• Previous call tries 1 | • 12.55 of 510.00 AH used of 24V (97.54% remains) | |
• Surface angle -66.2 deg, depth 1.50 m | • Intended pitch -22.0 deg, speed -10.000 cm/s | |
• VBD pumped to 349.73 (SM_CC=350) | ||
• GPS1 time: 47 s | ||
• GPS2 time: 2 s | • Transponder ping count: 6 | |
• 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 | |||||
7 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
7 | begin dive | ||||||||||||||||||||||||||||
7.25 | - | - | - | 67.19 | VBD | -1.20 | - | - | 175.75 | - | - | - | 1966.75 | - | -136.25 | 59.17 | 0.005 | 2532.88 | - | - | - | - | - | - | - | - | - | - | 15.73 |
67.45 | 3.05 | -2.95 | 11 | 114.77 | -1.20 | 14.05 | 0.294 | 1827.69 | 117.6 | 3.21 | 0.107 | 3187.38 | 380.3 | -136.25 | 24.03 | 0.006 | 3380.66 | 35.3 | -3.003 | - | - | - | - | - | - | 15.70 | 15.74 | 15.77 | |
237.89 | 37.56 | -17.81 | 45 | 243.54 | roll | -1.20 | - | - | 1827.88 | - | 2.91 | 0.043 | 1974.19 | -416.9 | -136.25 | - | - | 3381.34 | - | - | - | - | - | - | - | - | - | 15.85 | - |
427.93 | 66.35 | -14.32 | 83 | 432.15 | no move | -1.20 | - | - | 1828.25 | - | - | - | 1974.81 | - | -136.25 | - | - | 3382.38 | - | - | - | - | - | - | - | - | - | - | - |
612.95 | 92.56 | -14.33 | 120 | 618.63 | roll | -1.20 | - | - | 1828.00 | - | 3.18 | 0.101 | 3187.44 | 381.3 | -136.25 | - | - | 3384.34 | - | - | - | - | - | - | - | - | - | 15.94 | - |
667.97 | 100.42 | -13.74 | 131 | 673.60 | roll | -1.20 | - | - | 1827.69 | - | 2.89 | 0.041 | 1975.69 | -419.3 | -136.25 | - | - | 3383.66 | - | - | - | - | - | - | - | - | - | 15.96 | - |
982.99 | 140.72 | -12.71 | 163 | 989.04 | roll | -1.20 | - | - | 1827.81 | - | 3.89 | 0.122 | 534.06 | -370.6 | -136.25 | - | - | 3383.97 | - | - | - | - | - | - | - | - | - | 15.98 | - |
1018.02 | 145.51 | -13.94 | 170 | 1022.97 | roll | -1.20 | - | - | 1828.38 | - | 3.48 | 0.038 | 2028.88 | 429.5 | -136.25 | - | - | 3386.03 | - | - | - | - | - | - | - | - | - | 16.02 | - |
1328.02 | 186.56 | -13.80 | 202 | 1334.08 | roll | -1.20 | - | - | 1827.12 | - | 3.99 | 0.119 | 534.00 | -374.7 | -136.25 | - | - | 3384.69 | - | - | - | - | - | - | - | - | - | 16.01 | - |
1363.05 | 192.16 | -16.49 | 209 | 1368.00 | roll | -1.20 | - | - | 1828.75 | - | 3.46 | 0.039 | 2026.25 | 431.3 | -136.25 | - | - | 3385.28 | - | - | - | - | - | - | - | - | - | 16.05 | - |
1673.06 | 236.28 | -13.93 | 241 | 1679.12 | roll | -1.20 | - | - | 1828.31 | - | 3.99 | 0.120 | 534.88 | -373.8 | -136.25 | - | - | 3384.25 | - | - | - | - | - | - | - | - | - | 16.04 | - |
1722.33 | 244.40 | -16.80 | 251 | 1728.80 | roll | -1.20 | - | - | 1827.56 | - | 3.46 | 0.041 | 2024.12 | 430.4 | -136.25 | - | - | 3386.16 | - | - | - | - | - | - | - | - | - | 16.07 | - |
