• Previous call tries 1 | • 14.39 of 150.00 AH used of 24V (90.41% remains) | |
• Previous NAKs 0, Timeouts 0 | • 11.32 of 100.00 AH used of 10V (88.68% remains) | |
• Surface angle -68.1 deg, depth 2.12 m | • Intended pitch -15.7 deg, speed -10.000 cm/s | |
• VBD pumped to 435.16 (SM_CC=435) | ||
• GPS1 time: 36 s | • bottom range 76.0 m at 926.7 m, depth 1003 m (1029 m grid) | |
• GPS2 time: 8 s | • Transponder ping count: 94 | |
• 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 | |||||
11 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
11 | begin dive | ||||||||||||||||||||||||||||
13 | - | - | - | 67 | VBD | -0.85 | - | - | 161 | - | - | - | 2055 | - | -194.7 | -52.28 | - | 2126 | - | - | - | - | - | - | - | - | - | - | - |
68 | 3.4 | -4.6 | 8 | 126 | roll | -0.85 | 9.27 | 0.239 | 2524 | 254.9 | 2.33 | 0.068 | 3473 | 608.6 | -194.7 | -39.53 | - | 3555 | -36.1 | - | - | - | - | - | - | - | - | - | - |
172 | 27.6 | -34.9 | 26 | 181 | done | 0.01 | 0.90 | 0.154 | 2807 | 314.4 | 2.20 | 0.040 | 2081 | -632.7 | -194.7 | - | - | 3556 | - | - | - | - | - | - | - | - | - | - | - |
500 | 63.3 | -8.1 | 87 | 507 | done | -0.75 | 0.62 | 0.060 | 2563 | -393.5 | - | - | 2078 | - | -194.7 | - | - | 3558 | - | - | - | - | - | - | - | - | - | - | - |
826 | 119.8 | -19.3 | 148 | 834 | roll | -0.35 | 0.43 | 0.134 | 2701 | 320.9 | 2.22 | 0.051 | 660 | -638.7 | -194.7 | - | - | 3560 | - | - | - | - | - | - | - | - | - | - | - |
908 | 128.7 | -7.3 | 163 | 915 | done | -0.77 | 0.30 | 0.036 | 2541 | -533.3 | 2.22 | 0.041 | 2090 | 644.1 | -194.7 | - | - | 3561 | - | - | - | - | - | - | - | - | - | - | - |
1234 | 184.2 | -15.2 | 224 | 1242 | roll | -0.42 | 0.45 | 0.130 | 2688 | 326.7 | 2.25 | 0.051 | 660 | -635.6 | -194.7 | - | - | 3562 | - | - | - | - | - | - | - | - | - | - | - |
1322 | 190.8 | -6.1 | 240 | 1330 | done | -0.82 | 0.30 | 0.037 | 2526 | -540.0 | 2.17 | 0.041 | 2064 | 647.0 | -194.7 | - | - | 3562 | - | - | - | - | - | - | - | - | - | - | - |
1650 | 248.3 | -17.1 | 301 | 1655 | done | -0.46 | 0.45 | 0.133 | 2672 | 324.4 | - | - | 2064 | - | -194.7 | - | - | 3562 | - | - | - | - | - | - | - | - | - | - | - |
1975 | 269.4 | -6.1 | 362 | 1982 | roll | -1.05 | 0.50 | 0.054 | 2470 | -404.0 | 2.22 | 0.059 | 3468 | 632.4 | -194.7 | - | - | 3562 | - | - | - | - | - | - | - | - | - | - | - |
2077 | 285.1 | -20.1 | 381 | 2083 | done | -0.50 | 0.55 | 0.138 | 2665 | 354.5 | 2.15 | 0.038 | 2063 | -653.5 | -194.7 | - | - | 3562 | - | - | - | - | - | - | - | - | - | - | - |
2399 | 306.2 | -5.5 | 431 | 2403 | roll | -1.00 | 0.45 | 0.051 | 2478 | -415.6 | 2.22 | 0.058 | 3473 | 635.1 | -194.7 | - | - | 3561 | - | - | - | - | - | - | - | - | - | - | - |
