• Previous call tries 3 | • 70.49 of 310.00 AH used of 24V (77.26% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -65.2 deg, depth 0.85 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
• VBD pumped to 515.37 (SM_CC=515.36688) | ||
• GPS1 time: 8 s | • bottom range 35.8 m at 337.9 m, depth 374 m (500 m grid) | |
• GPS2 time: 7 s | • Transponder ping count: 18 | |
• 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 | |||||
19 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
19 | begin dive | ||||||||||||||||||||||||||||
21 | - | - | - | 108 | VBD | -0.88 | - | - | 53 | - | - | - | 1852 | - | -92.5 | -84.47 | - | 2844 | - | - | - | - | - | - | - | - | 15.09 | - | 15.09 |
111 | 3.1 | -5.5 | 15 | 137 | roll | -0.88 | 13.90 | 0.291 | 2461 | 173.2 | 2.28 | 0.064 | 3223 | 601.3 | -92.5 | -4.25 | - | 3080 | -55.5 | - | - | - | - | - | - | - | 14.72 | 13.89 | 14.95 |
143 | 15.7 | -39.4 | 20 | 150 | done | -0.88 | - | - | 2461 | - | 2.38 | 0.055 | 1810 | -593.7 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.00 | 14.90 | 15.01 |
213 | 32.2 | -20.4 | 33 | 220 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.056 | 3214 | 597.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.13 | 14.92 | 15.13 |
316 | 48.9 | -15.1 | 53 | 323 | done | -0.88 | - | - | 2461 | - | 2.33 | 0.044 | 1802 | -606.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.04 | 14.95 | 15.06 |
387 | 60.1 | -16.9 | 66 | 395 | roll | -0.88 | 0.03 | 0.508 | 2467 | 200.0 | 2.33 | 0.048 | 3211 | 604.7 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.81 | 14.96 | 14.97 |
513 | 78.9 | -14.2 | 90 | 521 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.044 | 1809 | -609.6 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.08 | 14.99 | 15.09 |
584 | 89.1 | -14.7 | 103 | 590 | done | -0.88 | - | - | 2460 | - | - | - | 1809 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.19 | 15.20 | 15.20 |
652 | 99.0 | -13.3 | 116 | 659 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.065 | 409 | -595.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 14.98 | 15.21 |
722 | 109.2 | -14.7 | 129 | 730 | done | -0.88 | 0.10 | 0.259 | 2472 | 110.0 | 2.28 | 0.036 | 1816 | 617.1 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.90 | 15.00 | 15.04 |
793 | 119.9 | -14.9 | 142 | 801 | roll | -0.88 | - | - | 2464 | - | 2.30 | 0.052 | 3213 | 607.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
839 | 126.7 | -14.3 | 150 | 846 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.045 | 1810 | -610.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.10 | 15.01 | 15.11 |
911 | 137.3 | -15.9 | 163 | 917 | done | -0.88 | - | - | 2464 | - | - | - | 1811 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.22 |
979 | 148.6 | -15.7 | 176 | 985 | done | -0.88 | - | - | 2464 | - | - | - | 1811 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.22 |
1048 | 159.4 | -15.5 | 189 | 1055 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.064 | 409 | -596.6 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
