• Previous call tries 1 | • 93.02 of 510.00 AH used of 24V (81.76% remains) | |
• Surface angle -47.7 deg, depth 1.00 m | • Intended pitch -16.6 deg, speed -12.692 cm/s | |
• No surface pump (final VBD was 795.8, SM_CC=500) | ||
• GPS1 time: 22 s | ||
• GPS2 time: 3 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 | |||||
5 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
5 | begin dive | ||||||||||||||||||||||||||||
6.68 | - | - | - | 130.23 | VBD | -1.12 | - | - | 177.31 | - | - | - | 1957.56 | - | -243.31 | 123.19 | 0.005 | 3223.25 | - | - | - | - | - | - | - | - | - | - | 15.18 |
130.51 | 3.13 | -1.67 | 24 | 171.59 | -1.12 | 11.93 | 0.302 | 1528.69 | 113.3 | 3.17 | 0.111 | 3187.00 | 387.8 | -243.31 | 21.92 | 0.006 | 3960.44 | 33.6 | -3.001 | - | - | - | - | - | - | 15.21 | 15.10 | 15.29 | |
394.16 | 39.44 | -14.42 | 77 | 399.75 | roll | -1.09 | - | - | 1528.50 | - | 2.85 | 0.035 | 1973.50 | -425.8 | -243.31 | - | - | 3961.66 | - | - | - | - | - | - | - | - | - | 15.64 | - |
579.25 | 68.07 | -15.80 | 114 | 584.95 | roll | -1.03 | - | - | 1528.56 | - | 3.88 | 0.116 | 534.69 | -370.8 | -243.31 | - | - | 3961.62 | - | - | - | - | - | - | - | - | - | 15.64 | - |
604.19 | 72.34 | -17.10 | 119 | 609.97 | roll back | -0.97 | 0.27 | 0.177 | 1567.25 | 143.3 | 3.43 | 0.029 | 2029.38 | 435.8 | -243.31 | - | - | 3961.88 | - | - | - | - | - | - | - | - | 15.50 | 15.71 | - |
789.19 | 97.71 | -12.71 | 156 | 794.83 | roll | -0.97 | - | - | 1567.12 | - | 2.97 | 0.109 | 3186.62 | 389.6 | -243.31 | - | - | 3962.38 | - | - | - | - | - | - | - | - | - | 15.57 | - |
833.89 | 103.42 | -12.39 | 165 | 839.82 | roll | -0.97 | - | - | 1567.62 | - | 2.82 | 0.035 | 1971.88 | -430.8 | -243.31 | - | - | 3961.12 | - | - | - | - | - | - | - | - | - | 15.70 | - |
1139.30 | 139.35 | -12.51 | 196 | 1144.68 | roll | -0.97 | - | - | 1566.94 | - | 3.87 | 0.119 | 532.75 | -371.9 | -243.31 | - | - | 3961.97 | - | - | - | - | - | - | - | - | - | 15.65 | - |
1173.91 | 144.14 | -13.71 | 203 | 1179.95 | roll | -0.97 | - | - | 1568.12 | - | 3.42 | 0.028 | 2030.00 | 437.8 | -243.31 | - | - | 3961.38 | - | - | - | - | - | - | - | - | - | 15.74 | - |
1479.38 | 183.49 | -12.77 | 234 | 1480.71 | no move | -0.97 | - | - | 1568.25 | - | - | - | 2029.69 | - | -243.31 | - | - | 3961.38 | - | - | - | - | - | - | - | - | - | - | - |
1779.33 | 222.33 | -12.97 | 264 | 1780.66 | no move | -0.97 | - | - | 1568.31 | - | - | - | 2029.00 | - | -243.31 | - | - | 3961.22 | - | - | - | - | - | - | - | - | - | - | - |
2079.37 | 261.33 | -12.81 | 294 | 2084.78 | roll | -0.97 | - | - | 1567.38 | - | 4.03 | 0.116 | 533.50 | -371.1 | -243.31 | - | - | 3963.12 | - | - | - | - | - | - | - | - | - | 15.67 | - |
