• Previous call tries 1 | • 61.10 of 350.00 AH used of 24V (82.54% remains) | |
• Previous NAKs 0, Timeouts 0 | ||
• Surface angle -68.3 deg, depth 0.96 m | • Intended pitch -17.6 deg, speed -10.000 cm/s | |
• VBD pumped to 525.01 (SM_CC=525) | ||
• GPS1 time: 42 s | ||
• GPS2 time: 2 s | • Transponder ping count: 30 | |
• 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 | - | - | - | 110 | VBD | -0.91 | - | - | 146 | - | - | - | 2894 | - | -146.0 | -86.03 | - | 3484 | - | - | - | - | - | - | - | - | 14.71 | - | 14.75 |
112 | 6.7 | -9.8 | 3 | 131 | roll | -0.91 | 11.20 | 0.373 | 2552 | 214.8 | 2.58 | 2.058 | 1489 | -544.6 | -146.0 | -0.93 | - | 3554 | -75.3 | - | - | - | - | - | - | - | 14.19 | 13.32 | 14.41 |
213 | 42.5 | -22.8 | 18 | 222 | done | -0.68 | 0.30 | 0.236 | 2624 | 240.0 | 2.40 | 0.051 | 2853 | 568.3 | -146.0 | - | - | 3556 | - | - | - | - | - | - | - | - | 14.30 | 14.50 | 14.45 |
528 | 92.2 | -12.2 | 30 | 531 | done | -0.63 | - | - | 2624 | - | - | - | 2854 | - | -146.0 | - | - | 3557 | - | - | - | - | - | - | - | - | 14.87 | 14.90 | 14.90 |
864 | 120.9 | -8.5 | 38 | 871 | roll | -0.63 | - | - | 2618 | - | 1.70 | 0.074 | 3830 | 574.1 | -146.0 | - | - | 3560 | - | - | - | - | - | - | - | - | 14.92 | 14.64 | 14.95 |
1003 | 133.5 | -9.3 | 58 | 1011 | done | -0.63 | - | - | 2618 | - | 1.52 | 0.029 | 2807 | -673.0 | -146.0 | - | - | 3559 | - | - | - | - | - | - | - | - | 14.82 | 14.79 | 14.83 |
1368 | 163.3 | -7.9 | 68 | 1375 | roll | -0.69 | - | - | 2618 | - | 2.15 | 0.031 | 1492 | -611.6 | -146.0 | - | - | 3558 | - | - | - | - | - | - | - | - | 14.96 | 14.72 | 15.00 |
1451 | 170.0 | -7.9 | 80 | 1460 | done | -0.77 | - | - | 2609 | - | 2.38 | 0.047 | 2871 | 579.4 | -146.0 | - | - | 3558 | - | - | - | - | - | - | - | - | 14.71 | 14.66 | 14.76 |
1816 | 199.1 | -8.0 | 90 | 1819 | done | -0.84 | - | - | 2609 | - | - | - | 2872 | - | -146.0 | - | - | 3556 | - | - | - | - | - | - | - | - | 14.99 | 15.03 | 15.02 |
2153 | 226.3 | -8.1 | 96 | 2160 | roll | -0.91 | 0.17 | 0.100 | 2530 | -464.7 | 2.25 | 0.031 | 1492 | -613.3 | -146.0 | - | - | 3553 | - | - | - | - | - | - | - | - | 14.78 | 14.77 | 14.83 |
2264 | 239.2 | -11.7 | 112 | 2271 | done | -0.84 | 0.20 | 0.213 | 2575 | 225.0 | 2.38 | 0.049 | 2870 | 579.0 | -146.0 | - | - | 3553 | - | - | - | - | - | - | - | - | 14.40 | 14.64 | 14.54 |
2601 | 271.7 | -9.6 | 125 | 2608 | roll | -0.84 | - | - | 2575 | - | 2.22 | 0.031 | 1496 | -618.9 | -146.0 | - | - | 3550 | - | - | - | - | - | - | - | - | 15.00 | 14.77 | 15.02 |