2468 | 315.0 | -16.6 | 437 | 2475 | done | -0.60 | 0.43 | 0.124 | 2625 | 341.9 | 2.12 | 0.038 | 2083 | -655.7 | -194.7 | - | - | 3560 | - | - | - | - | - | - | - | - | - | - | - |
2783 | 340.5 | -6.7 | 468 | 2788 | roll | -0.80 | 0.17 | 0.058 | 2539 | -505.9 | 2.20 | 0.053 | 675 | -640.0 | -194.7 | - | - | 3559 | - | - | - | - | - | - | - | - | - | - | - |
2880 | 353.0 | -14.1 | 477 | 2884 | done | -0.62 | 0.22 | 0.121 | 2616 | 350.0 | 2.17 | 0.046 | 2066 | 641.0 | -194.7 | - | - | 3559 | - | - | - | - | - | - | - | - | - | - | - |
3200 | 381.7 | -8.1 | 508 | 3205 | roll | -0.79 | 0.15 | 0.062 | 2539 | -513.3 | 2.25 | 0.062 | 3473 | 625.3 | -194.7 | - | - | 3557 | - | - | - | - | - | - | - | - | - | - | - |
3290 | 392.6 | -13.2 | 516 | 3299 | done | -0.66 | 0.17 | 0.124 | 2601 | 364.7 | 2.12 | 0.040 | 2088 | -653.3 | -194.7 | - | - | 3556 | - | - | - | - | - | - | - | - | - | - | - |
3607 | 421.3 | -9.0 | 547 | 3611 | roll | -0.78 | 0.10 | 0.077 | 2548 | -530.0 | 2.22 | 0.063 | 3470 | 622.5 | -194.7 | - | - | 3555 | - | - | - | - | - | - | - | - | - | - | - |
3702 | 432.4 | -11.1 | 556 | 3707 | done | -0.72 | 0.10 | 0.127 | 2585 | 370.0 | 2.10 | 0.040 | 2102 | -651.4 | -194.7 | - | - | 3553 | - | - | - | - | - | - | - | - | - | - | - |
4024 | 460.3 | -8.2 | 587 | 4027 | roll | -0.78 | - | - | 2585 | - | 2.25 | 0.055 | 677 | -633.3 | -194.7 | - | - | 3552 | - | - | - | - | - | - | - | - | - | - | - |
4092 | 466.7 | -8.7 | 593 | 4099 | done | -0.84 | 0.08 | 0.061 | 2534 | -637.5 | 2.22 | 0.046 | 2093 | 637.8 | -194.7 | - | - | 3551 | - | - | - | - | - | - | - | - | - | - | - |
4417 | 508.0 | -12.8 | 622 | 4421 | roll | -0.67 | 0.22 | 0.136 | 2604 | 318.2 | 2.25 | 0.056 | 678 | -628.9 | -194.7 | - | - | 3550 | - | - | - | - | - | - | - | - | - | - | - |
4481 | 514.6 | -9.0 | 625 | 4486 | done | -0.85 | 0.12 | 0.053 | 2532 | -600.0 | 2.22 | 0.047 | 2094 | 637.8 | -194.7 | - | - | 3550 | - | - | - | - | - | - | - | - | - | - | - |
4808 | 561.3 | -15.4 | 641 | 4810 | done | -0.68 | 0.22 | 0.134 | 2601 | 313.6 | - | - | 2094 | - | -194.7 | - | - | 3546 | - | - | - | - | - | - | - | - | - | - | - |
5112 | 583.4 | -6.8 | 656 | 5114 | done | -0.83 | 0.15 | 0.065 | 2529 | -480.0 | - | - | 2094 | - | -194.7 | - | - | 3545 | - | - | - | - | - | - | - | - | - | - | - |
5417 | 609.7 | -8.3 | 671 | 5422 | roll | -0.68 | 0.22 | 0.136 | 2590 | 277.3 | 2.22 | 0.066 | 3473 | 621.2 | -194.7 | - | - | 3543 | - | - | - | - | - | - | - | - | - | - | - |
