• Previous call tries 1 | • 55.46 of 150.00 AH used of 24V (63.03% remains) | |
• Previous NAKs 0, Timeouts 0 | • 42.17 of 100.00 AH used of 10V (57.83% remains) | |
• Surface angle -72.3 deg, depth 0.50 m | • Intended pitch -19.0 deg, speed -9.429 cm/s | |
• VBD pumped to 430.01 (SM_CC=430) | ||
• GPS1 time: 38 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 | |||||
20 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
20 | begin dive | ||||||||||||||||||||||||||||
24 | - | - | - | 98 | VBD | -0.65 | - | - | 121 | - | - | - | 2517 | - | -67.8 | -71.75 | - | 2972 | - | - | - | - | - | - | - | - | - | - | - |
103 | 4.2 | -9.9 | 10 | 121 | roll | -0.65 | 8.55 | 0.230 | 2167 | 239.3 | 2.58 | 0.044 | 1077 | -558.1 | -67.8 | -2.70 | - | 3131 | -58.9 | - | - | - | - | - | - | - | 25.21 | 26.03 | 26.43 |
143 | 26.9 | -54.0 | 15 | 149 | done | -0.65 | - | - | 2155 | - | 2.67 | 0.037 | 2564 | 556.9 | -67.8 | - | - | 3133 | - | - | - | - | - | - | - | - | - | 26.00 | - |
459 | 126.6 | -29.6 | 34 | 465 | roll | -0.65 | - | - | 2160 | - | 2.62 | 0.031 | 1079 | -566.8 | -67.8 | - | - | 3134 | - | - | - | - | - | - | - | - | - | 26.21 | - |
653 | 170.6 | -21.5 | 43 | 659 | done | -0.65 | - | - | 2154 | - | 2.62 | 0.037 | 2561 | 565.6 | -67.8 | - | - | 3134 | - | - | - | - | - | - | - | - | - | 26.20 | - |
982 | 233.9 | -16.7 | 59 | 988 | roll | -0.65 | - | - | 2154 | - | 2.15 | 0.049 | 3826 | 588.4 | -67.8 | - | - | 3135 | - | - | - | - | - | - | - | - | - | 26.19 | - |
1070 | 250.1 | -17.8 | 63 | 1076 | done | -0.65 | - | - | 2154 | - | 2.10 | 0.024 | 2524 | -620.0 | -67.8 | - | - | 3135 | - | - | - | - | - | - | - | - | - | 26.43 | - |
1399 | 299.4 | -14.6 | 79 | 1404 | roll | -0.65 | - | - | 2154 | - | 2.47 | 0.031 | 1068 | -589.5 | -67.8 | - | - | 3135 | - | - | - | - | - | - | - | - | - | 26.33 | - |
1584 | 325.4 | -14.0 | 87 | 1590 | done | -0.65 | - | - | 2154 | - | 2.60 | 0.034 | 2563 | 575.0 | -67.8 | - | - | 3135 | - | - | - | - | - | - | - | - | - | 26.30 | - |
1901 | 370.9 | -14.3 | 103 | 1908 | roll | -0.65 | - | - | 2154 | - | 2.55 | 0.029 | 1080 | -581.6 | -67.8 | - | - | 3135 | - | - | - | - | - | - | - | - | - | 26.34 | - |
2036 | 389.9 | -14.0 | 109 | 2042 | done | -0.65 | - | - | 2145 | - | 2.58 | 0.034 | 2562 | 574.4 | -67.8 | - | - | 3134 | - | - | - | - | - | - | - | - | - | 26.32 | - |
2360 | 432.5 | -11.9 | 125 | 2366 | roll | -0.65 | - | - | 2148 | - | 2.58 | 0.032 | 1088 | -571.3 | -67.8 | - | - | 3131 | - | - | - | - | - | - | - | - | - | 26.32 | - |
