explain.depesz.com

PostgreSQL's explain analyze made readable

Result: GoVx

Settings
# exclusive inclusive rows x rows loops node
1. 3.534 25.721 ↓ 41.2 2,927 1

Nested Loop Left Join (cost=2,695.05..2,939.25 rows=71 width=2,793) (actual time=9.353..25.721 rows=2,927 loops=1)

  • Output: sn.sn_trackable_id, sn.sn_version, sn.sn_bill_of_lading, sn.sn_master_leg_id, sn.sn_deleted_at, sn.sn_id, sn.sn_origin_port_id, sn.sn_master_shipment_id, sn.sn_discriminator, sn.sn_inactive_clock, sn.sn_deleted_by, sn.sn_tenant_id, sn.sn_destination_port_id, sn.sn_active_clock, sn.sn_loading_port_id, sn.sn_created_at, sn.sn_created_by, sn.sn_start_time, c.created_at, c.id, c.container_number, cs.line_description, cs.version, cs.site_id, cs.container_id, cs.last_free_day, cs.carrier_identifier, cs.customs_description, cs.id, cs.remote_clock, cs.last_time, cs.other_description, cs.bill_of_lading, cs.demurrage, cs.first_time, cs.names, cs.local_clock, s.name, s.created_at, s.id, s.length, s.width, s.location_id, s.site_key, s.version, s.ship_type, s.discriminator, s.mmsi, s.call_sign, ss.local_clock, ss.version, ss.location_id, ss.site_id, ss.lat, ss.names, ss.eta, ss.remote_clock, ss.lon, ss.discriminator, ss.draught, ss.last_time, ss.first_time, ss.id, sp.latitude, sp.region, sp.country, sp.address_line1, sp.state, sp.id, sp.address_line2, sp.location_name, sp.postal_code, sp.discriminator, sp.port_code, sp.longitude, sp.city, sp.time_zone_id, ssp.latitude, ssp.address_line1, ssp.country, ssp.address_line2, ssp.state, ssp.longitude, ssp.region, ssp.id, ssp.port_code, ssp.location_name, ssp.city, ssp.discriminator, ssp.postal_code, ssp.time_zone_id, sn.dp_postal_code, sn.dp_address_line2, sn.dp_location_name, sn.dp_id, sn.dp_discriminator, sn.dp_region, sn.dp_country, sn.dp_state, sn.dp_port_code, sn.dp_address_line1, sn.dp_latitude, sn.dp_city, sn.dp_longitude, sn.dp_time_zone_id, sn.op_longitude, sn.op_time_zone_id, sn.op_address_line1, sn.op_postal_code, sn.op_region, sn.op_country, sn.op_city, sn.op_latitude, sn.op_state, sn.op_id, sn.op_address_line2, sn.op_location_name, sn.op_discriminator, sn.op_port_code, sn.lp_time_zone_id, sn.lp_port_code, sn.lp_id, sn.lp_address_line1, sn.lp_longitude, sn.lp_city, sn.lp_latitude, sn.lp_state, sn.lp_postal_code, sn.lp_country, sn.lp_address_line2, sn.lp_location_name, sn.lp_discriminator, sn.lp_region
2.          

CTE cte

3. 0.003 10.536 ↑ 1.0 1 1

Nested Loop Left Join (cost=1.29..2,692.77 rows=1 width=999) (actual time=9.303..10.536 rows=1 loops=1)

  • Output: sn_1.trackable_id, sn_1.version, sn_1.bill_of_lading, sn_1.master_leg_id, sn_1.deleted_at, sn_1.id, sn_1.origin_port_id, sn_1.master_shipment_id, sn_1.discriminator, sn_1.inactive_clock, sn_1.deleted_by, sn_1.tenant_id, sn_1.destination_port_id, sn_1.active_clock, sn_1.loading_port_id, sn_1.created_at, sn_1.created_by, sn_1.start_time, dp.postal_code, dp.address_line2, dp.location_name, dp.id, dp.discriminator, dp.region, dp.country, dp.state, dp.port_code, dp.address_line1, dp.latitude, dp.city, dp.longitude, dp.time_zone_id, op.longitude, op.time_zone_id, op.address_line1, op.postal_code, op.region, op.country, op.city, op.latitude, op.state, op.id, op.address_line2, op.location_name, op.discriminator, op.port_code, lp.time_zone_id, lp.port_code, lp.id, lp.address_line1, lp.longitude, lp.city, lp.latitude, lp.state, lp.postal_code, lp.country, lp.address_line2, lp.location_name, lp.discriminator, lp.region
4. 0.003 10.527 ↑ 1.0 1 1

