - | - | - | - | - | - | 25.81 | - |
9932 | 736.1 | 11.6 | 395 | 9938 | done | 0.78 | - | - | 2624 | - | 2.03 | 0.015 | 2529 | -644.8 | 218.6 | - | - | 1933 | - | - | - | - | - | - | - | - | - | 26.29 | - |
10269 | 696.9 | 11.5 | 406 | 10275 | roll | 0.78 | - | - | 2615 | - | 2.22 | 0.038 | 3840 | 590.5 | 218.6 | - | - | 1932 | - | - | - | - | - | - | - | - | - | 25.79 | - |
10350 | 687.7 | 12.3 | 408 | 10356 | done | 0.78 | - | - | 2624 | - | 2.03 | 0.015 | 2522 | -649.3 | 218.6 | - | - | 1932 | - | - | - | - | - | - | - | - | - | 26.29 | - |
10677 | 649.9 | 10.8 | 419 | 10683 | roll | 0.78 | - | - | 2615 | - | 2.25 | 0.038 | 3850 | 590.2 | 218.6 | - | - | 1932 | - | - | - | - | - | - | - | - | - | 25.77 | - |
10708 | 649.9 | 10.8 | 419 | 10716 | done | 0.78 | - | - | 2625 | - | 2.05 | 0.015 | 2510 | -653.7 | 218.6 | - | - | 1932 | - | - | - | - | - | - | - | - | - | 26.29 | - |
11020 | 615.3 | 9.8 | 430 | 11026 | roll | 0.78 | - | - | 2615 | - | 2.25 | 0.039 | 3826 | 584.9 | 218.6 | - | - | 1931 | - | - | - | - | - | - | - | - | - | 25.74 | - |
11127 | 603.8 | 10.4 | 433 | 11133 | done | 0.78 | - | - | 2625 | - | 2.05 | 0.016 | 2520 | -637.1 | 218.6 | - | - | 1932 | - | - | - | - | - | - | - | - | - | 26.27 | - |
11447 | 569.5 | 10.8 | 448 | 11453 | roll | 0.78 | - | - | 2616 | - | 2.25 | 0.039 | 3839 | 586.2 | 218.6 | - | - | 1931 | - | - | - | - | - | - | - | - | - | 25.71 | - |
11501 | 563.5 | 11.5 | 450 | 11507 | done | 0.78 | - | - | 2625 | - | 2.03 | 0.015 | 2522 | -648.8 | 218.6 | - | - | 1931 | - | - | - | - | - | - | - | - | - | 26.27 | - |
11831 | 527.8 | 10.4 | 466 | 11837 | roll | 0.78 | - | - | 2616 | - | 2.22 | 0.038 | 3832 | 590.1 | 218.6 | - | - | 1931 | - | - | - | - | - | - | - | - | - | 25.71 | - |
11887 | 522.3 | 10.7 | 468 | 11893 | done | 0.78 | - | - | 2625 | - | 2.03 | 0.015 | 2512 | -650.2 | 218.6 | - | - | 1930 | - | - | - | - | - | - | - | - | - | 26.26 | - |
12215 | 490.9 | 8.9 | 484 | 12239 | roll | 0.83 | - | - | 2638 | - | 2.55 | 0.024 | 1099 | -554.1 | 235.5 | 17.17 | 0.685 | 1883 | -2.7 | 0.205 | - | - | - | - | - | - | - | 25.84 | 24.20 |
12288 | 483.8 | 8.9 | 487 | 12311 | done | 0.87 | - | - | 2629 | - | 2.67 | 0.024 | 2602 | 562.9 | 250.2 | 15.65 | 0.690 | 1827 | -3.6 | 0.262 | - | - | - | - | - | - | - | 25.91 | 24.19 |
12613 | 454.7 | 9.2 | 503 | 12619 | roll | 0.89 | - | - | 2624 | - | 2.03 | 0.038 | 3851 | 615.3 | 256.5 | - | - | 1811 | - | - | - | - | - | - | - | - | - | 25.71 | - |
12666 | 449.1 | 9.9 | 505 | 12673 | done | 0.89 | - | - | 2630 | - | 2.08 | 0.015 | 2505 | -647.1 | 256.5 | - | - | 1811 | - | - | - | - | - | - | - | - | - | 26.17 | - |
12999 | 417.1 | 9.3 | 521 | 13015 | roll | 0.91 | - | - | 2619 | - | 2.28 | 0.037 | 3849 | 589.5 | 261.0 | 10.07 | 0.656 | 1784 | -2.7 | 0.178 | - | - | - | - | - | - | - | 25.89 | 24.35 |
13044 | 414.2 | 9.3 | 522 | 13052 | done | 0.92 | - | - | 2630 | - | 2.05 | 0.016 | 2508 | -654.1 | 265.4 | - | - | 1776 | - | - | - | - | - | - | - | - | - | 26.18 | - |
13346 | 384.4 | 8.7 | 538 | 13384 | done | 0.98 | 0.15 | 0.064 | 2720 | 600.0 | - | - | 2508 | - | 286.8 | 29.23 | 0.630 | 1668 | -3.7 | 0.235 | - | - | - | - | - | - | 26.35 | - | 24.25 |
13691 | 340.0 | 13.6 | 555 | 13698 | roll | 0.98 | 0.12 | 0.168 | 2694 | -216.7 | 2.45 | 0.023 | 1104 | -573.1 | 286.8 | - | - | 1655 | - | - | - | - | - | - | - | - | 25.83 | 25.84 | - |