2438 | 441.7 | -13.0 | 128 | 2444 | done | -0.65 | 0.10 | 0.163 | 2167 | 190.0 | 2.58 | 0.036 | 2562 | 571.3 | -67.8 | - | - | 3131 | - | - | - | - | - | - | - | - | 26.10 | 26.27 | - |
2757 | 477.2 | -11.6 | 144 | 2763 | roll | -0.65 | - | - | 2167 | - | 2.58 | 0.032 | 1086 | -572.1 | -67.8 | - | - | 3129 | - | - | - | - | - | - | - | - | - | 26.31 | - |
2923 | 496.2 | -12.4 | 151 | 2931 | done | -0.65 | - | - | 2158 | - | 2.58 | 0.036 | 2558 | 570.5 | -67.8 | - | - | 3126 | - | - | - | - | - | - | - | - | - | 26.28 | - |
3229 | 532.9 | -11.0 | 167 | 3235 | roll | -0.65 | - | - | 2154 | - | 2.20 | 0.047 | 3827 | 576.8 | -67.8 | - | - | 3124 | - | - | - | - | - | - | - | - | - | 26.18 | - |
3248 | 532.9 | -11.0 | 167 | 3257 | done | -0.65 | - | - | 2154 | - | 2.12 | 0.024 | 2534 | -609.9 | -67.8 | - | - | 3123 | - | - | - | - | - | - | - | - | - | 26.48 | - |
3556 | 569.6 | -11.4 | 183 | 3562 | roll | -0.65 | - | - | 2154 | - | 2.50 | 0.031 | 1067 | -586.8 | -67.8 | - | - | 3119 | - | - | - | - | - | - | - | - | - | 26.28 | - |
3646 | 580.6 | -12.3 | 187 | 3653 | done | -0.65 | - | - | 2153 | - | 2.58 | 0.034 | 2557 | 577.5 | -67.8 | - | - | 3120 | - | - | - | - | - | - | - | - | - | 26.27 | - |
3962 | 615.9 | -10.2 | 200 | 3964 | done | -0.65 | - | - | 2154 | - | - | - | 2555 | - | -67.8 | - | - | 3119 | - | - | - | - | - | - | - | - | - | - | - |
4262 | 644.2 | -9.5 | 210 | 4268 | roll | -0.65 | - | - | 2154 | - | 2.53 | 0.032 | 1083 | -581.8 | -67.8 | - | - | 3114 | - | - | - | - | - | - | - | - | - | 26.25 | - |
4339 | 651.0 | -9.9 | 212 | 4346 | done | -0.65 | - | - | 2148 | - | 2.58 | 0.037 | 2559 | 572.1 | -67.8 | - | - | 3113 | - | - | - | - | - | - | - | - | - | 26.22 | - |
4666 | 686.1 | -10.7 | 223 | 4672 | roll | -0.65 | - | - | 2150 | - | 2.55 | 0.033 | 1072 | -583.1 | -67.8 | - | - | 3110 | - | - | - | - | - | - | - | - | - | 26.23 | - |
4766 | 696.9 | -10.9 | 226 | 4773 | done | -0.65 | - | - | 2142 | - | 2.58 | 0.034 | 2560 | 576.7 | -67.8 | - | - | 3109 | - | - | - | - | - | - | - | - | - | 26.22 | - |
5103 | 731.5 | -10.0 | 237 | 5109 | roll | -0.65 | - | - | 2142 | - | 2.55 | 0.033 | 1075 | -582.4 | -67.8 | - | - | 3106 | - | - | - | - | - | - | - | - | - | 26.21 | - |
5140 | 735.3 | -10.0 | 238 | 5147 | done | -0.65 | 0.10 | 0.158 | 2168 | 260.0 | 2.60 | 0.035 | 2568 | 574.2 | -67.8 | - | - | 3106 | - | - | - | - | - | - | - | - | 26.03 | 26.20 | - |
5477 | 764.0 | -8.7 | 249 | 5483 | roll | -0.67 | - | - | 2168 | - | 2.58 | 0.032 | 1070 | -580.6 | -75.9 | - | - | 3100 | - | - | - | - | - | - | - | - | - | 26.20 | - |