5481 | 613.3 | -4.8 | 674 | 5486 | done | -0.88 | 0.12 | 0.053 | 2518 | -600.0 | 2.15 | 0.043 | 2084 | -646.0 | -194.7 | - | - | 3543 | - | - | - | - | - | - | - | - | - | - | - |
5808 | 645.7 | -10.1 | 690 | 5812 | roll | -0.69 | 0.25 | 0.137 | 2596 | 312.0 | 2.20 | 0.059 | 675 | -640.5 | -194.7 | - | - | 3541 | - | - | - | - | - | - | - | - | - | - | - |
5855 | 649.2 | -6.7 | 692 | 5860 | done | -0.88 | 0.12 | 0.054 | 2525 | -591.7 | 2.22 | 0.049 | 2083 | 634.2 | -194.7 | - | - | 3541 | - | - | - | - | - | - | - | - | - | - | - |
6177 | 686.6 | -12.9 | 708 | 6181 | roll | -0.75 | 0.17 | 0.139 | 2577 | 305.9 | 2.22 | 0.067 | 3477 | 627.9 | -194.7 | - | - | 3539 | - | - | - | - | - | - | - | - | - | - | - |
6283 | 699.2 | -12.7 | 713 | 6287 | done | -0.90 | 0.10 | 0.058 | 2515 | -620.0 | 2.15 | 0.044 | 2094 | -643.3 | -194.7 | - | - | 3538 | - | - | - | - | - | - | - | - | - | - | - |
6610 | 747.0 | -13.1 | 729 | 6611 | done | -0.71 | 0.25 | 0.137 | 2593 | 312.0 | - | - | 2090 | - | -194.7 | - | - | 3536 | - | - | - | - | - | - | - | - | - | - | - |
6915 | 765.7 | -4.0 | 744 | 6919 | roll | -0.88 | 0.17 | 0.064 | 2514 | -464.7 | 2.25 | 0.071 | 3468 | 612.4 | -194.7 | - | - | 3536 | - | - | - | - | - | - | - | - | - | - | - |
7021 | 773.8 | -5.4 | 749 | 7026 | done | -0.74 | 0.17 | 0.131 | 2574 | 352.9 | 2.15 | 0.045 | 2088 | -641.9 | -194.7 | - | - | 3535 | - | - | - | - | - | - | - | - | - | - | - |
7349 | 793.4 | -7.2 | 765 | 7352 | roll | -0.82 | - | - | 2574 | - | 2.25 | 0.069 | 3474 | 616.0 | -194.7 | - | - | 3534 | - | - | - | - | - | - | - | - | - | - | - |
7369 | 795.0 | -7.5 | 766 | 7373 | done | -0.95 | 0.15 | 0.054 | 2493 | -540.0 | 2.12 | 0.044 | 2108 | -644.3 | -194.7 | - | - | 3533 | - | - | - | - | - | - | - | - | - | - | - |
7695 | 833.2 | -13.0 | 782 | 7700 | roll | -0.68 | 0.32 | 0.142 | 2595 | 318.8 | 2.28 | 0.061 | 678 | -627.2 | -194.7 | - | - | 3532 | - | - | - | - | - | - | - | - | - | - | - |
7753 | 837.5 | -5.1 | 784 | 7762 | done | -0.90 | 0.15 | 0.054 | 2518 | -513.3 | 2.25 | 0.051 | 2091 | 628.0 | -194.7 | - | - | 3532 | - | - | - | - | - | - | - | - | - | - | - |
8063 | 868.8 | -10.4 | 800 | 8065 | done | -0.75 | 0.20 | 0.143 | 2578 | 300.0 | - | - | 2092 | - | -194.7 | - | - | 3530 | - | - | - | - | - | - | - | - | - | - | - |
8369 | 887.0 | -5.1 | 815 | 8373 | roll | -0.87 | 0.12 | 0.077 | 2521 | -475.0 | 2.28 | 0.061 | 676 | -621.1 | -194.7 | - | - | 3528 | - | - | - | - | - | - | - | - | - | - | - |
8395 | 889.0 | -8.6 | 816 | 8400 | done | -0.80 | 0.10 | 0.147 | 2555 | 340.0 | 2.25 | 0.052 | 2088 | 627.6 | -194.7 | - | - | 3528 | - | - | - | - | - | - | - | - | - | - | - |