Nested Loop Left Join (cost=0.86..2,684.32 rows=1 width=733) (actual time=9.296..10.527 rows=1 loops=1)

  • Output: sn_1.trackable_id, sn_1.version, sn_1.bill_of_lading, sn_1.master_leg_id, sn_1.deleted_at, sn_1.id, sn_1.origin_port_id, sn_1.master_shipment_id, sn_1.discriminator, sn_1.inactive_clock, sn_1.deleted_by, sn_1.tenant_id, sn_1.destination_port_id, sn_1.active_clock, sn_1.loading_port_id, sn_1.created_at, sn_1.created_by, sn_1.start_time, dp.postal_code, dp.address_line2, dp.location_name, dp.id, dp.discriminator, dp.region, dp.country, dp.state, dp.port_code, dp.address_line1, dp.latitude, dp.city, dp.longitude, dp.time_zone_id, op.longitude, op.time_zone_id, op.address_line1, op.postal_code, op.region, op.country, op.city, op.latitude, op.state, op.id, op.address_line2, op.location_name, op.discriminator, op.port_code
5. 0.006 10.524 ↑ 1.0 1 1

Nested Loop Left Join (cost=0.43..2,675.86 rows=1 width=467) (actual time=9.294..10.524 rows=1 loops=1)

  • Output: sn_1.trackable_id, sn_1.version, sn_1.bill_of_lading, sn_1.master_leg_id, sn_1.deleted_at, sn_1.id, sn_1.origin_port_id, sn_1.master_shipment_id, sn_1.discriminator, sn_1.inactive_clock, sn_1.deleted_by, sn_1.tenant_id, sn_1.destination_port_id, sn_1.active_clock, sn_1.loading_port_id, sn_1.created_at, sn_1.created_by, sn_1.start_time, dp.postal_code, dp.address_line2, dp.location_name, dp.id, dp.discriminator, dp.region, dp.country, dp.state, dp.port_code, dp.address_line1, dp.latitude, dp.city, dp.longitude, dp.time_zone_id
6. 10.510 10.510 ↑ 1.0 1 1

Seq Scan on public.tracking_session sn_1 (cost=0.00..2,667.40 rows=1 width=201) (actual time=9.281..10.510 rows=1 loops=1)

  • Output: sn_1.id, sn_1.discriminator, sn_1.version, sn_1.active_clock, sn_1.inactive_clock, sn_1.master_leg_id, sn_1.master_shipment_id, sn_1.trackable_id, sn_1.tenant_id, sn_1.created_by, sn_1.created_at, sn_1.deleted_by, sn_1.deleted_at, sn_1.bill_of_lading, sn_1.destination_port_id, sn_1.loading_port_id, sn_1.origin_port_id, sn_1.start_time
  • Filter: (sn_1.master_shipment_id = '091c6f96-8116-42dc-ae7d-de570564975f'::uuid)
  • Rows Removed by Filter: 64033
7. 0.008 0.008 ↑ 1.0 1 1

Index Scan using pk_location on public.location dp (cost=0.43..8.45 rows=1 width=266) (actual time=0.008..0.008 rows=1 loops=1)

  • Output: dp.postal_code, dp.address_line2, dp.location_name, dp.id, dp.discriminator, dp.region, dp.country, dp.state, dp.port_code, dp.address_line1, dp.latitude, dp.city, dp.longitude, dp.time_zone_id
  • Index Cond: (sn_1.destination_port_id = dp.id)
8. 0.000 0.000 ↓ 0.0 0 1

Index Scan using pk_location on public.location op (cost=0.43..8.45 rows=1 width=266) (actual time=0.000..0.000 rows=0 loops=1)

  • Output: op.longitude, op.time_zone_id, op.address_line1, op.postal_code, op.region, op.country, op.city, op.latitude, op.state, op.id, op.address_line2, op.location_name, op.discriminator, op.port_code
  • Index Cond: (sn_1.origin_port_id = op.id)
9. 0.006 0.006 ↑ 1.0 1 1