1072 | 163.3 | -14.8 | 193 | 1079 | done | -0.88 | 0.08 | 0.291 | 2470 | 75.0 | 2.28 | 0.037 | 1813 | 615.8 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.90 | 15.03 | 15.05 |
1142 | 173.1 | -15.7 | 206 | 1149 | roll | -0.88 | - | - | 2462 | - | 2.30 | 0.053 | 3215 | 609.6 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.22 | 15.01 | 15.23 |
1226 | 183.3 | -11.7 | 222 | 1233 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.044 | 1811 | -610.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.09 | 14.99 | 15.10 |
1299 | 193.8 | -15.8 | 235 | 1305 | roll | -0.88 | - | - | 2462 | - | 2.35 | 0.063 | 408 | -597.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.22 | 15.00 | 15.22 |
1332 | 199.7 | -18.4 | 241 | 1340 | done | -0.88 | 0.03 | 0.533 | 2469 | 233.3 | 2.28 | 0.039 | 1806 | 613.2 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.85 | 15.02 | 15.05 |
1403 | 210.1 | -14.1 | 254 | 1410 | roll | -0.88 | - | - | 2463 | - | 2.33 | 0.052 | 3227 | 609.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
1462 | 218.3 | -13.0 | 265 | 1469 | done | -0.88 | - | - | 2463 | - | 2.33 | 0.046 | 1812 | -607.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.13 |
1533 | 228.0 | -14.5 | 278 | 1539 | done | -0.88 | - | - | 2462 | - | - | - | 1812 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.24 | 15.25 | 15.25 |
1603 | 237.4 | -14.4 | 291 | 1609 | roll | -0.88 | - | - | 2462 | - | 2.35 | 0.063 | 406 | -598.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 15.02 | 15.25 |
1626 | 241.2 | -15.3 | 295 | 1634 | done | -0.88 | 0.08 | 0.290 | 2470 | 100.0 | 2.30 | 0.037 | 1819 | 614.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.91 | 15.04 | 15.07 |
1696 | 251.3 | -12.9 | 308 | 1703 | roll | -0.88 | - | - | 2462 | - | 2.30 | 0.053 | 3217 | 607.8 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.26 | 15.00 | 15.26 |
1729 | 255.9 | -13.9 | 314 | 1737 | done | -0.88 | - | - | 2462 | - | 2.33 | 0.046 | 1804 | -606.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.14 |
1800 | 266.1 | -15.2 | 327 | 1806 | done | -0.88 | - | - | 2462 | - | - | - | 1804 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.24 | 15.25 | 15.25 |
1870 | 276.5 | -14.3 | 340 | 1876 | done | -0.88 | - | - | 2462 | - | - | - | 1803 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 15.25 | 15.25 |
1938 | 286.0 | -13.8 | 353 | 1945 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.054 | 3211 | 599.1 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.24 | 15.03 | 15.24 |
2018 | 297.2 | -12.7 | 368 | 2025 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.045 | 1810 | -609.1 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.14 |
2102 | 309.1 | -14.3 | 375 | 2108 | roll | -0.88 | 0.03 | 0.516 | 2463 | - | 2.33 | 0.050 | 3221 | 605.6 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 14.92 | 15.04 | 15.09 |
2119 | 309.1 | -14.3 | 375 | 2130 | done | -0.88 | - | - | 2463 | - | 2.30 | 0.047 | 1813 | -612.2 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.15 |