2634 | 275.3 | -10.5 | 130 | 2642 | done | -0.84 | - | - | 2567 | - | 2.38 | 0.050 | 2867 | 576.1 | -146.0 | - | - | 3549 | - | - | - | - | - | - | - | - | 14.73 | 14.64 | 14.77 |
2992 | 312.6 | -10.5 | 139 | 2995 | done | -0.84 | - | - | 2574 | - | - | - | 2867 | - | -146.0 | - | - | 3547 | - | - | - | - | - | - | - | - | 14.95 | 14.99 | 14.98 |
3328 | 346.3 | -9.9 | 145 | 3336 | roll | -0.84 | - | - | 2567 | - | 2.28 | 0.032 | 1503 | -598.2 | -146.0 | - | - | 3544 | - | - | - | - | - | - | - | - | 15.01 | 14.72 | 15.04 |
3369 | 350.4 | -9.7 | 151 | 3377 | done | -0.84 | - | - | 2557 | - | 2.40 | 0.050 | 2876 | 572.1 | -146.0 | - | - | 3544 | - | - | - | - | - | - | - | - | 14.73 | 14.66 | 14.81 |
3720 | 384.8 | -9.8 | 159 | 3727 | roll | -0.84 | - | - | 2557 | - | 2.30 | 0.031 | 1497 | -599.6 | -146.0 | - | - | 3542 | - | - | - | - | - | - | - | - | 15.00 | 14.71 | 15.02 |
3754 | 388.2 | -10.0 | 164 | 3762 | done | -0.84 | 0.10 | 0.213 | 2576 | 190.0 | 2.40 | 0.050 | 2870 | 572.1 | -146.0 | - | - | 3541 | - | - | - | - | - | - | - | - | 14.45 | 14.64 | 14.59 |
4112 | 419.5 | -8.8 | 173 | 4120 | roll | -0.87 | - | - | 2570 | - | 1.67 | 0.081 | 3823 | 570.7 | -146.0 | - | - | 3540 | - | - | - | - | - | - | - | - | 15.00 | 14.62 | 15.02 |
4188 | 426.8 | -9.7 | 184 | 4196 | done | -0.87 | - | - | 2570 | - | 1.52 | 0.032 | 2840 | -646.7 | -146.0 | - | - | 3539 | - | - | - | - | - | - | - | - | 14.83 | 14.79 | 14.85 |
4504 | 457.1 | -9.6 | 194 | 4511 | roll | -0.87 | - | - | 2570 | - | 2.17 | 0.032 | 1523 | -606.9 | -146.0 | - | - | 3536 | - | - | - | - | - | - | - | - | 15.01 | 14.70 | 15.04 |
4560 | 462.7 | -9.8 | 202 | 4567 | done | -0.90 | - | - | 2561 | - | 2.35 | 0.050 | 2869 | 572.8 | -146.0 | - | - | 3536 | - | - | - | - | - | - | - | - | 14.69 | 14.62 | 14.73 |
4896 | 495.0 | -9.5 | 215 | 4898 | done | -0.90 | - | - | 2560 | - | - | - | 2870 | - | -146.0 | - | - | 3534 | - | - | - | - | - | - | - | - | 14.92 | 14.97 | 14.97 |
5232 | 526.3 | -9.2 | 221 | 5240 | roll | -0.90 | - | - | 2561 | - | 2.25 | 0.031 | 1518 | -600.9 | -146.0 | - | - | 3533 | - | - | - | - | - | - | - | - | 15.02 | 14.70 | 15.03 |
5273 | 530.2 | -9.4 | 227 | 5281 | done | -0.90 | - | - | 2549 | - | 2.38 | 0.051 | 2871 | 568.5 | -146.0 | - | - | 3533 | - | - | - | - | - | - | - | - | 14.69 | 14.62 | 14.73 |
5624 | 564.9 | -10.0 | 235 | 5626 | done | -0.90 | - | - | 2551 | - | - | - | 2871 | - | -146.0 | - | - | 3532 | - | - | - | - | - | - | - | - | 15.00 | 15.03 | 15.02 |