13712 | 340.0 | 13.6 | 555 | 13720 | done | 0.98 | - | - | 2681 | - | 2.65 | 0.022 | 2602 | 565.3 | 286.8 | - | - | 1655 | - | - | - | - | - | - | - | - | - | 25.89 | - |
14021 | 302.1 | 11.1 | 571 | 14026 | roll | 0.98 | - | - | 2694 | - | 2.67 | 0.025 | 1110 | -558.8 | 286.8 | - | - | 1655 | - | - | - | - | - | - | - | - | - | 25.86 | - |
14102 | 293.7 | 11.4 | 574 | 14109 | done | 0.98 | - | - | 2682 | - | 2.65 | 0.024 | 2599 | 561.9 | 286.8 | - | - | 1655 | - | - | - | - | - | - | - | - | - | 25.91 | - |
14420 | 257.4 | 10.9 | 590 | 14426 | roll | 0.98 | - | - | 2671 | - | 2.03 | 0.037 | 3835 | 608.9 | 286.8 | - | - | 1655 | - | - | - | - | - | - | - | - | - | 25.78 | - |
14449 | 254.4 | 10.9 | 591 | 14455 | done | 0.98 | - | - | 2682 | - | 2.03 | 0.015 | 2508 | -653.7 | 286.8 | - | - | 1654 | - | - | - | - | - | - | - | - | - | 26.27 | - |
14779 | 222.0 | 9.1 | 607 | 14786 | roll | 1.01 | - | - | 2672 | - | 2.25 | 0.035 | 3848 | 595.6 | 295.3 | - | - | 1656 | - | - | - | - | - | - | - | - | - | 25.78 | - |
14901 | 210.6 | 9.6 | 612 | 14906 | done | 1.01 | - | - | 2682 | - | 2.03 | 0.015 | 2486 | -670.9 | 295.3 | - | - | 1655 | - | - | - | - | - | - | - | - | - | 26.29 | - |
15226 | 183.7 | 8.1 | 628 | 15283 | roll | 1.12 | 0.12 | 0.078 | 2782 | 833.3 | 2.50 | 0.024 | 1100 | -554.4 | 333.1 | 41.50 | 0.489 | 1477 | -4.3 | 0.168 | - | - | - | - | - | - | 26.44 | 25.84 | 24.45 |
15317 | 173.6 | 11.6 | 631 | 15326 | done | 1.12 | 0.15 | 0.159 | 2731 | -340.0 | 2.65 | 0.021 | 2601 | 566.4 | 333.1 | - | - | 1467 | - | - | - | - | - | - | - | - | 25.45 | 25.87 | - |
15626 | 139.3 | 8.8 | 647 | 15650 | roll | 1.18 | - | - | 2726 | - | 2.08 | 0.035 | 3837 | 594.2 | 352.0 | 17.00 | 0.451 | 1407 | -3.5 | 0.114 | - | - | - | - | - | - | - | 25.92 | 24.59 |
15682 | 134.3 | 8.8 | 649 | 15706 | done | 1.23 | - | - | 2739 | - | 2.00 | 0.014 | 2501 | -668.0 | 369.4 | 16.92 | 0.448 | 1338 | -4.1 | 0.128 | - | - | - | - | - | - | - | 26.15 | 24.57 |
16028 | 104.2 | 8.4 | 666 | 16082 | roll | 1.32 | 0.12 | 0.075 | 2838 | 825.0 | 2.55 | 0.023 | 1090 | -553.3 | 398.4 | 37.58 | 0.293 | 1242 | -2.6 | 0.095 | - | - | - | - | - | - | 26.34 | 25.94 | 24.77 |
16136 | 91.3 | 12.8 | 670 | 16148 | done | 1.32 | 0.15 | 0.170 | 2795 | -286.7 | 2.67 | 0.021 | 2608 | 568.5 | 398.4 | 3.83 | 0.155 | 1230 | -3.1 | 0.193 | - | - | - | - | - | - | 25.42 | 25.92 | 24.84 |
16459 | 51.6 | 11.8 | 686 | 16467 | roll | 1.32 | - | - | 2785 | - | 2.08 | 0.033 | 3853 | 598.6 | 398.4 | 3.67 | 0.144 | 1228 | - | - | - | - | - | - | - | - | - | 25.84 | 24.64 |
16490 | 48.1 | 11.6 | 687 | 16498 | done | 1.32 | - | - | 2796 | - | 2.03 | 0.015 | 2481 | -675.9 | 398.4 | 2.45 | 0.153 | 1228 | - | - | - | - | - | - | - | - | - | 26.25 | 24.84 |
16815 | 18.0 | 9.9 | 724 | 16824 | roll | 1.32 | - | - | 2808 | - | 2.47 | 0.023 | 1100 | -559.1 | 398.4 | 3.83 | 0.134 | 1234 | 1.6 | -0.022 | - | - | - | - | - | - | - | 25.98 | 24.68 |
16900 | 8.1 | 11.1 | 737 | 16909 | done | 1.32 | - | - | 2807 | - | 2.65 | 0.021 | 2604 | 567.5 | 398.4 | 3.30 | 0.138 | 1226 | -2.4 | 0.015 | - | - | - | - | - | - | - | 26.08 | 24.84 |
16942 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16942 | begin surface coast | ||||||||||||||||||||||||||||
16973 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16973 | begin surface | ||||||||||||||||||||||||||||
SM | 0.11 | - | - | - | - | -6.89 | 6.75 | 0.028 | 147 | 21.8 | 0.15 | 0.054 | 2488 | -44893.3 | 592.89 | 122.72 | 0.113 | 434 | 3.5 | -0.000 | - | - | - | - | - | - |