2245 | 328.9 | -13.9 | 382 | 2251 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.054 | 3214 | 601.3 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.29 | 15.05 | 15.29 |
2288 | 334.8 | -14.3 | 384 | 2293 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.047 | 1813 | -609.1 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.16 | 15.06 | 15.17 |
2431 | 355.2 | -14.4 | 391 | 2436 | roll | -0.88 | - | - | 2460 | - | 2.33 | 0.056 | 3210 | 599.6 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.28 | 15.06 | 15.30 |
2482 | 361.2 | -14.3 | 393 | 2488 | done | -0.88 | 0.05 | 0.334 | 2470 | 200.0 | 2.30 | 0.047 | 1804 | -611.3 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 14.92 | 15.07 | 15.11 |
2494 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
2494 | begin apogee | ||||||||||||||||||||||||||||
2498 | 363.9 | -14.0 | 394 | 2578 | done | -0.17 | 1.15 | 0.166 | 2697 | 197.4 | - | - | 1804 | - | - | 69.93 | 1.216 | 2698 | -5.4 | 0.284 | - | - | - | - | - | - | 14.97 | 14.62 | 14.23 |
2579 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
2580 | begin climb | ||||||||||||||||||||||||||||
2581 | 367.3 | - | 398 | 2662 | done | 0.88 | 1.55 | 0.075 | 3033 | 216.8 | - | - | 1804 | - | 92.5 | 75.72 | 1.224 | 2321 | -5.0 | 0.264 | - | - | - | - | - | - | 14.73 | 14.52 | 14.00 |
2776 | 354.1 | 11.2 | 408 | 2782 | roll | 0.88 | - | - | 3033 | - | 2.42 | 0.070 | 399 | -580.6 | 92.5 | - | - | 2317 | - | - | - | - | - | - | - | - | 14.99 | 14.76 | 14.99 |
2799 | 351.4 | 11.5 | 409 | 2804 | done | 0.88 | - | - | 3033 | - | 2.30 | 0.037 | 1804 | 610.9 | 92.5 | - | - | 2315 | - | - | - | - | - | - | - | - | 14.90 | 14.81 | 14.91 |
2942 | 336.1 | 10.5 | 416 | 2947 | roll | 0.88 | - | - | 3033 | - | 2.30 | 0.053 | 3201 | 607.4 | 92.5 | - | - | 2314 | - | - | - | - | - | - | - | - | 15.13 | 14.91 | 15.14 |
2978 | 333.7 | 10.4 | 417 | 2985 | done | 0.88 | - | - | 3037 | - | 2.33 | 0.050 | 1801 | -600.9 | 92.5 | - | - | 2312 | - | - | - | - | - | - | - | - | 15.02 | 14.92 | 15.04 |
3104 | 318.8 | 10.6 | 424 | 3109 | roll | 0.88 | - | - | 3037 | - | 2.30 | 0.050 | 3199 | 607.8 | 92.5 | - | - | 2311 | - | - | - | - | - | - | - | - | 15.19 | 14.90 | 15.20 |
3146 | 314.5 | 10.3 | 426 | 3151 | done | 0.88 | - | - | 3040 | - | 2.33 | 0.050 | 1801 | -600.0 | 92.5 | - | - | 2311 | - | - | - | - | - | - | - | - | 15.07 | 14.98 | 15.09 |
3289 | 300.9 | 9.6 | 433 | 3294 | roll | 0.89 | - | - | 3040 | - | 2.30 | 0.048 | 3201 | 608.7 | 97.6 | - | - | 2310 | - | - | - | - | - | - | - | - | 15.21 | 15.02 | 15.22 |
3447 | 285.5 | 10.0 | 461 | 3455 | done | 0.89 | - | - | 3044 | - | 2.35 | 0.050 | 1794 | -598.7 | 97.6 | - | - | 2309 | - | - | - | - | - | - | - | - | 15.10 | 15.02 | 15.12 |
3518 | 278.4 | 10.1 | 474 | 3523 | done | 0.89 | - | - | 3044 | - | - | - | 1794 | - | 97.6 | - | - | 2309 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.21 |