2103.98 | 264.86 | -13.57 | 299 | 2110.02 | roll | -0.97 | - | - | 1568.19 | - | 3.41 | 0.029 | 2031.81 | 439.4 | -243.31 | - | - | 3962.53 | - | - | - | - | - | - | - | - | - | 15.89 | - |
2409.30 | 304.77 | -13.13 | 330 | 2410.63 | no move | -0.97 | - | - | 1568.25 | - | - | - | 2031.75 | - | -243.31 | - | - | 3960.97 | - | - | - | - | - | - | - | - | - | - | - |
2709.40 | 343.79 | -13.40 | 360 | 2710.73 | no move | -0.97 | - | - | 1568.12 | - | - | - | 2031.62 | - | -243.31 | - | - | 3961.16 | - | - | - | - | - | - | - | - | - | - | - |
3009.41 | 382.66 | -13.08 | 390 | 3014.84 | roll | -0.97 | - | - | 1567.75 | - | 4.01 | 0.120 | 534.12 | -373.4 | -243.31 | - | - | 3961.38 | - | - | - | - | - | - | - | - | - | 15.66 | - |
3034.03 | 386.09 | -13.45 | 395 | 3040.06 | roll | -0.97 | - | - | 1567.69 | - | 3.40 | 0.030 | 2029.75 | 439.9 | -243.31 | - | - | 3962.56 | - | - | - | - | - | - | - | - | - | 15.91 | - |
3339.38 | 424.95 | -12.34 | 426 | 3340.71 | no move | -0.97 | - | - | 1568.12 | - | - | - | 2029.44 | - | -243.31 | - | - | 3961.69 | - | - | - | - | - | - | - | - | - | - | - |
3639.50 | 461.08 | -11.47 | 456 | 3640.83 | no move | -0.97 | - | - | 1567.25 | - | - | - | 2029.62 | - | -243.31 | - | - | 3961.25 | - | - | - | - | - | - | - | - | - | - | - |
3939.55 | 494.73 | -10.88 | 486 | 3944.97 | roll | -0.97 | - | - | 1567.94 | - | 4.07 | 0.124 | 535.19 | -367.2 | -243.31 | - | - | 3960.91 | - | - | - | - | - | - | - | - | - | 15.65 | - |
3974.17 | 498.95 | -12.27 | 493 | 3980.18 | roll | -0.97 | - | - | 1567.62 | - | 3.40 | 0.030 | 2026.94 | 438.8 | -243.31 | - | - | 3961.38 | - | - | - | - | - | - | - | - | - | 15.91 | - |
4279.53 | 531.39 | -10.26 | 524 | 4284.85 | roll | -0.97 | - | - | 1567.50 | - | 3.03 | 0.125 | 3184.25 | 382.0 | -243.31 | - | - | 3960.41 | - | - | - | - | - | - | - | - | - | 15.60 | - |
4309.56 | 534.45 | -10.24 | 530 | 4314.82 | roll | -0.97 | - | - | 1567.19 | - | 2.83 | 0.046 | 1976.56 | -426.7 | -243.31 | - | - | 3961.41 | - | - | - | - | - | - | - | - | - | 15.90 | - |
4619.67 | 566.16 | -10.06 | 562 | 4621.00 | no move | -0.97 | - | - | 1567.81 | - | - | - | 1976.75 | - | -243.31 | - | - | 3960.44 | - | - | - | - | - | - | - | - | - | - | - |
4919.71 | 597.14 | -10.12 | 592 | 4925.11 | roll | -0.97 | - | - | 1567.50 | - | 3.91 | 0.137 | 534.81 | -368.8 | -243.31 | - | - | 3960.94 | - | - | - | - | - | - | - | - | - | 15.63 | - |
4944.33 | 600.13 | -10.96 | 597 | 4950.37 | roll | -0.97 | - | - | 1567.62 | - | 3.41 | 0.032 | 2020.88 | 435.8 | -243.31 | - | - | 3960.09 | - | - | - | - | - | - | - | - | - | 15.85 | - |