2038.09 | 288.89 | -13.79 | 283 | 2039.43 | no move | -1.20 | - | - | 1827.94 | - | - | - | 2023.88 | - | -136.25 | - | - | 3384.12 | - | - | - | - | - | - | - | - | - | - | - |
2348.12 | 329.83 | -13.05 | 314 | 2354.17 | roll | -1.20 | - | - | 1828.94 | - | 3.99 | 0.125 | 533.81 | -373.5 | -136.25 | - | - | 3385.16 | - | - | - | - | - | - | - | - | - | 16.07 | - |
2403.23 | 338.23 | -15.58 | 325 | 2408.09 | roll | -1.20 | - | - | 1827.25 | - | 3.46 | 0.043 | 2025.06 | 431.0 | -136.25 | - | - | 3387.28 | - | - | - | - | - | - | - | - | - | 16.12 | - |
2713.15 | 378.04 | -12.57 | 357 | 2719.20 | roll | -1.20 | - | - | 1827.38 | - | 3.99 | 0.127 | 534.25 | -373.6 | -136.25 | - | - | 3387.34 | - | - | - | - | - | - | - | - | - | 16.11 | - |
2758.18 | 384.61 | -15.05 | 366 | 2763.12 | roll | -1.20 | - | - | 1827.88 | - | 3.45 | 0.044 | 2023.19 | 431.6 | -136.25 | - | - | 3385.56 | - | - | - | - | - | - | - | - | - | 16.14 | - |
3068.20 | 424.84 | -12.86 | 398 | 3069.54 | no move | -1.20 | - | - | 1828.06 | - | - | - | 2024.00 | - | -136.25 | - | - | 3383.56 | - | - | - | - | - | - | - | - | - | - | - |
3378.26 | 462.98 | -11.74 | 429 | 3379.60 | no move | -1.20 | - | - | 1827.88 | - | - | - | 2023.81 | - | -136.25 | - | - | 3383.19 | - | - | - | - | - | - | - | - | - | - | - |
3688.29 | 498.87 | -11.68 | 460 | 3694.38 | roll | -1.20 | - | - | 1828.06 | - | 4.03 | 0.135 | 535.19 | -369.4 | -136.25 | - | - | 3384.16 | - | - | - | - | - | - | - | - | - | 16.13 | - |
3753.32 | 507.76 | -13.95 | 473 | 3758.27 | roll | -1.20 | - | - | 1827.19 | - | 3.47 | 0.048 | 2022.75 | 428.7 | -136.25 | - | - | 3385.88 | - | - | - | - | - | - | - | - | - | 16.16 | - |
4063.34 | 543.14 | -11.19 | 505 | 4069.42 | roll | -1.20 | - | - | 1827.81 | - | 4.03 | 0.137 | 536.38 | -368.8 | -136.25 | - | - | 3382.00 | - | - | - | - | - | - | - | - | - | 16.15 | - |
4098.37 | 547.67 | -13.19 | 512 | 4103.31 | roll | -1.20 | - | - | 1827.00 | - | 3.46 | 0.048 | 2020.50 | 428.9 | -136.25 | - | - | 3384.28 | - | - | - | - | - | - | - | - | - | 16.17 | - |
4408.37 | 581.75 | -10.55 | 544 | 4409.71 | no move | -1.20 | - | - | 1828.12 | - | - | - | 2020.69 | - | -136.25 | - | - | 3382.03 | - | - | - | - | - | - | - | - | - | - | - |
4718.39 | 615.19 | -10.59 | 575 | 4719.73 | no move | -1.20 | - | - | 1827.75 | - | - | - | 2020.50 | - | -136.25 | - | - | 3380.66 | - | - | - | - | - | - | - | - | - | - | - |
5028.43 | 649.38 | -11.20 | 606 | 5029.76 | no move | -1.20 | - | - | 1827.88 | - | - | - | 2021.75 | - | -136.25 | - | - | 3380.06 | - | - | - | - | - | - | - | - | - | - | - |