5960 | 599.1 | -10.2 | 241 | 5962 | done | -0.90 | - | - | 2551 | - | - | - | 2871 | - | -146.0 | - | - | 3530 | - | - | - | - | - | - | - | - | 14.95 | 14.98 | 14.97 |
6296 | 631.6 | -9.6 | 247 | 6303 | roll | -0.90 | - | - | 2550 | - | 2.25 | 0.032 | 1528 | -596.9 | -146.0 | - | - | 3529 | - | - | - | - | - | - | - | - | 15.00 | 14.67 | 15.02 |
6379 | 639.7 | -9.5 | 259 | 6387 | done | -0.90 | - | - | 2541 | - | 2.38 | 0.051 | 2875 | 566.0 | -146.0 | - | - | 3528 | - | - | - | - | - | - | - | - | 14.68 | 14.61 | 14.72 |
6744 | 675.6 | -9.8 | 269 | 6747 | done | -0.90 | - | - | 2541 | - | - | - | 2875 | - | -146.0 | - | - | 3526 | - | - | - | - | - | - | - | - | 14.99 | 15.06 | 15.02 |
7080 | 708.9 | -10.0 | 275 | 7087 | roll | -0.90 | - | - | 2541 | - | 2.28 | 0.032 | 1524 | -592.5 | -146.0 | - | - | 3525 | - | - | - | - | - | - | - | - | 14.98 | 14.68 | 15.01 |
7156 | 716.9 | -10.3 | 286 | 7164 | done | -0.90 | - | - | 2531 | - | 2.38 | 0.050 | 2868 | 564.7 | -146.0 | - | - | 3524 | - | - | - | - | - | - | - | - | 14.67 | 14.61 | 14.71 |
7472 | 750.3 | -10.6 | 296 | 7479 | roll | -0.87 | 0.15 | 0.250 | 2565 | 226.7 | 2.25 | 0.033 | 1518 | -600.0 | -146.0 | - | - | 3522 | - | - | - | - | - | - | - | - | 14.39 | 14.66 | 14.62 |
7528 | 755.8 | -9.4 | 304 | 7535 | done | -0.93 | - | - | 2557 | - | 2.38 | 0.051 | 2884 | 573.9 | -146.0 | - | - | 3522 | - | - | - | - | - | - | - | - | 14.72 | 14.59 | 14.76 |
7864 | 787.4 | -9.4 | 317 | 7867 | done | -0.93 | - | - | 2556 | - | - | - | 2884 | - | -146.0 | - | - | 3521 | - | - | - | - | - | - | - | - | 14.99 | 15.03 | 15.02 |
8200 | 819.9 | -9.8 | 323 | 8207 | roll | -0.93 | - | - | 2557 | - | 2.30 | 0.032 | 1523 | -591.7 | -146.0 | - | - | 3519 | - | - | - | - | - | - | - | - | 14.99 | 14.63 | 15.02 |
8262 | 825.6 | -9.5 | 332 | 8270 | done | -0.96 | - | - | 2547 | - | 2.38 | 0.051 | 2865 | 563.9 | -146.0 | - | - | 3520 | - | - | - | - | - | - | - | - | 14.62 | 14.54 | 14.66 |
8423 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8423 | begin apogee | ||||||||||||||||||||||||||||
8428 | 841.6 | -10.0 | 341 | 8643 | done | -0.21 | 0.82 | 0.197 | 2776 | 279.3 | - | - | 2660 | - | - | 211.18 | 1.510 | 2968 | -2.6 | 0.275 | - | - | - | - | - | - | 14.41 | 14.06 | 13.45 |
8644 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8644 | begin climb | ||||||||||||||||||||||||||||
8646 | 848.2 | - | 344 | 8825 | roll | 0.91 | 1.15 | 0.113 | 3147 | 322.6 | 2.50 | 0.037 | 1268 | -556.8 | 146.0 | 159.10 | 1.709 | 2374 | -3.7 | 0.350 | - | - | - | - | - | - | 14.07 | 13.93 | 13.29 |