5249.70 | 634.41 | -11.40 | 628 | 5251.03 | no move | -0.97 | - | - | 1568.06 | - | - | - | 2020.88 | - | -243.31 | - | - | 3959.19 | - | - | - | - | - | - | - | - | - | - | - |
5549.82 | 670.06 | -12.22 | 658 | 5555.25 | roll | -0.97 | - | - | 1567.38 | - | 4.03 | 0.135 | 536.25 | -368.4 | -243.31 | - | - | 3959.97 | - | - | - | - | - | - | - | - | - | 15.61 | - |
5579.75 | 674.19 | -13.75 | 664 | 5585.13 | roll | -0.97 | - | - | 1566.94 | - | 3.41 | 0.035 | 2022.50 | 435.9 | -243.31 | - | - | 3960.44 | - | - | - | - | - | - | - | - | - | 15.91 | - |
5889.80 | 713.80 | -12.49 | 696 | 5891.13 | no move | -0.97 | - | - | 1567.81 | - | - | - | 2022.69 | - | -243.31 | - | - | 3959.50 | - | - | - | - | - | - | - | - | - | - | - |
6189.96 | 750.31 | -11.83 | 726 | 6195.34 | roll | -1.00 | - | - | 1567.62 | - | 4.11 | 0.137 | 536.56 | -361.6 | -243.31 | - | - | 3960.66 | - | - | - | - | - | - | - | - | - | 15.60 | - |
6229.86 | 755.46 | -13.25 | 734 | 6235.23 | roll | -1.00 | - | - | 1566.75 | - | 3.43 | 0.037 | 2020.94 | 432.8 | -243.31 | - | - | 3959.88 | - | - | - | - | - | - | - | - | - | 15.91 | - |
6539.92 | 791.15 | -11.06 | 766 | 6541.25 | no move | -1.03 | - | - | 1567.19 | - | - | - | 2021.81 | - | -243.31 | - | - | 3959.09 | - | - | - | - | - | - | - | - | - | - | - |
6840.04 | 823.25 | -10.27 | 796 | 6846.52 | roll back | -1.07 | 0.26 | 0.080 | 1523.19 | -169.2 | 4.09 | 0.143 | 536.81 | -363.1 | -243.31 | - | - | 3959.41 | - | - | - | - | - | - | - | - | 15.87 | 15.58 | - |
6869.63 | 827.14 | -12.97 | 802 | 6875.68 | roll | -1.07 | - | - | 1523.62 | - | 3.42 | 0.040 | 2019.75 | 433.6 | -243.31 | - | - | 3959.19 | - | - | - | - | - | - | - | - | - | 15.90 | - |
7175.01 | 868.31 | -13.47 | 833 | 7180.42 | roll back | -1.03 | 0.25 | 0.175 | 1551.12 | 110.0 | 3.12 | 0.144 | 3185.75 | 373.7 | -243.31 | - | - | 3959.44 | - | - | - | - | - | - | - | - | 15.75 | 15.52 | - |
7219.70 | 873.54 | -11.07 | 842 | 7225.64 | roll | -1.03 | - | - | 1551.69 | - | 2.88 | 0.061 | 1981.69 | -418.1 | -243.31 | - | - | 3958.53 | - | - | - | - | - | - | - | - | - | 15.84 | - |
7525.14 | 905.66 | -10.98 | 873 | 7530.56 | roll | -1.03 | - | - | 1551.38 | - | 4.01 | 0.154 | 536.62 | -360.4 | -243.31 | - | - | 3958.28 | - | - | - | - | - | - | - | - | - | 15.53 | - |
7579.79 | 912.31 | -12.45 | 884 | 7585.93 | roll | -1.03 | - | - | 1551.81 | - | 3.44 | 0.041 | 2018.81 | 430.9 | -243.31 | - | - | 3958.31 | - | - | - | - | - | - | - | - | - | 15.90 | - |
7885.13 | 944.53 | -10.30 | 915 | 7890.63 | roll | -1.03 | - | - | 1551.38 | - | 4.12 | 0.150 | 537.62 | -359.5 | -243.31 | - | - | 3958.25 | - | - | - | - | - | - | - | - | - | 15.54 | - |