5338.44 | 685.47 | -11.74 | 637 | 5344.53 | roll | -1.20 | - | - | 1828.19 | - | 4.07 | 0.147 | 536.31 | -365.0 | -136.25 | - | - | 3379.16 | - | - | - | - | - | - | - | - | - | 16.17 | - |
5393.54 | 692.93 | -13.98 | 648 | 5398.43 | roll | -1.20 | - | - | 1827.62 | - | 3.49 | 0.054 | 2018.56 | 424.7 | -136.25 | - | - | 3380.66 | - | - | - | - | - | - | - | - | - | 16.20 | - |
5703.47 | 728.42 | -11.31 | 680 | 5708.39 | roll | -1.20 | - | - | 1827.62 | - | 3.05 | 0.134 | 3185.06 | 382.5 | -136.25 | - | - | 3379.59 | - | - | - | - | - | - | - | - | - | 16.17 | - |
5753.49 | 734.27 | -11.79 | 690 | 5758.35 | roll | -1.20 | - | - | 1827.50 | - | 2.90 | 0.059 | 1982.25 | -414.8 | -136.25 | - | - | 3380.81 | - | - | - | - | - | - | - | - | - | 16.19 | - |
6063.52 | 768.19 | -10.87 | 722 | 6069.58 | roll | -1.20 | - | - | 1827.19 | - | 3.99 | 0.156 | 536.12 | -362.4 | -136.25 | - | - | 3380.03 | - | - | - | - | - | - | - | - | - | 16.17 | - |
6098.55 | 772.45 | -12.40 | 729 | 6103.50 | roll | -1.20 | - | - | 1827.38 | - | 3.49 | 0.057 | 2016.69 | 424.2 | -136.25 | - | - | 3381.12 | - | - | - | - | - | - | - | - | - | 16.19 | - |
6408.56 | 804.92 | -10.17 | 761 | 6414.63 | roll | -1.20 | - | - | 1827.44 | - | 4.07 | 0.158 | 537.81 | -363.4 | -136.25 | - | - | 3377.78 | - | - | - | - | - | - | - | - | - | 16.16 | - |
6483.59 | 814.08 | -12.54 | 776 | 6488.54 | roll | -1.20 | - | - | 1828.19 | - | 3.48 | 0.059 | 2016.00 | 424.8 | -136.25 | - | - | 3378.28 | - | - | - | - | - | - | - | - | - | 16.20 | - |
6793.59 | 845.67 | -10.09 | 808 | 6794.93 | no move | -1.20 | - | - | 1828.12 | - | - | - | 2015.62 | - | -136.25 | - | - | 3376.59 | - | - | - | - | - | - | - | - | - | - | - |
7103.61 | 876.55 | -10.07 | 839 | 7104.95 | no move | -1.20 | - | - | 1828.06 | - | - | - | 2015.88 | - | -136.25 | - | - | 3375.94 | - | - | - | - | - | - | - | - | - | - | - |
7413.64 | 907.92 | -10.06 | 870 | 7414.98 | no move | -1.20 | - | - | 1827.75 | - | - | - | 2015.94 | - | -136.25 | - | - | 3375.31 | - | - | - | - | - | - | - | - | - | - | - |
7723.67 | 939.43 | -10.45 | 901 | 7725.01 | no move | -1.20 | - | - | 1827.62 | - | - | - | 2015.88 | - | -136.25 | - | - | 3374.94 | - | - | - | - | - | - | - | - | - | - | - |
8033.69 | 972.12 | -10.63 | 932 | 8035.03 | no move | -1.20 | - | - | 1827.44 | - | - | - | 2015.88 | - | -136.25 | - | - | 3374.34 | - | - | - | - | - | - | - | - | - | - | - |
8204 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
8204 | begin apogee | ||||||||||||||||||||||||||||
8206.15 | 990.31 | -10.70 | 949 | 8326.50 | -0.23 | 1.70 | 0.173 | 2066.88 | 140.8 | 0.05 | 0.410 | 1494.06 | -10436.4 | - | 115.70 | 2.296 | 2824.06 | -4.8 | 0.343 | - | - | - | - | - | - | 16.16 | 15.33 | 13.13 | |
