• Previous call tries 1 | • 69.62 of 147.00 AH used of 24V (52.64% remains) | |
• Previous NAKs 0, Timeouts 0 | • 49.24 of 109.00 AH used of 10V (54.82% remains) | |
• Surface angle -65.2 deg, depth 1.80 m | • Intended pitch -14.9 deg, speed -9.429 cm/s | |
• No surface pump (final VBD was 599.27, SM_CC=450) | ||
• GPS1 time: 38 s | ||
• GPS2 time: 16 s, HDOP was 2.9 m | • Transponder ping count: 121 | |
• 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 | |||||
14 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
14 | begin dive | ||||||||||||||||||||||||||||
17 | - | - | - | 130 | VBD | -0.57 | - | - | 140 | - | - | - | 1600 | - | -194.6 | -111.03 | - | 3135 | - | - | - | - | - | - | - | - | - | - | - |
134 | 5.8 | -9.0 | 15 | 159 | roll | -0.57 | 9.48 | 0.219 | 2548 | 254.0 | 1.10 | 0.067 | 2309 | 644.5 | -194.6 | -10.32 | - | 3679 | -52.7 | - | - | - | - | - | - | - | - | - | - |
337 | 69.1 | -22.7 | 51 | 346 | done | -0.48 | 0.12 | 0.136 | 2582 | 283.3 | 1.05 | 0.038 | 1606 | -669.5 | -194.6 | - | - | 3681 | - | - | - | - | - | - | - | - | - | - | - |
663 | 119.5 | -13.4 | 112 | 671 | roll | -0.44 | - | - | 2582 | - | 1.02 | 0.041 | 907 | -685.3 | -194.6 | - | - | 3682 | - | - | - | - | - | - | - | - | - | - | - |
700 | 123.8 | -11.7 | 117 | 709 | done | -0.41 | 0.08 | 0.141 | 2605 | 287.5 | 1.02 | 0.036 | 1604 | 683.3 | -194.6 | - | - | 3682 | - | - | - | - | - | - | - | - | - | - | - |
1032 | 159.1 | -10.9 | 178 | 1039 | roll | -0.42 | - | - | 2602 | - | 1.02 | 0.041 | 2311 | 693.1 | -194.6 | - | - | 3682 | - | - | - | - | - | - | - | - | - | - | - |
1077 | 163.7 | -9.7 | 185 | 1086 | done | -0.45 | - | - | 2601 | - | 1.02 | 0.037 | 1609 | -688.2 | -194.6 | - | - | 3682 | - | - | - | - | - | - | - | - | - | - | - |
1407 | 189.5 | -7.0 | 246 | 1415 | roll | -0.47 | - | - | 2597 | - | 1.05 | 0.042 | 2307 | 664.8 | -194.6 | - | - | 3682 | - | - | - | - | - | - | - | - | - | - | - |
1481 | 194.7 | -6.4 | 259 | 1489 | done | -0.51 | - | - | 2596 | - | 1.02 | 0.037 | 1615 | -678.4 | -194.6 | - | - | 3682 | - | - | - | - | - | - | - | - | - | - | - |
1810 | 224.7 | -9.4 | 320 | 1817 | done | -0.54 | - | - | 2597 | - | - | - | 1615 | - | -194.6 | - | - | 3682 | - | - | - | - | - | - | - | - | - | - | - |
2140 | 255.4 | -7.9 | 376 | 2144 | roll | -0.58 | 0.12 | 0.082 | 2506 | -758.3 | 1.05 | 0.044 | 2303 | 655.2 | -194.6 | - | - | 3681 | - | - | - | - | - | - | - | - | - | - | - |
2223 | 265.8 | -13.3 | 383 | 2231 | done | -0.54 | 0.17 | 0.124 | 2565 | 347.1 | 1.02 | 0.041 | 1617 | -672.5 | -194.6 | - | - | 3681 | - | - | - | - | - | - | - | - | - | - | - |