7915.16 | 948.02 | -11.64 | 921 | 7920.52 | roll | -1.03 | - | - | 1551.56 | - | 3.46 | 0.041 | 2018.94 | 428.1 | -243.31 | - | - | 3957.34 | - | - | - | - | - | - | - | - | - | 15.79 | - |
8225.16 | 978.98 | -9.81 | 953 | 8226.49 | no move | -1.03 | - | - | 1551.19 | - | - | - | 2018.38 | - | -243.31 | - | - | 3957.00 | - | - | - | - | - | - | - | - | - | - | - |
8335 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8335 | begin apogee | ||||||||||||||||||||||||||||
8337.62 | 990.04 | -10.07 | 964 | 8549.66 | -0.23 | 1.38 | 0.145 | 1746.69 | 141.7 | 0.05 | 0.308 | 1480.75 | -10752.6 | - | 208.01 | 2.045 | 2968.59 | -4.8 | 0.394 | - | - | - | - | - | - | 15.62 | 15.07 | 10.57 | |
8550 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8550 | begin climb | ||||||||||||||||||||||||||||
8551.16 | 997.16 | - | 985 | 8775.26 | 1.12 | 2.27 | 0.102 | 2074.56 | 144.4 | 3.11 | 0.176 | 460.12 | -328.2 | 243.31 | 214.68 | 1.995 | 1976.12 | -4.6 | 0.395 | - | - | - | - | - | - | 15.18 | 14.97 | 11.98 | |
8932.79 | 965.54 | 13.39 | 1061 | 8937.92 | done | 1.08 | - | - | 2074.50 | - | 2.36 | 0.028 | 1489.56 | 436.2 | 243.31 | - | - | 1967.16 | - | - | - | - | - | - | - | - | - | 15.49 | - |
9242.86 | 934.10 | 9.65 | 1093 | 9324.39 | VBD | 1.21 | - | - | 2075.00 | - | - | - | 1489.62 | - | 329.24 | 78.49 | 1.906 | 1625.16 | -4.4 | 0.365 | - | - | - | - | - | - | - | - | 11.69 |
9622.92 | 898.69 | 9.13 | 1131 | 9721.22 | 1.41 | 0.41 | 0.061 | 2154.00 | 192.7 | 3.06 | 0.163 | 458.81 | -336.9 | 429.87 | 92.76 | 1.878 | 1215.53 | -4.4 | 0.361 | - | - | - | - | - | - | 15.61 | 15.18 | 11.69 | |
9763.41 | 876.82 | 19.69 | 1159 | 9769.47 | roll back | 1.33 | 0.36 | 0.198 | 2117.69 | -100.9 | 2.38 | 0.028 | 1491.44 | 433.9 | 429.87 | - | - | 1214.28 | - | - | - | - | - | - | - | - | 15.30 | 15.39 | - |
10068.86 | 841.91 | 10.92 | 1190 | 10119.85 | 1.46 | 0.30 | 0.069 | 2168.12 | 168.1 | - | - | 1493.44 | - | 480.02 | 47.13 | 1.784 | 1011.97 | -4.3 | 0.347 | - | - | - | - | - | - | 15.59 | - | 11.66 | |
10418.82 | 786.93 | 15.98 | 1225 | 10424.12 | roll | 1.46 | - | - | 2167.00 | - | 2.97 | 0.156 | 458.94 | -348.3 | 480.02 | - | - | 1007.00 | - | - | - | - | - | - | - | - | - | 15.51 | - |
10438.84 | 783.35 | 17.36 | 1229 | 10443.95 | roll | 1.43 | - | - | 2168.50 | - | 2.33 | 0.029 | 1498.50 | 446.2 | 480.02 | - | - | 1006.72 | - | - | - | - | - | - | - | - | - | 15.62 | - |
10748.90 | 732.84 | 16.43 | 1261 | 10754.26 | roll | 1.43 | - | - | 2168.94 | - | 3.58 | 0.094 | 2912.50 | 395.0 | 480.02 | - | - | 1006.53 | - | - | - | - | - | - | - | - | - | 15.65 | - |