3585 | 271.6 | 10.0 | 487 | 3591 | done | 0.89 | - | - | 3044 | - | - | - | 1794 | - | 97.7 | - | - | 2308 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.24 |
3653 | 265.2 | 9.6 | 500 | 3667 | roll | 0.89 | - | - | 3044 | - | 2.42 | 0.072 | 392 | -579.3 | 103.5 | 8.02 | 0.969 | 2277 | -3.9 | 0.187 | - | - | - | - | - | - | 15.23 | 14.97 | 14.46 |
3720 | 257.9 | 11.1 | 512 | 3727 | done | 0.89 | - | - | 3044 | - | 2.30 | 0.038 | 1809 | 616.1 | 103.5 | - | - | 2276 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.09 |
3789 | 250.2 | 11.3 | 525 | 3796 | done | 0.89 | - | - | 3044 | - | - | - | 1809 | - | 103.5 | - | - | 2275 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
3858 | 242.6 | 11.2 | 538 | 3864 | done | 0.89 | - | - | 3043 | - | - | - | 1812 | - | 103.5 | - | - | 2276 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
3925 | 235.3 | 10.7 | 551 | 3932 | roll | 0.89 | - | - | 3046 | - | 2.40 | 0.069 | 391 | -592.1 | 103.5 | - | - | 2275 | - | - | - | - | - | - | - | - | 15.22 | 14.96 | 15.23 |
4034 | 222.6 | 11.4 | 572 | 4041 | done | 0.89 | - | - | 3047 | - | 2.30 | 0.037 | 1807 | 615.7 | 103.5 | - | - | 2274 | - | - | - | - | - | - | - | - | 15.03 | 14.97 | 15.04 |
4104 | 215.6 | 10.4 | 585 | 4111 | roll | 0.89 | - | - | 3047 | - | 2.40 | 0.070 | 390 | -590.4 | 103.5 | - | - | 2274 | - | - | - | - | - | - | - | - | 15.23 | 14.92 | 15.23 |
4163 | 208.6 | 12.4 | 596 | 4170 | done | 0.89 | - | - | 3045 | - | 2.30 | 0.037 | 1814 | 619.1 | 103.5 | - | - | 2274 | - | - | - | - | - | - | - | - | 15.11 | 15.04 | 15.12 |
4233 | 202.1 | 8.8 | 609 | 4253 | roll | 0.91 | - | - | 3047 | - | 2.33 | 0.051 | 3200 | 594.8 | 119.1 | 14.15 | 1.024 | 2211 | -4.5 | 0.155 | - | - | - | - | - | - | 15.24 | 14.97 | 14.45 |
4280 | 197.8 | 8.9 | 617 | 4300 | done | 0.93 | - | - | 3050 | - | 2.35 | 0.051 | 1794 | -598.3 | 134.0 | 13.62 | 1.000 | 2151 | -4.4 | 0.154 | - | - | - | - | - | - | 15.02 | 14.94 | 14.41 |
4363 | 188.4 | 14.8 | 632 | 4369 | roll | 0.93 | - | - | 3050 | - | 2.35 | 0.052 | 3200 | 598.3 | 134.0 | - | - | 2148 | - | - | - | - | - | - | - | - | 15.11 | 14.91 | 15.11 |
4497 | 170.7 | 11.9 | 658 | 4503 | done | 0.93 | - | - | 3050 | - | 2.35 | 0.050 | 1800 | -595.7 | 134.0 | - | - | 2147 | - | - | - | - | - | - | - | - | 15.04 | 14.94 | 15.04 |
4566 | 162.8 | 11.1 | 671 | 4572 | roll | 0.93 | - | - | 3050 | - | 2.30 | 0.048 | 3197 | 607.4 | 134.0 | - | - | 2148 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.16 |
4579 | 161.2 | 11.3 | 673 | 4586 | done | 0.93 | - | - | 3053 | - | 2.35 | 0.052 | 1799 | -594.9 | 134.0 | - | - | 2146 | - | - | - | - | - | - | - | - | 14.99 | 14.89 | 15.00 |
4650 | 153.1 | 11.9 | 686 | 4657 | roll | 0.93 | - | - | 3053 | - | 2.40 | 0.072 | 391 | -586.7 | 134.0 | - | - | 2146 | - | - | - | - | - | - | - | - | 15.16 | 14.90 | 15.19 |
4694 | 147.4 | 12.9 | 694 | 4701 | done | 0.93 | - | - | 3053 | - | 2.30 | 0.039 | 1799 | 612.2 | 134.0 | - | - | 2144 | - | - | - | - | - | - | - | - | 15.00 | 14.92 | 15.01 |