2549 | 300.2 | -10.1 | 414 | 2550 | done | -0.54 | - | - | 2566 | - | - | - | 1617 | - | -194.6 | - | - | 3680 | - | - | - | - | - | - | - | - | - | - | - |
2872 | 328.1 | -8.5 | 444 | 2876 | roll | -0.54 | - | - | 2566 | - | 1.05 | 0.047 | 2295 | 645.7 | -194.6 | - | - | 3678 | - | - | - | - | - | - | - | - | - | - | - |
2946 | 334.3 | -7.7 | 450 | 2953 | done | -0.56 | - | - | 2570 | - | 1.02 | 0.042 | 1619 | -662.7 | -194.6 | - | - | 3678 | - | - | - | - | - | - | - | - | - | - | - |
3272 | 364.7 | -9.8 | 481 | 3275 | roll | -0.58 | - | - | 2576 | - | 1.05 | 0.048 | 2303 | 651.4 | -194.6 | - | - | 3676 | - | - | - | - | - | - | - | - | - | - | - |
3363 | 372.7 | -8.7 | 489 | 3367 | done | -0.61 | - | - | 2576 | - | 1.05 | 0.044 | 1611 | -659.0 | -194.6 | - | - | 3675 | - | - | - | - | - | - | - | - | - | - | - |
3695 | 402.2 | -7.4 | 520 | 3696 | done | -0.62 | - | - | 2576 | - | - | - | 1611 | - | -194.6 | - | - | 3674 | - | - | - | - | - | - | - | - | - | - | - |
4015 | 418.4 | -4.6 | 550 | 4020 | roll | -0.63 | 0.10 | 0.098 | 2503 | -730.0 | 1.08 | 0.051 | 2292 | 630.6 | -194.6 | - | - | 3673 | - | - | - | - | - | - | - | - | - | - | - |
4065 | 422.1 | -7.5 | 554 | 4069 | done | -0.60 | 0.12 | 0.133 | 2545 | 350.0 | 1.05 | 0.044 | 1603 | -656.2 | -194.6 | - | - | 3672 | - | - | - | - | - | - | - | - | - | - | - |
4395 | 451.7 | -10.3 | 585 | 4399 | roll | -0.59 | - | - | 2543 | - | 1.08 | 0.050 | 2295 | 640.7 | -194.6 | - | - | 3669 | - | - | - | - | - | - | - | - | - | - | - |
4443 | 456.5 | -10.4 | 589 | 4447 | done | -0.59 | - | - | 2543 | - | 1.05 | 0.043 | 1603 | -659.0 | -194.6 | - | - | 3669 | - | - | - | - | - | - | - | - | - | - | - |
4774 | 491.5 | -9.5 | 620 | 4778 | roll | -0.57 | - | - | 2543 | - | 1.05 | 0.050 | 910 | -660.0 | -194.6 | - | - | 3666 | - | - | - | - | - | - | - | - | - | - | - |
4860 | 499.2 | -9.1 | 627 | 4867 | done | -0.56 | - | - | 2538 | - | 1.05 | 0.045 | 1595 | 652.4 | -194.6 | - | - | 3666 | - | - | - | - | - | - | - | - | - | - | - |
5186 | 525.4 | -8.5 | 658 | 5191 | roll | -0.55 | 0.10 | 0.171 | 2560 | 220.0 | 1.10 | 0.053 | 2311 | 650.9 | -194.6 | - | - | 3663 | - | - | - | - | - | - | - | - | - | - | - |
5234 | 528.8 | -7.8 | 662 | 5238 | done | -0.56 | - | - | 2560 | - | 1.08 | 0.046 | 1607 | -651.9 | -194.6 | - | - | 3662 | - | - | - | - | - | - | - | - | - | - | - |
5567 | 558.2 | -10.0 | 693 | 5574 | done | -0.58 | - | - | 2560 | - | - | - | 1607 | - | -194.6 | - | - | 3661 | - | - | - | - | - | - | - | - | - | - | - |
5894 | 591.2 | -9.7 | 724 | 5895 | done | -0.59 | - | - | 2560 | - | - | - | 1607 | - | -194.6 | - | - | 3659 | - | - | - | - | - | - | - | - | - | - | - |