8717 | 917.4 | -8.9 | 832 | 8718 | done | -0.80 | - | - | 2555 | - | - | - | 2088 | - | -194.7 | - | - | 3527 | - | - | - | - | - | - | - | - | - | - | - |
9021 | 948.3 | -11.4 | 847 | 9025 | roll | -0.80 | - | - | 2549 | - | 2.25 | 0.071 | 3468 | 613.3 | -194.7 | - | - | 3526 | - | - | - | - | - | - | - | - | - | - | - |
9053 | 952.1 | -12.3 | 848 | 9057 | done | -0.85 | - | - | 2550 | - | 2.15 | 0.045 | 2093 | -639.5 | -194.7 | - | - | 3526 | - | - | - | - | - | - | - | - | - | - | - |
9367 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
9367 | begin apogee | ||||||||||||||||||||||||||||
9371 | 991.7 | 11.6 | 864 | 9531 | done | -0.20 | 0.60 | 0.123 | 2751 | 335.0 | - | - | 2534 | - | - | 156.00 | 1.386 | 2759 | -4.9 | 0.367 | - | - | - | - | - | - | - | - | - |
9531 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
9531 | begin climb | ||||||||||||||||||||||||||||
9533 | 1001.6 | - | 872 | 9705 | roll | 0.85 | 0.93 | 0.049 | 3114 | 390.3 | 2.55 | 0.061 | 1123 | -553.3 | 194.7 | 165.10 | 1.346 | 1964 | -4.8 | 0.374 | - | - | - | - | - | - | - | - | - |
9885 | 946.4 | 25.3 | 888 | 9890 | done | 0.24 | 0.73 | 0.175 | 2902 | -290.4 | 2.35 | 0.054 | 2516 | 592.8 | 194.7 | - | - | 1957 | - | - | - | - | - | - | - | - | - | - | - |
10202 | 905.3 | 9.9 | 904 | 10205 | roll | 0.33 | - | - | 2902 | - | 1.95 | 0.070 | 3692 | 603.1 | 197.7 | - | - | 1954 | - | - | - | - | - | - | - | - | - | - | - |
10243 | 899.9 | 13.3 | 906 | 10248 | done | 0.33 | - | - | 2910 | - | 1.88 | 0.044 | 2516 | -625.5 | 197.7 | - | - | 1954 | - | - | - | - | - | - | - | - | - | - | - |
10570 | 871.7 | 7.8 | 922 | 10636 | roll | 0.47 | 0.17 | 0.067 | 2995 | 500.0 | 2.35 | 0.057 | 1123 | -592.8 | 261.7 | 57.25 | 1.273 | 1690 | -4.6 | 0.330 | - | - | - | - | - | - | - | - | - |
10683 | 857.8 | 13.8 | 927 | 10687 | done | 0.35 | 0.17 | 0.140 | 2939 | -329.4 | 2.35 | 0.054 | 2512 | 591.1 | 261.7 | - | - | 1685 | - | - | - | - | - | - | - | - | - | - | - |
11003 | 813.3 | 14.7 | 943 | 11007 | roll | 0.35 | - | - | 2949 | - | 2.28 | 0.055 | 1126 | -607.9 | 261.7 | - | - | 1683 | - | - | - | - | - | - | - | - | - | - | - |
11046 | 807.3 | 13.8 | 945 | 11050 | done | 0.41 | - | - | 2949 | - | 2.28 | 0.052 | 2513 | 608.3 | 261.7 | - | - | 1682 | - | - | - | - | - | - | - | - | - | - | - |
11372 | 759.9 | 14.9 | 961 | 11376 | roll | 0.41 | - | - | 2958 | - | 2.28 | 0.056 | 1122 | -610.1 | 261.7 | - | - | 1682 | - | - | - | - | - | - | - | - | - | - | - |
11430 | 750.7 | 15.8 | 963 | 11437 | done | 0.41 | - | - | 2959 | - | 2.25 | 0.051 | 2501 | 612.9 | 261.7 | - | - | 1681 | - | - | - | - | - | - | - | - | - | - | - |