Index Scan using pk_location on public.location lp (cost=0.43..8.45 rows=1 width=266) (actual time=0.006..0.006 rows=1 loops=1)

  • Output: lp.time_zone_id, lp.port_code, lp.id, lp.address_line1, lp.longitude, lp.city, lp.latitude, lp.state, lp.postal_code, lp.country, lp.address_line2, lp.location_name, lp.discriminator, lp.region
  • Index Cond: (sn_1.loading_port_id = lp.id)
10. 3.866 22.187 ↓ 41.2 2,927 1

Nested Loop Left Join (cost=1.84..194.60 rows=71 width=2,527) (actual time=9.351..22.187 rows=2,927 loops=1)

  • Output: sn.sn_trackable_id, sn.sn_version, sn.sn_bill_of_lading, sn.sn_master_leg_id, sn.sn_deleted_at, sn.sn_id, sn.sn_origin_port_id, sn.sn_master_shipment_id, sn.sn_discriminator, sn.sn_inactive_clock, sn.sn_deleted_by, sn.sn_tenant_id, sn.sn_destination_port_id, sn.sn_active_clock, sn.sn_loading_port_id, sn.sn_created_at, sn.sn_created_by, sn.sn_start_time, sn.dp_postal_code, sn.dp_address_line2, sn.dp_location_name, sn.dp_id, sn.dp_discriminator, sn.dp_region, sn.dp_country, sn.dp_state, sn.dp_port_code, sn.dp_address_line1, sn.dp_latitude, sn.dp_city, sn.dp_longitude, sn.dp_time_zone_id, sn.op_longitude, sn.op_time_zone_id, sn.op_address_line1, sn.op_postal_code, sn.op_region, sn.op_country, sn.op_city, sn.op_latitude, sn.op_state, sn.op_id, sn.op_address_line2, sn.op_location_name, sn.op_discriminator, sn.op_port_code, sn.lp_time_zone_id, sn.lp_port_code, sn.lp_id, sn.lp_address_line1, sn.lp_longitude, sn.lp_city, sn.lp_latitude, sn.lp_state, sn.lp_postal_code, sn.lp_country, sn.lp_address_line2, sn.lp_location_name, sn.lp_discriminator, sn.lp_region, c.created_at, c.id, c.container_number, cs.line_description, cs.version, cs.site_id, cs.container_id, cs.last_free_day, cs.carrier_identifier, cs.customs_description, cs.id, cs.remote_clock, cs.last_time, cs.other_description, cs.bill_of_lading, cs.demurrage, cs.first_time, cs.names, cs.local_clock, s.name, s.created_at, s.id, s.length, s.width, s.location_id, s.site_key, s.version, s.ship_type, s.discriminator, s.mmsi, s.call_sign, sp.latitude, sp.region, sp.country, sp.address_line1, sp.state, sp.id, sp.address_line2, sp.location_name, sp.postal_code, sp.discriminator, sp.port_code, sp.longitude, sp.city, sp.time_zone_id, ss.local_clock, ss.version, ss.location_id, ss.site_id, ss.lat, ss.names, ss.eta, ss.remote_clock, ss.lon, ss.discriminator, ss.draught, ss.last_time, ss.first_time, ss.id
  • Join Filter: ((COALESCE(sn.sn_start_time, sn.sn_created_at) <= ss.first_time) AND (ss.first_time <= COALESCE((sn.sn_deleted_at)::timestamp with time zone, now())))
  • Rows Removed by Join Filter: 6423
11. 0.008 10.616 ↓ 5.0 5 1

Nested Loop Left Join (cost=1.42..18.65 rows=1 width=2,370) (actual time=9.344..10.616 rows=5 loops=1)

