SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 1 • 49.25 of 350.00 AH used of 24V (85.93% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.2 deg, depth 0.96 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 35 s
• GPS2 time: 18 s • Transponder ping count: 7
• Time spent turning 0 s

Statistics * Plot
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 pitrollvbd flags
10 end surface: CONTROL_FINISHED_OK
10 begin dive
15 - - - 100 VBD -0.68 - - 204 - - - 2258 - -116.8 -84.38 - 2904 - - - - - - - - 14.77 - 14.78
104 4.9 -6.7 3 128 roll -0.68 8.85 0.427 1981 200.8 2.65 2.105 864 -526.0 -116.8 -5.60 - 3220 -56.4 - - - - - - - 14.31 13.51 14.62
148 24.7 -40.2 10 156 done -0.29 0.47 0.311 2097 246.8 2.55 0.069 2280 555.3 -116.8 - - 3222 - - - - - - - - 14.36 14.52 14.57
464 79.5 -9.9 22 469 roll -0.24 - - 2087 - 2.45 0.083 3701 580.0 -116.8 - - 3223 - - - - - - - - 14.87 14.64 14.88
669 96.6 -8.6 51 674 done -0.24 0.12 0.244 2117 250.0 2.33 0.046 2283 -608.6 -116.8 - - 3224 - - - - - - - - 14.59 14.74 14.76
1025 114.8 -4.6 61 1031 roll -0.29 - - 2117 - 2.35 0.057 886 -594.5 -116.8 - - 3226 - - - - - - - - 14.97 14.76 14.99
1137 121.1 -6.0 77 1143 done -0.35 - - 2112 - 2.45 0.066 2302 578.0 -116.8 - - 3225 - - - - - - - - 14.85 14.76 14.86
1473 138.8 -5.1 90 1478 roll -0.41 0.12 0.137 2042 -583.3 2.40 0.086 3688 577.5 -116.8 - - 3225 - - - - - - - - 14.81 14.75 14.83
1534 143.2 -7.6 99 1540 done -0.41 - - 2042 - 2.30 0.046 2308 -600.0 -116.8 - - 3224 - - - - - - - - 14.85 14.81 14.86
1865 168.9 -7.9 111 1869 roll -0.41 - - 2043 - 2.40 0.057 890 -590.8 -116.8 - - 3222 - - - - - - - - 15.01 14.80 15.03
1961 176.6 -7.6 125 1968 done -0.41 - - 2042 - 2.47 0.069 2288 566.0 -116.8 - - 3221 - - - - - - - - 14.83 14.77 14.85
2312 203.1 -7.9 133 2318 roll -0.41 - - 2035 - 2.42 0.090 3687 578.1 -116.8 - - 3220 - - - - - - - - 15.02 14.78 15.04
2354 206.7 -8.6 139 2359 done -0.41 0.12 0.240 2061 216.7 2.28 0.047 2296 -610.1 -116.8 - - 3220 - - - - - - - - 14.69 14.85 14.85
2705 231.4 -6.8 147 2709 roll -0.41 - - 2064 - 2.40 0.062 885 -587.9 -116.8 - - 3218 - - - - - - - - 15.02 14.80 15.04
2795 237.6 -6.7 160 2800 done -0.41 - - 2058 - 2.45 0.070 2289 573.1 -116.8 - - 3216 - - - - - - - - 14.89 14.79 14.91
3153 262.3 -7.1 169 3153 done -0.41 - - 2058 - - - 2289 - -116.8 - - 3213 - - - - - - - - 15.04 15.06 15.06
3489 285.4 -6.8 175 3489 done -0.41 - - 2058 - - - 2289 - -116.8 - - 3212 - - - - - - - - 15.03 15.05 15.05
3824 307.6 -6.6 181 3830 roll -0.41 - - 2054 - 2.45 0.094 3692 572.7 -116.8 - - 3209 - - - - - - - - 15.04 14.78 15.05