6217 | 619.8 | -8.0 | 744 | 6221 | roll | -0.61 | - | - | 2560 | - | 1.08 | 0.052 | 903 | -651.9 | -194.6 | - | - | 3656 | - | - | - | - | - | - | - | - | - | - | - |
6264 | 623.3 | -7.6 | 746 | 6268 | done | -0.63 | - | - | 2555 | - | 1.10 | 0.046 | 1616 | 648.2 | -194.6 | - | - | 3656 | - | - | - | - | - | - | - | - | - | - | - |
6598 | 644.1 | -5.9 | 762 | 6599 | done | -0.65 | - | - | 2555 | - | - | - | 1616 | - | -194.6 | - | - | 3654 | - | - | - | - | - | - | - | - | - | - | - |
6909 | 663.0 | -6.6 | 777 | 6910 | done | -0.66 | - | - | 2555 | - | - | - | 1616 | - | -194.6 | - | - | 3652 | - | - | - | - | - | - | - | - | - | - | - |
7216 | 685.7 | -7.8 | 792 | 7220 | roll | -0.68 | - | - | 2550 | - | 1.05 | 0.057 | 2304 | 655.2 | -194.6 | - | - | 3650 | - | - | - | - | - | - | - | - | - | - | - |
7274 | 690.3 | -8.0 | 794 | 7279 | done | -0.71 | 0.08 | 0.054 | 2492 | -725.0 | 1.08 | 0.049 | 1604 | -648.1 | -194.6 | - | - | 3649 | - | - | - | - | - | - | - | - | - | - | - |
7596 | 732.8 | -14.3 | 810 | 7601 | roll | -0.67 | 0.12 | 0.166 | 2526 | 283.3 | 1.10 | 0.056 | 905 | -635.5 | -194.6 | - | - | 3648 | - | - | - | - | - | - | - | - | - | - | - |
7728 | 750.4 | -13.3 | 815 | 7735 | done | -0.67 | - | - | 2523 | - | 1.10 | 0.048 | 1610 | 640.9 | -194.6 | - | - | 3647 | - | - | - | - | - | - | - | - | - | - | - |
8044 | 794.0 | -14.3 | 831 | 8045 | done | -0.67 | - | - | 2523 | - | - | - | 1610 | - | -194.6 | - | - | 3645 | - | - | - | - | - | - | - | - | - | - | - |
8354 | 838.6 | -14.2 | 846 | 8355 | done | -0.67 | - | - | 2523 | - | - | - | 1610 | - | -194.6 | - | - | 3644 | - | - | - | - | - | - | - | - | - | - | - |
8665 | 880.0 | -12.2 | 861 | 8669 | roll | -0.67 | - | - | 2518 | - | 1.08 | 0.059 | 2308 | 646.3 | -194.6 | - | - | 3642 | - | - | - | - | - | - | - | - | - | - | - |
8714 | 886.5 | -12.0 | 863 | 8718 | done | -0.67 | - | - | 2518 | - | 1.08 | 0.050 | 1613 | -643.5 | -194.6 | - | - | 3642 | - | - | - | - | - | - | - | - | - | - | - |
9042 | 921.3 | -9.7 | 879 | 9045 | roll | -0.67 | - | - | 2518 | - | 1.10 | 0.058 | 906 | -642.7 | -194.6 | - | - | 3640 | - | - | - | - | - | - | - | - | - | - | - |
9122 | 928.4 | -9.0 | 882 | 9125 | done | -0.67 | - | - | 2513 | - | 1.10 | 0.050 | 1609 | 639.1 | -194.6 | - | - | 3640 | - | - | - | - | - | - | - | - | - | - | - |
9444 | 951.2 | -6.1 | 898 | 9448 | roll | -0.67 | - | - | 2513 | - | 1.10 | 0.056 | 912 | -633.6 | -194.6 | - | - | 3638 | - | - | - | - | - | - | - | - | - | - | - |
9530 | 956.6 | -6.2 | 901 | 9537 | done | -0.66 | - | - | 2508 | - | 1.10 | 0.050 | 1611 | 635.5 | -194.6 | - | - | 3638 | - | - | - | - | - | - | - | - | - | - | - |