  • Output: sn.sn_trackable_id, sn.sn_version, sn.sn_bill_of_lading, sn.sn_master_leg_id, sn.sn_deleted_at, sn.sn_id, sn.sn_origin_port_id, sn.sn_master_shipment_id, sn.sn_discriminator, sn.sn_inactive_clock, sn.sn_deleted_by, sn.sn_tenant_id, sn.sn_destination_port_id, sn.sn_active_clock, sn.sn_loading_port_id, sn.sn_created_at, sn.sn_created_by, sn.sn_start_time, sn.dp_postal_code, sn.dp_address_line2, sn.dp_location_name, sn.dp_id, sn.dp_discriminator, sn.dp_region, sn.dp_country, sn.dp_state, sn.dp_port_code, sn.dp_address_line1, sn.dp_latitude, sn.dp_city, sn.dp_longitude, sn.dp_time_zone_id, sn.op_longitude, sn.op_time_zone_id, sn.op_address_line1, sn.op_postal_code, sn.op_region, sn.op_country, sn.op_city, sn.op_latitude, sn.op_state, sn.op_id, sn.op_address_line2, sn.op_location_name, sn.op_discriminator, sn.op_port_code, sn.lp_time_zone_id, sn.lp_port_code, sn.lp_id, sn.lp_address_line1, sn.lp_longitude, sn.lp_city, sn.lp_latitude, sn.lp_state, sn.lp_postal_code, sn.lp_country, sn.lp_address_line2, sn.lp_location_name, sn.lp_discriminator, sn.lp_region, c.created_at, c.id, c.container_number, cs.line_description, cs.version, cs.site_id, cs.container_id, cs.last_free_day, cs.carrier_identifier, cs.customs_description, cs.id, cs.remote_clock, cs.last_time, cs.other_description, cs.bill_of_lading, cs.demurrage, cs.first_time, cs.names, cs.local_clock, s.name, s.created_at, s.id, s.length, s.width, s.location_id, s.site_key, s.version, s.ship_type, s.discriminator, s.mmsi, s.call_sign, sp.latitude, sp.region, sp.country, sp.address_line1, sp.state, sp.id, sp.address_line2, sp.location_name, sp.postal_code, sp.discriminator, sp.port_code, sp.longitude, sp.city, sp.time_zone_id
12. 0.007 10.603 ↓ 5.0 5 1

Nested Loop Left Join (cost=0.99..10.49 rows=1 width=2,104) (actual time=9.340..10.603 rows=5 loops=1)

  • Output: sn.sn_trackable_id, sn.sn_version, sn.sn_bill_of_lading, sn.sn_master_leg_id, sn.sn_deleted_at, sn.sn_id, sn.sn_origin_port_id, sn.sn_master_shipment_id, sn.sn_discriminator, sn.sn_inactive_clock, sn.sn_deleted_by, sn.sn_tenant_id, sn.sn_destination_port_id, sn.sn_active_clock, sn.sn_loading_port_id, sn.sn_created_at, sn.sn_created_by, sn.sn_start_time, sn.dp_postal_code, sn.dp_address_line2, sn.dp_location_name, sn.dp_id, sn.dp_discriminator, sn.dp_region, sn.dp_country, sn.dp_state, sn.dp_port_code, sn.dp_address_line1, sn.dp_latitude, sn.dp_city, sn.dp_longitude, sn.dp_time_zone_id, sn.op_longitude, sn.op_time_zone_id, sn.op_address_line1, sn.op_postal_code, sn.op_region, sn.op_country, sn.op_city, sn.op_latitude, sn.op_state, sn.op_id, sn.op_address_line2, sn.op_location_name, sn.op_discriminator, sn.op_port_code, sn.lp_time_zone_id, sn.lp_port_code, sn.lp_id, sn.lp_address_line1, sn.lp_longitude, sn.lp_city, sn.lp_latitude, sn.lp_state, sn.lp_postal_code, sn.lp_country, sn.lp_address_line2, sn.lp_location_name, sn.lp_discriminator, sn.lp_region, c.created_at, c.id, c.container_number, cs.line_description, cs.version, cs.site_id, cs.container_id, cs.last_free_day, cs.carrier_identifier, cs.customs_description, cs.id, cs.remote_clock, cs.last_time, cs.other_description, cs.bill_of_lading, cs.demurrage, cs.first_time, cs.names, cs.local_clock, s.name, s.created_at, s.id, s.length, s.width, s.location_id, s.site_key, s.version, s.ship_type, s.discriminator, s.mmsi, s.call_sign
13. 0.012 10.581 ↓ 5.0 5 1

Nested Loop Left Join (cost=0.71..10.18 rows=1 width=2,004) (actual time=9.335..10.581 rows=5 loops=1)

