Stephens won the S5 50m backstroke in 41.20 and Rodgie took the S14 100m backstroke in 1:06.98, both new British records.
Walker triumphed in the S7 50m freestyle in 28.31 and Bird came home first in the S14 100m backstroke in a new personal best of 1:16.67.
Walker said: "It is about time I won an individual gold medal. It feels great. It was great to hear the National Anthem. It makes you proud to be British."
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