8327 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
8327 | begin climb | ||||||||||||||||||||||||||||
8327.34 | 993.93 | - | 961 | 8460.25 | 1.20 | 2.41 | 0.104 | 2415.44 | 144.6 | 3.17 | 0.181 | 458.56 | -326.7 | 136.25 | 123.76 | 2.156 | 2270.06 | -4.5 | 0.346 | - | - | - | - | - | - | 15.38 | 15.13 | 12.66 | |
8557.70 | 970.92 | 15.66 | 1006 | 8563.94 | done | 1.20 | - | - | 2414.81 | - | 2.48 | 0.043 | 1501.12 | 420.4 | 136.25 | - | - | 2262.75 | - | - | - | - | - | - | - | - | - | 15.55 | - |
8873.47 | 930.82 | 12.81 | 1038 | 8878.30 | done | 1.20 | - | - | 2415.50 | - | 3.01 | 0.168 | 457.25 | -346.8 | 136.25 | - | - | 2256.91 | - | - | - | - | - | - | - | - | - | 15.76 | - |
8907.65 | 925.56 | 15.59 | 1045 | 8913.98 | done | 1.20 | - | - | 2415.62 | - | 2.44 | 0.042 | 1503.38 | 428.7 | 136.25 | - | - | 2255.19 | - | - | - | - | - | - | - | - | - | 15.83 | - |
9223.50 | 881.87 | 13.77 | 1077 | 9224.84 | VBD | 1.20 | - | - | 2415.00 | - | - | - | 1503.62 | - | 136.25 | - | - | 2253.41 | - | - | - | - | - | - | - | - | - | - | - |
9533.46 | 839.58 | 13.72 | 1108 | 9534.80 | VBD | 1.20 | - | - | 2415.06 | - | - | - | 1503.38 | - | 136.25 | - | - | 2252.06 | - | - | - | - | - | - | - | - | - | - | - |
9843.49 | 799.01 | 12.50 | 1139 | 9844.83 | VBD | 1.20 | - | - | 2415.56 | - | - | - | 1503.88 | - | 136.25 | - | - | 2251.31 | - | - | - | - | - | - | - | - | - | - | - |
10153.52 | 761.26 | 11.71 | 1170 | 10158.47 | done | 1.20 | - | - | 2415.19 | - | 2.91 | 0.157 | 457.25 | -359.7 | 136.25 | - | - | 2252.31 | - | - | - | - | - | - | - | - | - | 16.02 | - |
10343.58 | 733.57 | 14.45 | 1208 | 10348.36 | done | 1.20 | - | - | 2414.94 | - | 2.40 | 0.041 | 1513.94 | 440.3 | 136.25 | - | - | 2254.84 | - | - | - | - | - | - | - | - | - | 16.07 | - |
10653.66 | 699.18 | 10.60 | 1240 | 10655.00 | VBD | 1.20 | - | - | 2415.38 | - | - | - | 1514.50 | - | 136.25 | - | - | 2249.75 | - | - | - | - | - | - | - | - | - | - | - |
10963.62 | 666.75 | 10.41 | 1271 | 10964.96 | VBD | 1.20 | - | - | 2415.75 | - | - | - | 1516.06 | - | 136.25 | - | - | 2249.56 | - | - | - | - | - | - | - | - | - | - | - |
11273.64 | 634.12 | 10.41 | 1302 | 11278.53 | done | 1.20 | - | - | 2415.69 | - | 2.91 | 0.149 | 456.38 | -364.2 | 136.25 | - | - | 2251.59 | - | - | - | - | - | - | - | - | - | 16.09 | - |
11393.75 | 618.42 | 13.02 | 1326 | 11398.46 | done | 1.20 | - | - | 2415.25 | - | 2.40 | 0.041 | 1519.00 | 442.8 | 136.25 | - | - | 2250.66 | - | - | - | - | - | - | - | - | - | 16.13 | - |
11703.77 | 585.05 | 10.57 | 1358 | 11708.58 | done | 1.20 | - | - | 2415.62 | - | 2.90 | 0.145 | 456.12 | -366.5 | 136.25 | - | - | 2250.78 | - | - | - | - | - | - | - | - | - | 16.11 | - |