8963 | 825.3 | 10.3 | 397 | 8972 | done | 0.75 | 0.20 | 0.232 | 3095 | -260.0 | 2.50 | 0.046 | 2655 | 554.8 | 146.0 | - | - | 2361 | - | - | - | - | - | - | - | - | 14.04 | 14.26 | 14.33 |
9320 | 786.8 | 10.7 | 406 | 9328 | roll | 0.66 | 0.12 | 0.265 | 3076 | -158.3 | 2.38 | 0.037 | 1280 | -577.7 | 146.0 | - | - | 2356 | - | - | - | - | - | - | - | - | 14.32 | 14.50 | 14.55 |
9382 | 781.0 | 8.4 | 415 | 9421 | done | 0.70 | - | - | 3076 | - | 2.38 | 0.044 | 2642 | 572.3 | 179.7 | 33.42 | 1.651 | 2251 | -3.1 | 0.281 | - | - | - | - | - | - | 14.57 | 14.53 | 13.77 |
9762 | 741.0 | 10.6 | 427 | 9770 | roll | 0.66 | - | - | 3086 | - | 2.35 | 0.037 | 1281 | -579.1 | 179.7 | - | - | 2228 | - | - | - | - | - | - | - | - | 14.73 | 14.54 | 14.77 |
9824 | 734.7 | 9.5 | 436 | 9833 | done | 0.68 | - | - | 3083 | - | 2.38 | 0.046 | 2635 | 568.9 | 191.2 | 2.78 | 0.858 | 2204 | -8.6 | 1.397 | - | - | - | - | - | - | 14.58 | 14.54 | 13.54 |
10154 | 700.2 | 10.4 | 448 | 10162 | roll | 0.62 | 0.15 | 0.243 | 3061 | -146.7 | 2.28 | 0.035 | 1286 | -591.7 | 191.2 | 1.58 | 0.251 | 2207 | 1.9 | -1.001 | - | - | - | - | - | - | 14.39 | 14.52 | 14.38 |
10230 | 693.2 | 9.2 | 459 | 10268 | done | 0.65 | - | - | 3061 | - | 2.38 | 0.045 | 2643 | 570.2 | 209.2 | 29.00 | 1.652 | 2128 | -2.7 | 0.216 | - | - | - | - | - | - | 14.64 | 14.59 | 13.88 |
10603 | 657.6 | 9.7 | 470 | 10610 | roll | 0.65 | - | - | 3071 | - | 2.30 | 0.036 | 1281 | -592.2 | 216.6 | 1.38 | 0.243 | 2103 | -18.1 | 9.266 | - | - | - | - | - | - | 14.80 | 14.49 | 14.35 |
10650 | 653.0 | 9.3 | 477 | 10680 | done | 0.67 | - | - | 3071 | - | 2.38 | 0.045 | 2637 | 569.7 | 231.4 | 22.95 | 1.703 | 2044 | -2.6 | 0.186 | - | - | - | - | - | - | 14.60 | 14.56 | 13.86 |
10994 | 617.2 | 10.6 | 491 | 11002 | roll | 0.67 | - | - | 3081 | - | 2.35 | 0.038 | 1280 | -577.4 | 231.4 | - | - | 2028 | - | - | - | - | - | - | - | - | 14.75 | 14.56 | 14.78 |
11084 | 607.8 | 10.2 | 504 | 11093 | done | 0.67 | - | - | 3081 | - | 2.42 | 0.045 | 2651 | 566.5 | 231.4 | - | - | 2030 | - | - | - | - | - | - | - | - | 14.64 | 14.58 | 14.66 |
11442 | 568.2 | 11.2 | 513 | 11450 | roll | 0.67 | - | - | 3090 | - | 2.35 | 0.038 | 1285 | -581.3 | 231.4 | - | - | 2026 | - | - | - | - | - | - | - | - | 14.83 | 14.60 | 14.86 |
11490 | 562.7 | 11.1 | 520 | 11500 | done | 0.67 | 0.05 | 0.197 | 3070 | -400.0 | 2.40 | 0.045 | 2642 | 565.4 | 231.4 | - | - | 2026 | - | - | - | - | - | - | - | - | 14.45 | 14.63 | 14.55 |