3859 310.0 -6.8 186 3864 done -0.41 - - 2054 - 2.30 0.050 2295 -607.4 -116.8 - - 3209 - - - - - - - - 14.91 14.85 14.92
4217 333.1 -6.5 195 4221 roll -0.41 - - 2054 - 2.40 0.062 886 -587.1 -116.8 - - 3207 - - - - - - - - 15.04 14.81 15.06
4272 336.9 -6.7 203 4277 done -0.41 - - 2046 - 2.47 0.073 2296 570.9 -116.8 - - 3207 - - - - - - - - 14.88 14.78 14.91
4609 360.2 -7.1 216 4614 roll -0.41 - - 2040 - 2.45 0.097 3695 571.0 -116.8 - - 3205 - - - - - - - - 15.04 14.77 15.06
4692 366.8 -8.0 228 4697 done -0.41 - - 2040 - 2.38 0.053 2293 -589.1 -116.8 - - 3204 - - - - - - - - 14.86 14.83 14.88
5057 396.2 -8.2 238 5062 roll -0.41 - - 2040 - 2.40 0.063 885 -586.7 -116.8 - - 3202 - - - - - - - - 15.04 14.80 15.06
5139 403.3 -8.4 250 5145 done -0.41 - - 2039 - 2.53 0.076 2291 555.7 -116.8 - - 3202 - - - - - - - - 14.82 14.76 14.91
5504 433.7 -8.4 260 5505 done -0.41 - - 2039 - - - 2291 - -116.8 - - 3200 - - - - - - - - 15.02 15.05 15.04
5841 460.6 -8.0 266 5842 done -0.41 - - 2039 - - - 2291 - -116.8 - - 3199 - - - - - - - - 15.03 15.08 15.05
6177 485.2 -7.2 272 6181 roll -0.41 - - 2039 - 2.42 0.061 885 -581.0 -116.8 - - 3197 - - - - - - - - 15.03 14.78 15.05
6211 487.7 -7.3 277 6217 done -0.41 - - 2039 - 2.47 0.077 2289 568.4 -116.8 - - 3197 - - - - - - - - 14.88 14.79 14.90
6569 509.8 -6.0 286 6574 roll -0.41 - - 2029 - 2.47 0.097 3695 569.2 -116.8 - - 3195 - - - - - - - - 15.03 14.75 15.04
6603 511.9 -5.9 291 6609 done -0.41 0.12 0.243 2060 258.3 2.38 0.057 2280 -594.5 -116.8 - - 3195 - - - - - - - - 14.68 14.83 14.84
6961 527.8 -4.3 300 6965 roll -0.41 - - 2060 - 2.40 0.067 885 -581.2 -116.8 - - 3194 - - - - - - - - 15.03 14.78 15.04
7017 530.5 -4.8 308 7021 done -0.41 - - 2056 - 2.50 0.078 2293 563.2 -116.8 - - 3194 - - - - - - - - 14.86 14.75 14.88
7353 546.3 -4.8 321 7359 roll -0.41 - - 2049 - 2.47 0.102 3692 566.4 -116.8 - - 3192 - - - - - - - - 15.02 14.71 15.04
7436 550.9 -5.7 333 7442 done -0.41 - - 2049 - 2.40 0.058 2286 -585.8 -116.8 - - 3192 - - - - - - - - 14.83 14.79 14.85
7801 572.3 -6.0 343 7806 roll -0.41 - - 2049 - 2.42 0.067 881 -580.6 -116.8 - - 3191 - - - - - - - - 15.01 14.76 15.03
7905 579.1 -6.3 358 7911 done -0.41 - - 2043 - 2.53 0.080 2281 553.4 -116.8 - - 3191 - - - - - - - - 14.87 14.71 14.89
8249 600.5 -6.3 365 8250 done -0.41 - - 2042 - - - 2281 - -116.8 - - 3190 - - - - - - - - 15.01 15.04 15.03
8585 621.3 -6.2 371 8586 done -0.41 - - 2043 - - - 2282 - -116.8 - - 3189 - - - - - - - - 15.00 15.04 15.03