11763.72 | 577.24 | 13.46 | 1370 | 11768.49 | done | 1.20 | - | - | 2415.94 | - | 2.38 | 0.040 | 1521.62 | 447.7 | 136.25 | - | - | 2249.62 | - | - | - | - | - | - | - | - | - | 16.13 | - |
12073.80 | 542.03 | 11.02 | 1402 | 12078.59 | done | 1.20 | - | - | 2413.94 | - | 2.89 | 0.144 | 456.44 | -368.6 | 136.25 | - | - | 2251.31 | - | - | - | - | - | - | - | - | - | 16.12 | - |
12117.98 | 536.22 | 13.24 | 1411 | 12124.29 | done | 1.20 | - | - | 2415.75 | - | 2.39 | 0.041 | 1524.31 | 446.8 | 136.25 | - | - | 2250.78 | - | - | - | - | - | - | - | - | - | 16.14 | - |
12433.83 | 501.46 | 10.60 | 1443 | 12438.62 | done | 1.20 | - | - | 2415.38 | - | 2.90 | 0.142 | 457.44 | -367.9 | 136.25 | - | - | 2252.03 | - | - | - | - | - | - | - | - | - | 16.13 | - |
12528.02 | 489.63 | 12.62 | 1462 | 12534.33 | done | 1.20 | - | - | 2415.00 | - | 2.39 | 0.041 | 1524.06 | 446.3 | 136.25 | - | - | 2250.81 | - | - | - | - | - | - | - | - | - | 16.16 | - |
12843.90 | 458.98 | 9.35 | 1494 | 12845.24 | VBD | 1.23 | - | - | 2415.56 | - | - | - | 1525.25 | - | 136.25 | - | - | 2248.22 | - | - | - | - | - | - | - | - | - | - | - |
13153.84 | 432.44 | 8.17 | 1525 | 13158.69 | done | 1.30 | - | - | 2416.06 | - | 2.89 | 0.139 | 455.12 | -370.3 | 136.25 | - | - | 2249.16 | - | - | - | - | - | - | - | - | - | 16.14 | - |
13293.86 | 417.57 | 10.72 | 1553 | 13298.63 | done | 1.30 | - | - | 2415.38 | - | 2.40 | 0.042 | 1526.12 | 446.2 | 136.25 | - | - | 2250.38 | - | - | - | - | - | - | - | - | - | 16.17 | - |
13603.96 | 391.69 | 8.47 | 1585 | 13608.82 | 1.36 | 0.22 | 0.109 | 2456.88 | 188.6 | 2.89 | 0.137 | 455.31 | -370.5 | 136.25 | - | - | 2249.19 | - | - | - | - | - | - | - | - | 16.16 | 16.15 | - | |
13708.15 | 378.32 | 13.75 | 1606 | 13714.49 | done | 1.36 | - | - | 2457.38 | - | 2.39 | 0.041 | 1526.50 | 448.2 | 136.25 | - | - | 2248.34 | - | - | - | - | - | - | - | - | - | 16.17 | - |
14024.01 | 344.57 | 10.43 | 1638 | 14025.35 | VBD | 1.36 | - | - | 2457.50 | - | - | - | 1526.25 | - | 136.25 | - | - | 2247.47 | - | - | - | - | - | - | - | - | - | - | - |
14333.97 | 311.50 | 11.00 | 1669 | 14338.83 | done | 1.36 | - | - | 2457.56 | - | 2.88 | 0.133 | 454.88 | -372.0 | 136.25 | - | - | 2248.91 | - | - | - | - | - | - | - | - | - | 16.15 | - |
14554.02 | 282.26 | 13.63 | 1713 | 14558.81 | done | 1.36 | - | - | 2457.62 | - | 2.40 | 0.042 | 1525.62 | 446.1 | 136.25 | - | - | 2248.50 | - | - | - | - | - | - | - | - | - | 16.17 | - |
14864.12 | 250.54 | 10.12 | 1745 | 14868.89 | done | 1.36 | - | - | 2457.38 | - | 2.87 | 0.130 | 455.31 | -372.9 | 136.25 | - | - | 2251.00 | - | - | - | - | - | - | - | - | - | 16.17 | - |