9846 | 974.7 | -6.0 | 917 | 9850 | roll | -0.65 | - | - | 2508 | - | 1.10 | 0.056 | 913 | -634.5 | -194.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | - | - |
9921 | 979.7 | -6.9 | 920 | 9925 | done | -0.64 | 0.10 | 0.137 | 2536 | 280.0 | 1.10 | 0.052 | 1608 | 631.8 | -194.6 | - | - | 3637 | - | - | - | - | - | - | - | - | - | - | - |
10100 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
10101 | begin apogee | ||||||||||||||||||||||||||||
10107 | 990.0 | 5.8 | 929 | 10280 | done | -0.11 | 0.50 | 0.115 | 2704 | 336.0 | - | - | 1786 | - | - | 165.07 | 1.450 | 2882 | -4.6 | 0.340 | - | - | - | - | - | - | - | - | - |
10280 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
10281 | begin climb | ||||||||||||||||||||||||||||
10283 | 994.1 | - | 937 | 10476 | roll | 0.57 | 0.62 | 0.069 | 2929 | 362.9 | 1.17 | 0.058 | 2486 | 598.3 | 194.6 | 182.80 | 1.389 | 2089 | -4.3 | 0.338 | - | - | - | - | - | - | - | - | - |
10538 | 973.0 | 11.9 | 948 | 10544 | done | 0.53 | - | - | 2933 | - | 1.15 | 0.051 | 1783 | -611.3 | 194.6 | - | - | 2085 | - | - | - | - | - | - | - | - | - | - | - |
10854 | 935.2 | 12.0 | 964 | 10859 | roll | 0.48 | 0.12 | 0.170 | 2898 | -291.7 | 1.10 | 0.062 | 2478 | 631.8 | 194.6 | - | - | 2081 | - | - | - | - | - | - | - | - | - | - | - |
10902 | 930.4 | 10.1 | 966 | 10906 | done | 0.46 | - | - | 2900 | - | 1.10 | 0.050 | 1777 | -637.3 | 194.6 | - | - | 2080 | - | - | - | - | - | - | - | - | - | - | - |
11235 | 898.4 | 9.7 | 982 | 11239 | roll | 0.45 | - | - | 2901 | - | 1.10 | 0.060 | 2476 | 635.5 | 194.6 | - | - | 2079 | - | - | - | - | - | - | - | - | - | - | - |
11287 | 893.2 | 10.1 | 984 | 11291 | done | 0.43 | - | - | 2904 | - | 1.10 | 0.049 | 1768 | -643.6 | 194.6 | - | - | 2079 | - | - | - | - | - | - | - | - | - | - | - |
11615 | 861.3 | 9.6 | 1000 | 11618 | roll | 0.41 | - | - | 2899 | - | 1.10 | 0.060 | 2476 | 643.6 | 194.6 | - | - | 2078 | - | - | - | - | - | - | - | - | - | - | - |
11712 | 852.0 | 9.6 | 1004 | 11715 | done | 0.39 | - | - | 2900 | - | 1.08 | 0.048 | 1780 | -644.4 | 194.6 | - | - | 2078 | - | - | - | - | - | - | - | - | - | - | - |
12040 | 820.4 | 9.2 | 1020 | 12050 | roll | 0.38 | 0.12 | 0.171 | 2864 | -300.0 | 1.12 | 0.058 | 2485 | 629.5 | 200.6 | 4.40 | 0.874 | 2066 | -2.7 | 0.279 | - | - | - | - | - | - | - | - | - |
12126 | 814.5 | 6.3 | 1023 | 12227 | done | 0.52 | 0.10 | 0.053 | 2930 | 660.0 | 1.10 | 0.047 | 1777 | -643.6 | 298.1 | 92.30 | 1.331 | 1668 | -4.3 | 0.288 | - | - | - | - | - | - | - | - | - |
12552 | 768.9 | 10.9 | 1044 | 12556 | roll | 0.50 | - | - | 2931 | - | 1.10 | 0.057 | 2483 | 641.8 | 298.1 | - | - | 1660 | - | - | - | - | - | - | - | - | - | - | - |