4764 | 139.0 | 12.7 | 707 | 4770 | done | 0.93 | - | - | 3053 | - | - | - | 1802 | - | 134.0 | - | - | 2144 | - | - | - | - | - | - | - | - | 15.16 | 15.18 | 15.18 |
4832 | 130.2 | 12.5 | 720 | 4838 | roll | 0.93 | - | - | 3053 | - | 2.30 | 0.051 | 3201 | 608.3 | 134.0 | - | - | 2144 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
4886 | 123.1 | 12.4 | 730 | 4892 | done | 0.93 | - | - | 3054 | - | 2.35 | 0.054 | 1802 | -595.3 | 134.0 | - | - | 2144 | - | - | - | - | - | - | - | - | 15.06 | 14.97 | 15.07 |
4955 | 115.7 | 11.7 | 743 | 4961 | done | 0.93 | - | - | 3054 | - | - | - | 1802 | - | 134.0 | - | - | 2144 | - | - | - | - | - | - | - | - | 15.18 | 15.19 | 15.19 |
5023 | 107.0 | 13.5 | 756 | 5029 | roll | 0.93 | - | - | 3054 | - | 2.40 | 0.076 | 394 | -586.7 | 134.0 | - | - | 2143 | - | - | - | - | - | - | - | - | 15.19 | 14.95 | 15.19 |
5046 | 103.2 | 15.4 | 760 | 5053 | done | 0.93 | - | - | 3054 | - | 2.30 | 0.037 | 1805 | 613.5 | 134.0 | - | - | 2144 | - | - | - | - | - | - | - | - | 15.07 | 14.99 | 15.09 |
5116 | 94.4 | 12.9 | 773 | 5123 | roll | 0.93 | - | - | 3057 | - | 2.42 | 0.070 | 388 | -585.5 | 134.0 | - | - | 2143 | - | - | - | - | - | - | - | - | 15.19 | 14.95 | 15.19 |
5206 | 82.6 | 13.2 | 790 | 5213 | done | 0.93 | - | - | 3057 | - | 2.30 | 0.037 | 1806 | 616.5 | 134.0 | - | - | 2143 | - | - | - | - | - | - | - | - | 15.07 | 15.00 | 15.09 |
5275 | 74.1 | 11.5 | 803 | 5281 | done | 0.93 | - | - | 3056 | - | - | - | 1808 | - | 134.0 | - | - | 2143 | - | - | - | - | - | - | - | - | 15.19 | 15.20 | 15.20 |
5343 | 67.3 | 9.8 | 816 | 5350 | roll | 0.93 | - | - | 3057 | - | 2.28 | 0.050 | 3195 | 608.3 | 136.2 | - | - | 2143 | - | - | - | - | - | - | - | - | 15.19 | 14.99 | 15.19 |
5663 | 38.0 | 9.1 | 879 | 5682 | done | 0.95 | - | - | 3060 | - | 2.33 | 0.049 | 1792 | -602.1 | 148.1 | 11.25 | 0.806 | 2093 | -4.4 | 0.037 | - | - | - | - | - | - | 15.08 | 14.99 | 14.48 |
5745 | 32.5 | 5.3 | 894 | 5803 | roll | 1.03 | - | - | 3060 | - | 2.35 | 0.048 | 3204 | 600.9 | 212.5 | 50.12 | 0.887 | 1834 | -5.2 | 0.033 | - | - | - | - | - | - | 15.16 | 14.74 | 14.40 |
5875 | 20.7 | 10.9 | 918 | 5882 | done | 1.03 | - | - | 3060 | - | 2.38 | 0.050 | 1796 | -591.6 | 212.5 | - | - | 1828 | - | - | - | - | - | - | - | - | 14.90 | 14.81 | 14.90 |
5945 | 16.1 | 5.3 | 931 | 5994 | roll | 1.11 | 0.12 | 0.149 | 3115 | 458.3 | 2.45 | 0.072 | 392 | -573.1 | 277.4 | 40.62 | 0.944 | 1566 | -6.5 | 0.019 | - | - | - | - | - | - | 14.84 | 14.63 | 14.26 |
6052 | 4.5 | 17.0 | 950 | 6059 | done | 1.11 | - | - | 3115 | - | 2.33 | 0.037 | 1799 | 603.9 | 277.4 | - | - | 1565 | - | - | - | - | - | - | - | - | 14.88 | 14.81 | 14.89 |
6064 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
6064 | begin surface coast | ||||||||||||||||||||||||||||
6080 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
6080 | begin surface | ||||||||||||||||||||||||||||
SM | 0.87 | - | - | - | - | -8.22 | 14.10 | 0.049 | 111 | 7.9 | - | - | 1801 | - | 515.37 | 147.85 | 0.805 | 598 | 4.0 | -0.000 | - | - | - | - | - | - |