5616 | 776.4 | -9.6 | 253 | 5623 | done | -0.67 | - | - | 2166 | - | 2.58 | 0.034 | 2561 | 577.9 | -75.9 | - | - | 3101 | - | - | - | - | - | - | - | - | - | 26.20 | - |
5944 | 808.9 | -9.6 | 264 | 5950 | roll | -0.67 | - | - | 2166 | - | 2.55 | 0.032 | 1083 | -579.6 | -75.9 | - | - | 3099 | - | - | - | - | - | - | - | - | - | 26.19 | - |
5986 | 812.5 | -9.8 | 265 | 5992 | done | -0.67 | - | - | 2155 | - | 2.58 | 0.034 | 2563 | 573.6 | -75.9 | - | - | 3099 | - | - | - | - | - | - | - | - | - | 26.18 | - |
6318 | 844.1 | -8.7 | 276 | 6325 | roll | -0.69 | - | - | 2155 | - | 2.55 | 0.033 | 1089 | -578.0 | -84.2 | - | - | 3096 | - | - | - | - | - | - | - | - | - | 26.17 | - |
6390 | 850.5 | -8.9 | 278 | 6396 | done | -0.70 | - | - | 2154 | - | 2.58 | 0.037 | 2557 | 569.0 | -89.8 | - | - | 3096 | - | - | - | - | - | - | - | - | - | 26.13 | - |
6722 | 881.1 | -9.3 | 289 | 6729 | roll | -0.70 | - | - | 2154 | - | 2.55 | 0.034 | 1088 | -576.1 | -90.9 | - | - | 3094 | - | - | - | - | - | - | - | - | - | 26.15 | - |
6893 | 897.8 | -10.8 | 294 | 6900 | done | -0.70 | - | - | 2149 | - | 2.58 | 0.037 | 2558 | 569.8 | -90.9 | - | - | 3092 | - | - | - | - | - | - | - | - | - | 26.13 | - |
7220 | 933.3 | -10.6 | 305 | 7226 | roll | -0.70 | - | - | 2140 | - | 2.20 | 0.047 | 3839 | 582.3 | -90.9 | - | - | 3090 | - | - | - | - | - | - | - | - | - | 26.02 | - |
7241 | 933.3 | -10.6 | 305 | 7247 | done | -0.70 | - | - | 2139 | - | 2.17 | 0.028 | 2535 | -600.9 | -90.9 | - | - | 3090 | - | - | - | - | - | - | - | - | - | 26.34 | - |
7562 | 968.8 | -9.7 | 316 | 7567 | roll | -0.70 | - | - | 2140 | - | 2.50 | 0.037 | 1089 | -578.4 | -90.9 | - | - | 3089 | - | - | - | - | - | - | - | - | - | 26.08 | - |
7705 | 980.9 | -9.4 | 320 | 7711 | done | -0.70 | - | - | 2138 | - | 2.58 | 0.038 | 2558 | 569.4 | -91.4 | - | - | 3089 | - | - | - | - | - | - | - | - | - | 26.06 | - |
7816 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
7816 | begin apogee | ||||||||||||||||||||||||||||
7824 | 991.4 | -8.5 | 324 | 7914 | done | -0.12 | 0.60 | 0.116 | 2335 | 328.3 | 0.05 | 0.046 | 2662 | 2080.0 | - | 78.05 | 0.946 | 2854 | -3.0 | 0.324 | - | - | - | - | 1 | - | 25.51 | 25.03 | 23.86 |
7916 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7916 | begin climb | ||||||||||||||||||||||||||||
7920 | 993.9 | - | 326 | 8027 | roll | 0.70 | 0.73 | 0.046 | 2608 | 374.0 | 2.03 | 0.037 | 3849 | 584.7 | 91.4 | 96.85 | 0.987 | 2469 | -4.0 | 0.411 | - | - | - | - | - | - | 25.37 | 24.94 | 23.93 |
8043 | 988.8 | 5.1 | 330 | 8049 | done | 0.70 | - | - | 2618 | - | 1.88 | 0.015 | 2628 | -649.5 | 91.4 | - | - | 2462 | - | - | - | - | - | - | - | - | - | 25.36 | - |