  • Output: sn.sn_trackable_id, sn.sn_version, sn.sn_bill_of_lading, sn.sn_master_leg_id, sn.sn_deleted_at, sn.sn_id, sn.sn_origin_port_id, sn.sn_master_shipment_id, sn.sn_discriminator, sn.sn_inactive_clock, sn.sn_deleted_by, sn.sn_tenant_id, sn.sn_destination_port_id, sn.sn_active_clock, sn.sn_loading_port_id, sn.sn_created_at, sn.sn_created_by, sn.sn_start_time, sn.dp_postal_code, sn.dp_address_line2, sn.dp_location_name, sn.dp_id, sn.dp_discriminator, sn.dp_region, sn.dp_country, sn.dp_state, sn.dp_port_code, sn.dp_address_line1, sn.dp_latitude, sn.dp_city, sn.dp_longitude, sn.dp_time_zone_id, sn.op_longitude, sn.op_time_zone_id, sn.op_address_line1, sn.op_postal_code, sn.op_region, sn.op_country, sn.op_city, sn.op_latitude, sn.op_state, sn.op_id, sn.op_address_line2, sn.op_location_name, sn.op_discriminator, sn.op_port_code, sn.lp_time_zone_id, sn.lp_port_code, sn.lp_id, sn.lp_address_line1, sn.lp_longitude, sn.lp_city, sn.lp_latitude, sn.lp_state, sn.lp_postal_code, sn.lp_country, sn.lp_address_line2, sn.lp_location_name, sn.lp_discriminator, sn.lp_region, c.created_at, c.id, c.container_number, cs.line_description, cs.version, cs.site_id, cs.container_id, cs.last_free_day, cs.carrier_identifier, cs.customs_description, cs.id, cs.remote_clock, cs.last_time, cs.other_description, cs.bill_of_lading, cs.demurrage, cs.first_time, cs.names, cs.local_clock
  • Join Filter: ((COALESCE(sn.sn_start_time, sn.sn_created_at) <= cs.first_time) AND (cs.first_time <= COALESCE((sn.sn_deleted_at)::timestamp with time zone, now())))
14. 0.002 10.556 ↑ 1.0 1 1

Nested Loop (cost=0.29..8.34 rows=1 width=1,776) (actual time=9.322..10.556 rows=1 loops=1)

  • Output: sn.sn_trackable_id, sn.sn_version, sn.sn_bill_of_lading, sn.sn_master_leg_id, sn.sn_deleted_at, sn.sn_id, sn.sn_origin_port_id, sn.sn_master_shipment_id, sn.sn_discriminator, sn.sn_inactive_clock, sn.sn_deleted_by, sn.sn_tenant_id, sn.sn_destination_port_id, sn.sn_active_clock, sn.sn_loading_port_id, sn.sn_created_at, sn.sn_created_by, sn.sn_start_time, sn.dp_postal_code, sn.dp_address_line2, sn.dp_location_name, sn.dp_id, sn.dp_discriminator, sn.dp_region, sn.dp_country, sn.dp_state, sn.dp_port_code, sn.dp_address_line1, sn.dp_latitude, sn.dp_city, sn.dp_longitude, sn.dp_time_zone_id, sn.op_longitude, sn.op_time_zone_id, sn.op_address_line1, sn.op_postal_code, sn.op_region, sn.op_country, sn.op_city, sn.op_latitude, sn.op_state, sn.op_id, sn.op_address_line2, sn.op_location_name, sn.op_discriminator, sn.op_port_code, sn.lp_time_zone_id, sn.lp_port_code, sn.lp_id, sn.lp_address_line1, sn.lp_longitude, sn.lp_city, sn.lp_latitude, sn.lp_state, sn.lp_postal_code, sn.lp_country, sn.lp_address_line2, sn.lp_location_name, sn.lp_discriminator, sn.lp_region, c.created_at, c.id, c.container_number
15. 10.548 10.548 ↑ 1.0 1 1

CTE Scan on cte sn (cost=0.00..0.02 rows=1 width=1,740) (actual time=9.315..10.548 rows=1 loops=1)