11741 | 703.5 | 14.5 | 979 | 11745 | roll | 0.41 | - | - | 2958 | - | 1.95 | 0.068 | 3694 | 611.8 | 261.7 | - | - | 1680 | - | - | - | - | - | - | - | - | - | - | - |
11788 | 696.1 | 16.8 | 981 | 11793 | done | 0.32 | 0.12 | 0.142 | 2924 | -283.3 | 1.88 | 0.044 | 2503 | -633.5 | 261.7 | - | - | 1680 | - | - | - | - | - | - | - | - | - | - | - |
12110 | 663.4 | 9.3 | 997 | 12131 | done | 0.46 | 0.12 | 0.077 | 2981 | 475.0 | - | - | 2497 | - | 281.9 | 17.25 | 1.141 | 1608 | -4.2 | 0.253 | - | - | - | - | - | - | - | - | - |
12435 | 622.9 | 13.0 | 1013 | 12439 | roll | 0.35 | 0.17 | 0.151 | 2932 | -288.2 | 1.95 | 0.067 | 3687 | 610.3 | 281.9 | - | - | 1605 | - | - | - | - | - | - | - | - | - | - | - |
12493 | 615.6 | 12.1 | 1015 | 12500 | done | 0.41 | - | - | 2939 | - | 1.90 | 0.044 | 2480 | -635.3 | 281.9 | - | - | 1605 | - | - | - | - | - | - | - | - | - | - | - |
12804 | 584.3 | 9.7 | 1031 | 12817 | roll | 0.51 | 0.12 | 0.077 | 3004 | 541.7 | 2.22 | 0.057 | 1126 | -609.9 | 289.7 | 7.85 | 1.006 | 1576 | -3.7 | 0.224 | - | - | - | - | - | - | - | - | - |
12881 | 574.1 | 13.0 | 1034 | 12889 | done | 0.42 | 0.15 | 0.143 | 2956 | -320.0 | 2.25 | 0.051 | 2509 | 614.7 | 289.7 | - | - | 1575 | - | - | - | - | - | - | - | - | - | - | - |
13192 | 541.9 | 9.3 | 1050 | 13215 | roll | 0.45 | - | - | 2965 | - | 2.33 | 0.056 | 1122 | -595.3 | 309.6 | 18.48 | 1.074 | 1496 | -4.3 | 0.225 | - | - | - | - | - | - | - | - | - |
13272 | 534.1 | 9.4 | 1053 | 13293 | done | 0.56 | 0.08 | 0.070 | 3008 | 537.5 | 2.25 | 0.050 | 2493 | 609.3 | 327.4 | 16.73 | 1.039 | 1424 | -4.3 | 0.231 | - | - | - | - | - | - | - | - | - |
13606 | 481.1 | 16.2 | 1075 | 13610 | roll | 0.43 | 0.17 | 0.147 | 2968 | -235.3 | 2.20 | 0.054 | 1127 | -620.9 | 327.4 | - | - | 1421 | - | - | - | - | - | - | - | - | - | - | - |
13642 | 476.2 | 12.6 | 1078 | 13650 | done | 0.53 | - | - | 2968 | - | 2.20 | 0.050 | 2478 | 614.1 | 327.4 | - | - | 1420 | - | - | - | - | - | - | - | - | - | - | - |
13959 | 440.2 | 11.8 | 1109 | 13961 | done | 0.59 | 0.12 | 0.078 | 3023 | 458.3 | - | - | 2478 | - | 327.4 | - | - | 1420 | - | - | - | - | - | - | - | - | - | - | - |
14269 | 391.1 | 15.8 | 1139 | 14271 | done | 0.42 | 0.22 | 0.142 | 2957 | -300.0 | - | - | 2478 | - | 327.4 | - | - | 1420 | - | - | - | - | - | - | - | - | - | - | - |
14580 | 361.4 | 9.2 | 1169 | 14605 | roll | 0.59 | 0.15 | 0.068 | 3034 | 513.3 | 2.20 | 0.055 | 1122 | -616.4 | 351.2 | 20.92 | 0.948 | 1326 | -4.5 | 0.179 | - | - | - | - | - | - | - | - | - |