10758.87 | 731.30 | 16.17 | 1263 | 10764.29 | roll | 1.43 | - | - | 2168.50 | - | 3.66 | 0.074 | 1437.25 | -403.1 | 480.02 | - | - | 1005.88 | - | - | - | - | - | - | - | - | - | 15.70 | - |
11068.91 | 680.82 | 16.34 | 1295 | 11074.19 | roll | 1.43 | - | - | 2168.44 | - | 2.73 | 0.151 | 457.69 | -358.8 | 480.02 | - | - | 1006.16 | - | - | - | - | - | - | - | - | - | 15.65 | - |
11093.61 | 676.24 | 18.29 | 1300 | 11099.53 | roll back | 1.39 | 0.32 | 0.190 | 2130.62 | -118.2 | 2.30 | 0.027 | 1515.56 | 459.9 | 480.02 | - | - | 1006.09 | - | - | - | - | - | - | - | - | 15.65 | 15.79 | - |
11399.07 | 637.99 | 12.08 | 1331 | 11419.40 | 1.49 | 0.24 | 0.076 | 2172.44 | 174.3 | - | - | 1516.19 | - | 497.32 | 17.20 | 1.483 | 940.91 | -3.8 | 0.279 | - | - | - | - | - | - | 15.74 | - | 11.31 | |
11719.04 | 585.92 | 16.83 | 1363 | 11724.33 | roll | 1.49 | - | - | 2172.88 | - | 2.94 | 0.146 | 456.81 | -360.3 | 497.32 | - | - | 939.72 | - | - | - | - | - | - | - | - | - | 15.65 | - |
11769.05 | 576.13 | 20.01 | 1373 | 11774.31 | roll back | 1.44 | 0.28 | 0.186 | 2142.94 | -106.9 | 2.31 | 0.029 | 1521.00 | 460.7 | 497.32 | - | - | 938.50 | - | - | - | - | - | - | - | - | 15.66 | 15.69 | - |
12079.18 | 536.99 | 12.05 | 1405 | 12099.59 | 1.53 | 0.24 | 0.078 | 2182.62 | 165.3 | - | - | 1520.56 | - | 515.45 | 18.55 | 1.387 | 867.53 | -3.8 | 0.253 | - | - | - | - | - | - | 15.78 | - | 11.49 | |
12399.14 | 484.32 | 17.06 | 1437 | 12404.45 | roll | 1.53 | - | - | 2183.56 | - | 2.96 | 0.141 | 458.00 | -359.0 | 515.45 | - | - | 865.19 | - | - | - | - | - | - | - | - | - | 15.61 | - |
12449.15 | 474.46 | 20.68 | 1447 | 12454.40 | roll back | 1.47 | 0.28 | 0.190 | 2151.88 | -113.1 | 2.30 | 0.030 | 1514.75 | 459.5 | 515.45 | - | - | 864.81 | - | - | - | - | - | - | - | - | 15.66 | 15.77 | - |
12759.25 | 435.20 | 11.76 | 1479 | 12785.80 | 1.57 | 0.25 | 0.076 | 2194.06 | 168.7 | - | - | 1514.75 | - | 541.78 | 25.36 | 1.328 | 759.59 | -4.1 | 0.233 | - | - | - | - | - | - | 15.62 | - | 11.45 | |
13079.17 | 382.38 | 16.68 | 1511 | 13084.46 | roll | 1.57 | - | - | 2192.31 | - | 2.88 | 0.140 | 456.94 | -367.3 | 541.78 | - | - | 758.44 | - | - | - | - | - | - | - | - | - | 15.65 | - |
13133.87 | 371.51 | 20.91 | 1522 | 13139.79 | roll back | 1.52 | 0.28 | 0.189 | 2160.38 | -114.0 | 2.31 | 0.030 | 1526.56 | 463.0 | 541.78 | - | - | 758.03 | - | - | - | - | - | - | - | - | 15.66 | 15.79 | - |
13439.31 | 331.19 | 12.52 | 1553 | 13451.00 | done | 1.58 | - | - | 2160.81 | - | 2.92 | 0.141 | 456.94 | -366.3 | 546.69 | 6.70 | 0.882 | 740.00 | -2.7 | 0.173 | - | - | - | - | - | - | - | 15.50 | 11.35 |