  • Output: sn.sn_trackable_id, sn.sn_version, sn.sn_bill_of_lading, sn.sn_master_leg_id, sn.sn_deleted_at, sn.sn_id, sn.sn_origin_port_id, sn.sn_master_shipment_id, sn.sn_discriminator, sn.sn_inactive_clock, sn.sn_deleted_by, sn.sn_tenant_id, sn.sn_destination_port_id, sn.sn_active_clock, sn.sn_loading_port_id, sn.sn_created_at, sn.sn_created_by, sn.sn_start_time, sn.dp_postal_code, sn.dp_address_line2, sn.dp_location_name, sn.dp_id, sn.dp_discriminator, sn.dp_region, sn.dp_country, sn.dp_state, sn.dp_port_code, sn.dp_address_line1, sn.dp_latitude, sn.dp_city, sn.dp_longitude, sn.dp_time_zone_id, sn.op_longitude, sn.op_time_zone_id, sn.op_address_line1, sn.op_postal_code, sn.op_region, sn.op_country, sn.op_city, sn.op_latitude, sn.op_state, sn.op_id, sn.op_address_line2, sn.op_location_name, sn.op_discriminator, sn.op_port_code, sn.lp_time_zone_id, sn.lp_port_code, sn.lp_id, sn.lp_address_line1, sn.lp_longitude, sn.lp_city, sn.lp_latitude, sn.lp_state, sn.lp_postal_code, sn.lp_country, sn.lp_address_line2, sn.lp_location_name, sn.lp_discriminator, sn.lp_region
  • Filter: ((sn.sn_discriminator)::text = 'container'::text)
16. 0.006 0.006 ↑ 1.0 1 1

Index Scan using pk_container on public.container c (cost=0.29..8.30 rows=1 width=36) (actual time=0.005..0.006 rows=1 loops=1)

  • Output: c.created_at, c.id, c.container_number
  • Index Cond: (c.id = sn.sn_trackable_id)
17. 0.013 0.013 ↑ 1.8 5 1

Index Scan using container_status_container_id_first_time_ix on public.container_status cs (cost=0.42..1.66 rows=9 width=228) (actual time=0.006..0.013 rows=5 loops=1)

  • Output: cs.line_description, cs.version, cs.site_id, cs.container_id, cs.last_free_day, cs.carrier_identifier, cs.customs_description, cs.id, cs.remote_clock, cs.last_time, cs.other_description, cs.bill_of_lading, cs.demurrage, cs.first_time, cs.names, cs.local_clock
  • Index Cond: (cs.container_id = c.id)
18. 0.015 0.015 ↑ 1.0 1 5

Index Scan using site_pkey on public.site s (cost=0.28..0.30 rows=1 width=100) (actual time=0.003..0.003 rows=1 loops=5)

  • Output: s.name, s.created_at, s.id, s.length, s.width, s.location_id, s.site_key, s.version, s.ship_type, s.discriminator, s.mmsi, s.call_sign
  • Index Cond: (s.id = cs.site_id)
19. 0.005 0.005 ↓ 0.0 0 5

Index Scan using pk_location on public.location sp (cost=0.43..8.15 rows=1 width=266) (actual time=0.001..0.001 rows=0 loops=5)

  • Output: sp.latitude, sp.region, sp.country, sp.address_line1, sp.state, sp.id, sp.address_line2, sp.location_name, sp.postal_code, sp.discriminator, sp.port_code, sp.longitude, sp.city, sp.time_zone_id
  • Index Cond: (s.location_id = sp.id)
20. 7.705 7.705 ↓ 1.3 1,870 5

Index Scan using site_status_site_id_first_time_ix on public.site_status ss (cost=0.43..146.15 rows=1,490 width=157) (actual time=0.004..1.541 rows=1,870 loops=5)

  • Output: ss.local_clock, ss.version, ss.location_id, ss.site_id, ss.lat, ss.names, ss.eta, ss.remote_clock, ss.lon, ss.discriminator, ss.draught, ss.last_time, ss.first_time, ss.id
  • Index Cond: (ss.site_id = s.id)
21. 0.000 0.000 ↓ 0.0 0 2,927

Index Scan using pk_location on public.location ssp (cost=0.43..0.72 rows=1 width=266) (actual time=0.000..0.000 rows=0 loops=2,927)

  • Output: ssp.latitude, ssp.address_line1, ssp.country, ssp.address_line2, ssp.state, ssp.longitude, ssp.region, ssp.id, ssp.port_code, ssp.location_name, ssp.city, ssp.discriminator, ssp.postal_code, ssp.time_zone_id
  • Index Cond: (ss.location_id = ssp.id)
Planning time : 1.518 ms
Execution time : 26.633 ms