8380 | 950.6 | 11.2 | 341 | 8386 | roll | 0.70 | - | - | 2609 | - | 2.03 | 0.038 | 3835 | 594.6 | 91.4 | - | - | 2454 | - | - | - | - | - | - | - | - | - | 25.96 | - |
8458 | 942.2 | 11.7 | 343 | 8464 | done | 0.70 | - | - | 2618 | - | 1.77 | 0.015 | 2627 | -682.5 | 91.4 | - | - | 2453 | - | - | - | - | - | - | - | - | - | 26.26 | - |
8786 | 909.2 | 9.1 | 354 | 8791 | roll | 0.71 | - | - | 2609 | - | 2.03 | 0.039 | 3854 | 604.4 | 94.7 | - | - | 2451 | - | - | - | - | - | - | - | - | - | 26.09 | - |
8962 | 892.9 | 10.0 | 359 | 8967 | done | 0.71 | - | - | 2619 | - | 1.80 | 0.016 | 2621 | -685.0 | 94.7 | - | - | 2449 | - | - | - | - | - | - | - | - | - | 26.41 | - |
9282 | 865.1 | 8.5 | 370 | 9299 | roll | 0.74 | - | - | 2609 | - | 2.08 | 0.039 | 3842 | 587.0 | 104.7 | 9.18 | 0.954 | 2421 | -3.1 | 0.284 | - | - | - | - | - | - | - | 26.17 | 24.76 |
9341 | 862.3 | 8.2 | 371 | 9364 | done | 0.77 | - | - | 2618 | - | 1.83 | 0.015 | 2618 | -668.9 | 118.0 | 15.88 | 0.906 | 2363 | -3.7 | 0.357 | - | - | - | - | - | - | - | 26.33 | 24.80 |
9692 | 822.7 | 10.7 | 383 | 9698 | roll | 0.77 | - | - | 2609 | - | 2.08 | 0.041 | 3848 | 591.3 | 118.0 | - | - | 2349 | - | - | - | - | - | - | - | - | - | 26.03 | - |
9769 | 814.1 | 11.6 | 385 | 9775 | done | 0.77 | - | - | 2619 | - | 1.80 | 0.016 | 2628 | -677.8 | 118.0 | - | - | 2349 | - | - | - | - | - | - | - | - | - | 26.34 | - |
10095 | 771.9 | 12.4 | 396 | 10101 | roll | 0.77 | - | - | 2609 | - | 2.05 | 0.040 | 3846 | 594.1 | 118.0 | - | - | 2350 | - | - | - | - | - | - | - | - | - | 26.10 | - |
10262 | 750.6 | 13.4 | 401 | 10267 | done | 0.77 | - | - | 2619 | - | 1.80 | 0.016 | 2616 | -683.3 | 118.0 | - | - | 2350 | - | - | - | - | - | - | - | - | - | 26.44 | - |
10594 | 714.6 | 10.3 | 412 | 10600 | roll | 0.77 | - | - | 2609 | - | 2.05 | 0.042 | 3834 | 594.1 | 118.0 | - | - | 2348 | - | - | - | - | - | - | - | - | - | 26.09 | - |
10662 | 706.7 | 10.8 | 414 | 10668 | done | 0.77 | - | - | 2619 | - | 1.83 | 0.017 | 2631 | -657.4 | 118.0 | - | - | 2348 | - | - | - | - | - | - | - | - | - | 26.46 | - |
10998 | 672.4 | 10.4 | 425 | 11004 | roll | 0.77 | - | - | 2609 | - | 2.03 | 0.041 | 3837 | 594.1 | 118.0 | - | - | 2348 | - | - | - | - | - | - | - | - | - | 26.10 | - |
11101 | 660.9 | 11.3 | 428 | 11107 | done | 0.77 | - | - | 2619 | - | 1.80 | 0.017 | 2621 | -675.6 | 118.0 | - | - | 2347 | - | - | - | - | - | - | - | - | - | 26.48 | - |
11436 | 623.6 | 11.0 | 439 | 11442 | roll | 0.77 | - | - | 2610 | - | 2.05 | 0.040 | 3843 | 596.1 | 118.0 | - | - | 2347 | - | - | - | - | - | - | - | - | - | 26.09 | - |