13468.99 | 327.22 | 13.24 | 1559 | 13474.82 | roll back | 1.63 | 0.28 | 0.076 | 2207.44 | 166.5 | 2.30 | 0.031 | 1521.06 | 462.7 | 546.69 | - | - | 739.38 | - | - | - | - | - | - | - | - | 15.74 | 15.77 | - |
13774.30 | 271.44 | 18.82 | 1590 | 13779.54 | roll | 1.63 | - | - | 2207.19 | - | 2.91 | 0.135 | 456.75 | -365.7 | 546.69 | - | - | 738.97 | - | - | - | - | - | - | - | - | - | 15.68 | - |
13808.93 | 263.93 | 22.04 | 1597 | 13814.87 | roll back | 1.57 | 0.29 | 0.195 | 2173.62 | -115.8 | 2.32 | 0.030 | 1530.25 | 462.7 | 546.69 | - | - | 738.81 | - | - | - | - | - | - | - | - | 15.67 | 15.64 | - |
14114.35 | 218.67 | 13.95 | 1628 | 14119.56 | roll | 1.61 | - | - | 2173.44 | - | 2.95 | 0.137 | 457.00 | -363.8 | 546.69 | - | - | 738.91 | - | - | - | - | - | - | - | - | - | 15.67 | - |
14144.27 | 214.00 | 15.76 | 1634 | 14149.38 | roll | 1.61 | - | - | 2173.25 | - | 2.29 | 0.031 | 1520.31 | 464.3 | 546.69 | - | - | 738.78 | - | - | - | - | - | - | - | - | - | 15.84 | - |
14454.31 | 171.83 | 13.27 | 1666 | 14459.65 | roll back | 1.66 | 0.23 | 0.077 | 2216.56 | 188.3 | 2.89 | 0.136 | 457.88 | -367.6 | 546.69 | - | - | 738.53 | - | - | - | - | - | - | - | - | 15.82 | 15.68 | - |
14474.30 | 168.53 | 14.80 | 1670 | 14479.41 | roll | 1.66 | - | - | 2216.94 | - | 2.30 | 0.031 | 1521.88 | 462.6 | 546.69 | - | - | 738.84 | - | - | - | - | - | - | - | - | - | 15.85 | - |
14784.34 | 110.59 | 18.85 | 1702 | 14789.59 | roll | 1.62 | - | - | 2216.75 | - | 2.89 | 0.133 | 456.88 | -368.5 | 546.69 | - | - | 738.84 | - | - | - | - | - | - | - | - | - | 15.68 | - |
14814.33 | 104.10 | 21.85 | 1708 | 14819.58 | roll back | 1.56 | 0.36 | 0.195 | 2172.56 | -122.8 | 2.30 | 0.030 | 1528.19 | 465.8 | 546.69 | - | - | 738.91 | - | - | - | - | - | - | - | - | 15.69 | 15.86 | - |
15119.39 | 63.24 | 13.25 | 1767 | 15125.00 | roll | 1.62 | - | - | 2173.12 | - | 2.94 | 0.136 | 457.12 | -364.3 | 546.69 | - | - | 738.53 | - | - | - | - | - | - | - | - | - | 15.61 | - |
15144.38 | 59.64 | 14.18 | 1772 | 15149.96 | roll back | 1.67 | 0.25 | 0.077 | 2218.00 | 179.5 | 2.30 | 0.031 | 1516.50 | 460.6 | 546.69 | - | - | 738.84 | - | - | - | - | - | - | - | - | 15.76 | 15.85 | - |
15329.40 | 27.11 | 17.86 | 1809 | 15330.73 | no move | 1.67 | - | - | 2217.56 | - | - | - | 1517.06 | - | 546.69 | - | - | 738.47 | - | - | - | - | - | - | - | - | - | - | - |
15479 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
15479 | begin surface coast | ||||||||||||||||||||||||||||
15489 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
15489 | begin surface | ||||||||||||||||||||||||||||
SM | 0.72 | - | - | - | - | 177.3 | - | - | 738.5 | - | 12.47 | 0.048 | 681.3 | 54.6 | - | 1.11 | 0.035 | 795.8 | 716.9 | -1.507 | - | - | 30.00 | 15.83 | 15.87 | - |