12636 | 758.6 | 12.5 | 1047 | 12643 | done | 0.47 | 0.10 | 0.142 | 2901 | -300.0 | 1.10 | 0.047 | 1773 | -645.5 | 298.1 | - | - | 1659 | - | - | - | - | - | - | - | - | - | - | - |
12954 | 722.2 | 12.7 | 1063 | 12957 | roll | 0.47 | - | - | 2906 | - | 1.05 | 0.052 | 1078 | -661.9 | 298.1 | - | - | 1657 | - | - | - | - | - | - | - | - | - | - | - |
12981 | 717.9 | 13.9 | 1064 | 12985 | done | 0.47 | - | - | 2907 | - | 1.08 | 0.044 | 1783 | 652.8 | 298.1 | - | - | 1657 | - | - | - | - | - | - | - | - | - | - | - |
13309 | 669.3 | 15.2 | 1080 | 13312 | roll | 0.47 | - | - | 2907 | - | 1.05 | 0.056 | 2475 | 659.0 | 298.1 | - | - | 1657 | - | - | - | - | - | - | - | - | - | - | - |
13382 | 658.2 | 14.6 | 1083 | 13386 | done | 0.47 | - | - | 2910 | - | 1.08 | 0.045 | 1769 | -653.7 | 298.1 | - | - | 1656 | - | - | - | - | - | - | - | - | - | - | - |
13709 | 613.7 | 12.6 | 1099 | 13713 | roll | 0.47 | - | - | 2912 | - | 1.10 | 0.055 | 2485 | 650.9 | 298.1 | - | - | 1656 | - | - | - | - | - | - | - | - | - | - | - |
13759 | 607.7 | 11.3 | 1101 | 13763 | done | 0.48 | - | - | 2917 | - | 1.08 | 0.045 | 1781 | -651.9 | 298.1 | - | - | 1656 | - | - | - | - | - | - | - | - | - | - | - |
14085 | 576.3 | 8.8 | 1128 | 14109 | roll | 0.51 | - | - | 2924 | - | 1.10 | 0.050 | 1075 | -641.8 | 318.3 | 17.83 | 1.126 | 1586 | -3.9 | 0.219 | - | - | - | - | - | - | - | - | - |
14133 | 571.9 | 8.8 | 1132 | 14160 | done | 0.53 | - | - | 2924 | - | 1.08 | 0.043 | 1779 | 651.9 | 337.6 | 18.92 | 1.112 | 1506 | -4.2 | 0.237 | - | - | - | - | - | - | - | - | - |
14476 | 541.2 | 9.7 | 1164 | 14480 | roll | 0.53 | - | - | 2926 | - | 1.05 | 0.054 | 2478 | 665.7 | 337.6 | - | - | 1502 | - | - | - | - | - | - | - | - | - | - | - |
14546 | 534.3 | 10.1 | 1170 | 14549 | done | 0.54 | - | - | 2931 | - | 1.08 | 0.044 | 1773 | -652.8 | 337.6 | - | - | 1502 | - | - | - | - | - | - | - | - | - | - | - |
14877 | 494.3 | 12.6 | 1201 | 14880 | roll | 0.55 | - | - | 2937 | - | 1.05 | 0.050 | 1074 | -665.7 | 337.6 | - | - | 1501 | - | - | - | - | - | - | - | - | - | - | - |
14901 | 491.2 | 12.8 | 1203 | 14904 | done | 0.56 | - | - | 2937 | - | 1.08 | 0.043 | 1785 | 658.3 | 337.6 | - | - | 1501 | - | - | - | - | - | - | - | - | - | - | - |
15232 | 446.9 | 13.3 | 1234 | 15233 | done | 0.56 | - | - | 2937 | - | - | - | 1786 | - | 337.6 | - | - | 1500 | - | - | - | - | - | - | - | - | - | - | - |
15554 | 406.0 | 12.3 | 1264 | 15558 | roll | 0.58 | - | - | 2937 | - | 1.02 | 0.051 | 2476 | 676.5 | 337.6 | - | - | 1500 | - | - | - | - | - | - | - | - | - | - | - |
15684 | 390.6 | 11.2 | 1275 | 15691 | done | 0.59 | - | - | 2942 | - | 1.05 | 0.042 | 1779 | -663.8 | 337.6 | - | - | 1500 | - | - | - | - | - | - | - | - | - | - | - |