14964.06 | 238.31 | 12.28 | 1765 | 14968.83 | done | 1.36 | - | - | 2457.75 | - | 2.41 | 0.041 | 1528.88 | 445.5 | 136.25 | - | - | 2250.06 | - | - | - | - | - | - | - | - | - | 16.19 | - |
15274.16 | 209.30 | 9.19 | 1797 | 15279.00 | done | 1.40 | - | - | 2457.25 | - | 2.88 | 0.131 | 456.38 | -372.4 | 136.25 | - | - | 2249.47 | - | - | - | - | - | - | - | - | - | 16.16 | - |
15348.32 | 200.93 | 11.49 | 1812 | 15354.62 | done | 1.40 | - | - | 2457.06 | - | 2.39 | 0.041 | 1529.25 | 448.9 | 136.25 | - | - | 2249.31 | - | - | - | - | - | - | - | - | - | 16.18 | - |
15664.19 | 174.01 | 8.05 | 1844 | 15665.53 | VBD | 1.47 | - | - | 2457.12 | - | - | - | 1529.38 | - | 136.25 | - | - | 2247.19 | - | - | - | - | - | - | - | - | - | - | - |
15974.15 | 149.20 | 8.38 | 1875 | 15979.17 | 1.54 | 0.22 | 0.116 | 2497.81 | 185.0 | 3.51 | 0.091 | 2940.12 | 401.9 | 136.25 | - | - | 2251.62 | - | - | - | - | - | - | - | - | 16.17 | 16.18 | - | |
16078.38 | 139.62 | 9.06 | 1896 | 16084.91 | done | 1.58 | - | - | 2498.75 | - | 3.63 | 0.065 | 1459.75 | -407.8 | 136.25 | - | - | 2248.88 | - | - | - | - | - | - | - | - | - | 16.19 | - |
16394.19 | 111.84 | 9.23 | 1928 | 16399.01 | done | 1.61 | - | - | 2498.81 | - | 2.69 | 0.136 | 455.19 | -373.4 | 136.25 | - | - | 2249.47 | - | - | - | - | - | - | - | - | - | 16.16 | - |
16594.26 | 86.33 | 11.01 | 1968 | 16599.80 | done | 1.61 | - | - | 2498.56 | - | 2.40 | 0.039 | 1529.50 | 447.6 | 136.25 | - | - | 2251.56 | - | - | - | - | - | - | - | - | - | 16.17 | - |
16784.30 | 72.53 | 5.89 | 2006 | 16888.04 | 1.73 | 0.25 | 0.111 | 2544.50 | 183.8 | 2.97 | 0.133 | 455.50 | -361.6 | 219.58 | 98.57 | 1.065 | 1926.19 | -3.3 | 0.038 | - | - | - | - | - | - | 16.15 | 15.74 | 13.14 | |
17021.20 | 44.15 | 14.62 | 2053 | 17026.76 | roll | 1.73 | - | - | 2544.38 | - | 2.45 | 0.040 | 1529.56 | 438.4 | 219.58 | - | - | 1924.81 | - | - | - | - | - | - | - | - | - | 15.87 | - |
17211.28 | 25.78 | 8.67 | 2091 | 17216.91 | done | 1.79 | - | - | 2545.69 | - | 2.92 | 0.128 | 455.69 | -367.8 | 219.58 | - | - | 1921.25 | - | - | - | - | - | - | - | - | - | 15.91 | - |
17426.32 | 5.69 | 5.86 | 2134 | 17493.24 | 1.91 | 0.25 | 0.108 | 2588.88 | 172.8 | 2.43 | 0.040 | 1531.81 | 442.8 | 303.59 | 63.10 | 0.980 | 1662.19 | -4.1 | 0.004 | - | - | - | - | - | - | 15.94 | 15.96 | 12.94 | |
17494 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
17494 | begin surface coast | ||||||||||||||||||||||||||||
17497 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
17497 | begin surface | ||||||||||||||||||||||||||||
SM | 1.92 | - | - | - | - | 181.9 | 60.99 | 0.949 | 1399.3 | 21.9 | 16.27 | 0.118 | 1378.5 | 84.7 | - | 1.13 | 0.051 | 1420.1 | 1254.6 | -4.827 | - | - | 12.89 | 15.70 | 15.76 | - |