11834 | 524.5 | 11.2 | 527 | 11842 | roll | 0.67 | - | - | 3084 | - | 2.33 | 0.039 | 1286 | -582.0 | 231.4 | - | - | 2025 | - | - | - | - | - | - | - | - | 14.91 | 14.60 | 14.95 |
11882 | 519.1 | 11.0 | 534 | 11892 | done | 0.67 | - | - | 3084 | - | 2.38 | 0.045 | 2642 | 569.7 | 231.4 | - | - | 2025 | - | - | - | - | - | - | - | - | 14.66 | 14.60 | 14.69 |
12226 | 480.2 | 11.3 | 541 | 12234 | roll | 0.67 | - | - | 3094 | - | 2.33 | 0.038 | 1288 | -581.1 | 231.4 | - | - | 2024 | - | - | - | - | - | - | - | - | 14.92 | 14.61 | 14.95 |
12295 | 472.5 | 10.8 | 551 | 12304 | done | 0.67 | - | - | 3094 | - | 2.40 | 0.044 | 2644 | 565.0 | 231.4 | - | - | 2025 | - | - | - | - | - | - | - | - | 14.61 | 14.54 | 14.62 |
12618 | 436.6 | 11.2 | 562 | 12626 | roll | 0.67 | - | - | 3103 | - | 2.33 | 0.037 | 1288 | -582.0 | 231.4 | - | - | 2024 | - | - | - | - | - | - | - | - | 14.94 | 14.62 | 14.97 |
12666 | 431.1 | 11.3 | 569 | 12677 | done | 0.67 | 0.12 | 0.226 | 3070 | -275.0 | 2.38 | 0.044 | 2653 | 573.5 | 231.4 | - | - | 2024 | - | - | - | - | - | - | - | - | 14.38 | 14.64 | 14.52 |
13010 | 395.2 | 10.5 | 576 | 13018 | roll | 0.67 | - | - | 3078 | - | 2.35 | 0.038 | 1281 | -583.8 | 231.4 | - | - | 2024 | - | - | - | - | - | - | - | - | 14.92 | 14.59 | 14.96 |
13073 | 388.5 | 10.5 | 585 | 13082 | done | 0.73 | - | - | 3078 | - | 2.38 | 0.044 | 2638 | 570.2 | 231.4 | - | - | 2023 | - | - | - | - | - | - | - | - | 14.65 | 14.60 | 14.69 |
13403 | 352.5 | 11.0 | 597 | 13410 | roll | 0.73 | - | - | 3088 | - | 2.33 | 0.037 | 1281 | -582.4 | 231.4 | - | - | 2024 | - | - | - | - | - | - | - | - | 14.92 | 14.59 | 14.95 |
13451 | 346.9 | 11.2 | 604 | 13460 | done | 0.76 | - | - | 3088 | - | 2.38 | 0.044 | 2640 | 571.0 | 231.4 | - | - | 2024 | - | - | - | - | - | - | - | - | 14.66 | 14.60 | 14.69 |
13794 | 308.0 | 11.2 | 611 | 13802 | roll | 0.76 | - | - | 3097 | - | 2.33 | 0.037 | 1287 | -580.7 | 231.4 | - | - | 2024 | - | - | - | - | - | - | - | - | 14.93 | 14.55 | 14.97 |
13850 | 301.9 | 11.3 | 619 | 13858 | done | 0.76 | - | - | 3096 | - | 2.38 | 0.045 | 2648 | 571.8 | 231.4 | - | - | 2024 | - | - | - | - | - | - | - | - | 14.63 | 14.57 | 14.66 |
14186 | 265.6 | 10.7 | 632 | 14194 | roll | 0.76 | - | - | 3106 | - | 2.30 | 0.037 | 1281 | -594.3 | 231.4 | - | - | 2024 | - | - | - | - | - | - | - | - | 14.94 | 14.64 | 14.97 |
14242 | 260.3 | 9.4 | 640 | 14252 | done | 0.78 | - | - | 3106 | - | 2.38 | 0.044 | 2639 | 570.6 | 245.0 | 4.28 | 1.164 | 1991 | -7.7 | 0.326 | - | - | - | - | - | - | 14.63 | 14.56 | 13.63 |