16010 | 354.8 | 12.1 | 1306 | 16013 | roll | 0.59 | - | - | 2947 | - | 1.08 | 0.049 | 1076 | -650.9 | 337.6 | - | - | 1500 | - | - | - | - | - | - | - | - | - | - | - |
16033 | 352.1 | 12.1 | 1308 | 16037 | done | 0.59 | - | - | 2947 | - | 1.08 | 0.042 | 1790 | 661.1 | 337.6 | - | - | 1500 | - | - | - | - | - | - | - | - | - | - | - |
16367 | 321.5 | 7.8 | 1339 | 16415 | done | 0.66 | - | - | 2947 | - | - | - | 1790 | - | 386.8 | 43.85 | 0.954 | 1307 | -4.4 | 0.162 | - | - | - | - | - | - | - | - | - |
16734 | 294.7 | 7.4 | 1374 | 16795 | done | 0.76 | 0.12 | 0.085 | 3020 | 608.3 | - | - | 1793 | - | 450.3 | 55.85 | 0.916 | 1047 | -4.7 | 0.163 | - | - | - | - | - | - | - | - | - |
17113 | 232.4 | 18.7 | 1418 | 17121 | roll | 0.71 | 0.15 | 0.153 | 2976 | -293.3 | 1.05 | 0.047 | 2481 | 655.2 | 450.3 | - | - | 1043 | - | - | - | - | - | - | - | - | - | - | - |
17143 | 227.9 | 17.1 | 1422 | 17151 | done | 0.69 | - | - | 2979 | - | 1.08 | 0.041 | 1772 | -656.5 | 450.3 | - | - | 1043 | - | - | - | - | - | - | - | - | - | - | - |
17472 | 192.0 | 11.5 | 1483 | 17479 | done | 0.71 | - | - | 2979 | - | - | - | 1772 | - | 450.3 | - | - | 1042 | - | - | - | - | - | - | - | - | - | - | - |
17803 | 153.8 | 8.5 | 1544 | 17833 | done | 0.78 | - | - | 2979 | - | - | - | 1772 | - | 479.7 | 25.50 | 0.776 | 926 | -4.5 | 0.098 | - | - | - | - | - | - | - | - | - |
18154 | 125.0 | 11.1 | 1608 | 18162 | roll | 0.84 | 0.10 | 0.098 | 3062 | 830.0 | 1.08 | 0.047 | 1072 | -648.1 | 479.7 | - | - | 924 | - | - | - | - | - | - | - | - | - | - | - |
18228 | 109.9 | 21.6 | 1621 | 18238 | done | 0.81 | 0.17 | 0.122 | 3004 | -341.2 | 1.05 | 0.037 | 1788 | 681.9 | 479.7 | - | - | 923 | - | - | - | - | - | - | - | - | - | - | - |
18563 | 81.3 | 2.7 | 1682 | 18670 | roll | 1.11 | 0.25 | 0.052 | 3151 | 588.0 | 1.12 | 0.040 | 1078 | -633.9 | 685.9 | 98.20 | 0.712 | 451 | -4.8 | 0.060 | - | - | - | - | - | - | - | - | - |
18778 | 50.3 | 16.6 | 1715 | 18787 | done | 1.05 | 0.20 | 0.133 | 3086 | -325.0 | 1.05 | 0.034 | 1791 | 679.0 | 685.9 | - | - | 444 | - | - | - | - | - | - | - | - | - | - | - |
19109 | 13.5 | 11.0 | 1776 | 19117 | roll | 1.08 | - | - | 3090 | - | 1.08 | 0.043 | 1080 | -658.3 | 685.9 | - | - | 441 | - | - | - | - | - | - | - | - | - | - | - |
19200 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
19200 | begin surface coast | ||||||||||||||||||||||||||||
19234 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
19234 | begin surface | ||||||||||||||||||||||||||||
SM | 2.06 | - | - | - | - | -8.05 | 7.62 | 0.033 | 158 | -384.8 | - | - | 1625 | - | 599.27 | - | - | 441 | - | - | - | - | - | - | - | - |