14712 | 342.8 | 14.0 | 1181 | 14717 | done | 0.52 | 0.12 | 0.137 | 2992 | -350.0 | 2.17 | 0.049 | 2464 | 618.4 | 351.2 | - | - | 1322 | - | - | - | - | - | - | - | - | - | - | - |
15033 | 301.8 | 13.0 | 1212 | 15037 | roll | 0.52 | - | - | 2992 | - | 1.98 | 0.064 | 3679 | 613.6 | 351.2 | - | - | 1322 | - | - | - | - | - | - | - | - | - | - | - |
15118 | 289.5 | 13.0 | 1226 | 15125 | done | 0.52 | - | - | 2997 | - | 1.92 | 0.043 | 2450 | -640.1 | 351.2 | - | - | 1322 | - | - | - | - | - | - | - | - | - | - | - |
15445 | 250.2 | 11.5 | 1287 | 15446 | done | 0.58 | - | - | 2997 | - | - | - | 2444 | - | 351.2 | - | - | 1322 | - | - | - | - | - | - | - | - | - | - | - |
15765 | 215.0 | 11.0 | 1347 | 15771 | roll | 0.65 | - | - | 3007 | - | 2.10 | 0.053 | 1126 | -627.6 | 351.2 | - | - | 1322 | - | - | - | - | - | - | - | - | - | - | - |
15856 | 205.4 | 10.5 | 1364 | 15864 | done | 0.75 | 0.10 | 0.060 | 3073 | 660.0 | 2.12 | 0.047 | 2466 | 632.1 | 351.2 | - | - | 1322 | - | - | - | - | - | - | - | - | - | - | - |
16183 | 154.8 | 14.9 | 1425 | 16189 | done | 0.59 | 0.22 | 0.143 | 3006 | -304.5 | - | - | 2466 | - | 351.2 | - | - | 1322 | - | - | - | - | - | - | - | - | - | - | - |
16509 | 126.8 | 8.3 | 1486 | 16555 | roll | 0.88 | 0.28 | 0.051 | 3138 | 471.4 | 2.22 | 0.050 | 1113 | -609.5 | 400.1 | 39.90 | 0.738 | 1127 | -4.9 | 0.088 | - | - | - | - | - | - | - | - | - |
16714 | 92.8 | 15.2 | 1523 | 16721 | done | 0.70 | 0.28 | 0.136 | 3048 | -321.4 | 2.15 | 0.044 | 2458 | 625.6 | 400.1 | - | - | 1123 | - | - | - | - | - | - | - | - | - | - | - |
17041 | 62.2 | 9.5 | 1584 | 17057 | roll | 0.94 | 0.20 | 0.051 | 3153 | 525.0 | 2.17 | 0.048 | 1116 | -618.4 | 413.5 | 11.85 | 0.636 | 1072 | -4.3 | 0.044 | - | - | - | - | - | - | - | - | - |
17103 | 53.1 | 14.6 | 1595 | 17110 | done | 0.80 | 0.22 | 0.130 | 3078 | -340.9 | 2.12 | 0.043 | 2455 | 631.6 | 413.5 | - | - | 1072 | - | - | - | - | - | - | - | - | - | - | - |
17430 | 22.1 | 9.8 | 1656 | 17440 | roll | 0.96 | 0.15 | 0.061 | 3151 | 486.7 | 2.00 | 0.056 | 3695 | 620.0 | 418.5 | 5.82 | 0.515 | 1051 | -3.6 | 0.016 | - | - | - | - | - | - | - | - | - |
17465 | 17.4 | 14.8 | 1662 | 17472 | done | 0.78 | 0.28 | 0.131 | 3069 | -292.9 | 1.90 | 0.037 | 2451 | -654.7 | 418.5 | - | - | 1051 | - | - | - | - | - | - | - | - | - | - | - |
17620 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
17620 | begin surface coast | ||||||||||||||||||||||||||||
17652 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17652 | begin surface | ||||||||||||||||||||||||||||
SM | 2.88 | - | - | - | - | -8.30 | - | - | 163 | - | - | - | 2061 | - | 435.16 | 13.15 | 0.581 | 984 | -5.1 | 0.003 | - | - | - | - | - | - |