11575 | 608.0 | 12.1 | 443 | 11581 | done | 0.77 | - | - | 2619 | - | 1.77 | 0.015 | 2630 | -685.3 | 118.0 | - | - | 2346 | - | - | - | - | - | - | - | - | - | 26.50 | - |
11904 | 574.8 | 9.3 | 458 | 11910 | roll | 0.77 | - | - | 2610 | - | 2.05 | 0.041 | 3851 | 595.6 | 119.6 | - | - | 2346 | - | - | - | - | - | - | - | - | - | 26.06 | - |
12079 | 557.5 | 9.5 | 466 | 12085 | done | 0.77 | - | - | 2620 | - | 1.80 | 0.015 | 2621 | -683.3 | 119.6 | - | - | 2346 | - | - | - | - | - | - | - | - | - | 26.50 | - |
12407 | 533.5 | 7.3 | 482 | 12440 | roll | 0.83 | - | - | 2632 | - | 2.60 | 0.024 | 1220 | -538.8 | 142.9 | 23.35 | 0.805 | 2258 | -3.8 | 0.256 | - | - | - | - | - | - | - | 26.07 | 24.84 |
12460 | 530.1 | 7.5 | 484 | 12489 | done | 0.89 | 0.12 | 0.077 | 2693 | 508.3 | 2.80 | 0.026 | 2722 | 536.4 | 164.2 | 21.67 | 0.744 | 2175 | -3.8 | 0.280 | - | - | - | - | - | - | 26.01 | 26.01 | 24.78 |
12800 | 479.7 | 15.4 | 501 | 12801 | done | 0.89 | - | - | 2694 | - | - | - | 2721 | - | 164.2 | - | - | 2160 | - | - | - | - | - | - | - | - | - | - | - |
13100 | 437.8 | 13.7 | 516 | 13106 | roll | 0.89 | - | - | 2707 | - | 2.75 | 0.021 | 1218 | -546.5 | 164.2 | - | - | 2159 | - | - | - | - | - | - | - | - | - | 26.11 | - |
13119 | 437.8 | 13.7 | 516 | 13128 | done | 0.89 | - | - | 2694 | - | 2.80 | 0.024 | 2727 | 538.9 | 164.2 | - | - | 2158 | - | - | - | - | - | - | - | - | - | 26.08 | - |
13427 | 397.2 | 13.4 | 532 | 13434 | roll | 0.89 | - | - | 2707 | - | 2.78 | 0.022 | 1223 | -541.0 | 164.2 | - | - | 2158 | - | - | - | - | - | - | - | - | - | 26.15 | - |
13476 | 391.4 | 12.5 | 534 | 13483 | done | 0.89 | - | - | 2694 | - | 2.80 | 0.025 | 2724 | 536.1 | 164.2 | - | - | 2157 | - | - | - | - | - | - | - | - | - | 26.13 | - |
13805 | 353.6 | 11.0 | 550 | 13811 | roll | 0.89 | - | - | 2681 | - | 1.80 | 0.040 | 3829 | 613.9 | 164.2 | - | - | 2157 | - | - | - | - | - | - | - | - | - | 26.08 | - |
13960 | 337.1 | 10.2 | 557 | 13965 | done | 0.89 | - | - | 2695 | - | 1.77 | 0.016 | 2622 | -681.9 | 164.2 | - | - | 2157 | - | - | - | - | - | - | - | - | - | 26.46 | - |
14287 | 304.1 | 10.2 | 573 | 14293 | roll | 0.89 | - | - | 2685 | - | 2.05 | 0.038 | 3855 | 601.5 | 164.2 | - | - | 2157 | - | - | - | - | - | - | - | - | - | 26.09 | - |
14359 | 295.6 | 11.9 | 576 | 14365 | done | 0.89 | - | - | 2695 | - | 1.80 | 0.016 | 2614 | -689.4 | 164.2 | - | - | 2157 | - | - | - | - | - | - | - | - | - | 26.50 | - |
14684 | 261.6 | 10.4 | 592 | 14690 | roll | 0.89 | - | - | 2685 | - | 2.05 | 0.038 | 3855 | 605.4 | 164.2 | - | - | 2157 | - | - | - | - | - | - | - | - | - | 26.09 | - |