14572 | 224.0 | 11.2 | 652 | 14580 | roll | 0.75 | - | - | 3114 | - | 2.28 | 0.035 | 1275 | -598.2 | 245.0 | 2.15 | 0.386 | 1994 | 1.4 | -0.153 | - | - | - | - | - | - | 14.91 | 14.44 | 13.68 |
14669 | 212.9 | 11.1 | 666 | 14678 | done | 0.75 | - | - | 3115 | - | 2.38 | 0.044 | 2638 | 572.7 | 245.0 | 1.70 | 0.216 | 1991 | -1.8 | 0.329 | - | - | - | - | - | - | 14.67 | 14.62 | 14.42 |
15020 | 170.1 | 12.3 | 674 | 15029 | roll | 0.71 | 0.15 | 0.228 | 3089 | -173.3 | 2.28 | 0.034 | 1281 | -595.2 | 245.0 | 2.08 | 0.337 | 1992 | - | - | - | - | - | - | - | - | 14.41 | 14.42 | 13.42 |
15096 | 162.5 | 9.3 | 685 | 15126 | done | 0.77 | - | - | 3088 | - | 2.38 | 0.044 | 2646 | 573.5 | 259.5 | 22.92 | 1.173 | 1933 | -2.6 | 0.067 | - | - | - | - | - | - | 14.66 | 14.62 | 14.14 |
15468 | 126.6 | 9.6 | 696 | 15476 | roll | 0.79 | - | - | 3099 | - | 2.28 | 0.034 | 1285 | -596.9 | 269.1 | 2.33 | 0.474 | 1898 | -15.0 | 0.758 | - | - | - | - | - | - | 14.87 | 14.42 | 13.76 |
15558 | 117.7 | 9.6 | 709 | 15582 | done | 0.84 | - | - | 3099 | - | 2.38 | 0.044 | 2644 | 571.0 | 276.7 | 13.90 | 1.180 | 1858 | -2.9 | 0.054 | - | - | - | - | - | - | 14.62 | 14.58 | 14.11 |
15888 | 86.3 | 8.6 | 720 | 15910 | roll | 0.95 | 0.17 | 0.103 | 3178 | 464.7 | 2.08 | 0.078 | 3824 | 567.3 | 307.9 | 14.12 | 0.397 | 1747 | -7.9 | 0.323 | - | - | - | - | - | - | 14.62 | 14.57 | 14.23 |
15964 | 77.7 | 11.3 | 731 | 15974 | done | 0.84 | 0.25 | 0.246 | 3121 | -228.0 | 1.92 | 0.028 | 2634 | -619.8 | 307.9 | 1.88 | 0.222 | 1743 | -2.1 | 0.141 | - | - | - | - | - | - | 14.33 | 14.68 | 14.30 |
16281 | 57.8 | 6.0 | 743 | 16339 | roll | 1.10 | 0.25 | 0.090 | 3222 | 404.0 | 2.28 | 0.038 | 1291 | -589.0 | 393.9 | 46.30 | 0.335 | 1403 | -7.3 | 0.239 | - | - | - | - | - | - | 14.61 | 14.58 | 14.28 |
16567 | 35.9 | 8.5 | 784 | 16591 | done | 1.20 | - | - | 3222 | - | 2.35 | 0.044 | 2639 | 573.6 | 426.4 | 17.62 | 0.265 | 1268 | -7.7 | 0.196 | - | - | - | - | - | - | 14.60 | 14.54 | 14.28 |
16897 | 8.0 | 8.1 | 798 | 16928 | roll | 1.32 | 0.17 | 0.099 | 3307 | 500.0 | 2.30 | 0.034 | 1290 | -586.5 | 467.0 | 20.12 | 0.185 | 1108 | -8.0 | 0.065 | - | - | - | - | - | - | 14.66 | 14.60 | 14.38 |
16945 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
16945 | begin surface coast | ||||||||||||||||||||||||||||
16953 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
16953 | begin surface | ||||||||||||||||||||||||||||
SM | 0.98 | - | - | - | - | -8.25 | 9.00 | 0.059 | 188 | 20.9 | 2.75 | 0.047 | 2867 | -2926.9 | 525.01 | 27.15 | 0.169 | 875 | 32.2 | -0.019 | - | - | - | - | - | - |