14818 | 247.6 | 9.7 | 598 | 14824 | done | 0.89 | - | - | 2695 | - | 1.77 | 0.015 | 2629 | -692.7 | 164.2 | - | - | 2155 | - | - | - | - | - | - | - | - | - | 26.51 | - |
15149 | 222.7 | 7.2 | 614 | 15178 | roll | 0.95 | - | - | 2685 | - | 2.08 | 0.037 | 3846 | 585.1 | 188.0 | 20.58 | 0.569 | 2072 | -4.0 | 0.162 | - | - | - | - | - | - | - | 26.18 | 25.15 |
15309 | 209.8 | 8.7 | 621 | 15315 | done | 0.97 | - | - | 2695 | - | 1.77 | 0.015 | 2612 | -697.2 | 196.4 | 2.40 | 0.308 | 2052 | -8.3 | 0.583 | - | - | - | - | - | - | - | 26.39 | 24.58 |
15634 | 189.3 | 6.5 | 637 | 15673 | roll | 1.04 | - | - | 2686 | - | 2.08 | 0.036 | 3836 | 588.5 | 227.4 | 32.65 | 0.535 | 1915 | -4.2 | 0.152 | - | - | - | - | - | - | - | 25.99 | 25.15 |
15791 | 175.1 | 10.7 | 644 | 15796 | done | 1.04 | - | - | 2695 | - | 1.77 | 0.014 | 2648 | -671.2 | 227.4 | - | - | 1907 | - | - | - | - | - | - | - | - | - | 26.24 | - |
16119 | 146.9 | 7.8 | 660 | 16137 | done | 1.09 | 0.10 | 0.097 | 2755 | 600.0 | - | - | 2645 | - | 245.3 | 16.02 | 0.490 | 1852 | -3.4 | 0.106 | - | - | - | - | - | - | 26.39 | - | 25.21 |
16438 | 113.8 | 10.4 | 676 | 16444 | roll | 1.09 | - | - | 2767 | - | 2.55 | 0.022 | 1219 | -559.2 | 245.3 | - | - | 1836 | - | - | - | - | - | - | - | - | - | 26.20 | - |
16522 | 107.2 | 9.5 | 679 | 16530 | done | 1.09 | - | - | 2754 | - | 2.78 | 0.024 | 2724 | 541.4 | 245.3 | - | - | 1835 | - | - | - | - | - | - | - | - | - | 26.19 | - |
16828 | 82.3 | 8.3 | 695 | 16843 | roll | 1.12 | - | - | 2754 | - | 1.77 | 0.036 | 3837 | 628.8 | 257.5 | 7.85 | 0.239 | 1808 | -3.4 | 0.122 | - | - | - | - | - | - | - | 26.25 | 25.27 |
16877 | 77.8 | 8.7 | 697 | 16900 | done | 1.14 | - | - | 2764 | - | 1.75 | 0.014 | 2627 | -691.4 | 265.3 | 12.93 | 0.256 | 1781 | -2.1 | 0.065 | - | - | - | - | - | - | - | 26.49 | 25.41 |
17200 | 51.1 | 8.5 | 713 | 17224 | roll | 1.16 | - | - | 2776 | - | 2.55 | 0.021 | 1232 | -547.1 | 275.2 | 13.00 | 0.207 | 1736 | -3.5 | 0.088 | - | - | - | - | - | - | - | 26.29 | 25.46 |
17471 | 29.6 | 7.3 | 736 | 17497 | done | 1.22 | - | - | 2769 | - | 2.75 | 0.023 | 2726 | 543.3 | 298.0 | 19.75 | 0.169 | 1636 | -5.1 | 0.091 | - | - | - | - | - | - | - | 26.28 | 25.58 |
17784 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
17784 | begin surface coast | ||||||||||||||||||||||||||||
17819 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17819 | begin surface | ||||||||||||||||||||||||||||
SM | 0.78 | - | - | - | - | -6.94 | 6.65 | 0.031 | 135 | 20.3 | 0.47 | 0.026 | 2503 | -14295.7 | 430.01 | 70.55 | 0.116 | 1097 | 15.5 | -0.011 | - | - | - | - | - | - |