8921 642.4 -6.3 377 8921 done -0.41 - - 2043 - - - 2282 - -116.8 - - 3188 - - - - - - - - 15.02 15.03 15.03
9257 662.3 -5.9 383 9257 done -0.41 - - 2042 - - - 2282 - -116.8 - - 3187 - - - - - - - - 15.02 15.04 15.03
9593 679.8 -5.1 389 9599 roll -0.41 - - 2043 - 2.45 0.070 887 -569.4 -116.8 - - 3186 - - - - - - - - 15.01 14.74 15.02
9655 683.1 -5.1 398 9660 done -0.41 - - 2042 - 2.50 0.081 2285 559.2 -116.8 - - 3185 - - - - - - - - 14.84 14.72 14.87
9985 698.4 -4.7 410 9985 done -0.41 - - 2040 - - - 2282 - -116.8 - - 3185 - - - - - - - - 15.00 15.02 15.02
10321 714.8 -4.9 416 10322 done -0.41 - - 2043 - - - 2285 - -116.8 - - 3184 - - - - - - - - 15.01 15.03 15.03
10657 733.3 -5.6 422 10661 roll -0.41 - - 2035 - 2.53 0.106 3694 556.9 -116.8 - - 3183 - - - - - - - - 15.00 14.68 15.02
10684 735.0 -6.3 426 10689 done -0.41 0.12 0.239 2065 250.0 2.38 0.063 2293 -588.7 -116.8 - - 3182 - - - - - - - - 14.62 14.77 14.80
11050 753.5 -5.1 436 11054 roll -0.47 - - 2065 - 2.47 0.073 873 -574.9 -116.8 - - 3182 - - - - - - - - 15.00 14.72 15.02
11139 758.9 -6.0 449 11145 done -0.53 0.12 0.147 2012 -441.7 2.55 0.086 2285 553.7 -116.8 - - 3181 - - - - - - - - 14.73 14.70 14.83
11496 785.1 -7.4 458 11501 roll -0.53 - - 2004 - 2.53 0.107 3692 556.1 -116.8 - - 3181 - - - - - - - - 15.00 14.68 15.02
11531 787.8 -6.8 463 11536 done -0.53 - - 2004 - 2.40 0.061 2278 -589.2 -116.8 - - 3181 - - - - - - - - 14.83 14.76 14.85
11888 814.8 -7.4 472 11893 roll -0.53 - - 2004 - 2.45 0.074 883 -569.4 -116.8 - - 3180 - - - - - - - - 15.00 14.71 15.02
12007 823.4 -7.3 489 12013 done -0.53 - - 1999 - 2.50 0.084 2269 554.4 -116.8 - - 3180 - - - - - - - - 14.80 14.66 14.83
12337 847.4 -7.3 501 12343 roll -0.53 - - 1989 - 2.58 0.108 3700 554.7 -116.8 - - 3180 - - - - - - - - 14.98 14.63 15.00
12370 850.1 -7.7 506 12377 done -0.53 0.10 0.239 2019 300.0 2.47 0.065 2283 -573.7 -116.8 - - 3179 - - - - - - - - 14.49 14.70 14.64
12729 873.1 -6.4 515 12734 roll -0.53 - - 2019 - 2.47 0.072 866 -573.7 -116.8 - - 3179 - - - - - - - - 14.98 14.69 15.00
12777 876.1 -6.8 522 12783 done -0.53 - - 2013 - 2.58 0.086 2266 542.6 -116.8 - - 3178 - - - - - - - - 14.71 14.64 14.76
13121 898.9 -6.7 529 13127 roll -0.53 - - 2006 - 2.58 0.112 3693 553.1 -116.8 - - 3178 - - - - - - - - 14.97 14.64 14.99
13218 906.0 -7.4 543 13223 done -0.53 - - 2006 - 2.42 0.063 2269 -588.4 -116.8 - - 3180 - - - - - - - - 14.81 14.73 14.83
13569 931.7 -7.4 551 13573 roll -0.53 - - 2006 - 2.42 0.075 880 -574.0 -116.8 - - 3176 - - - - - - - - 14.98 14.67 15.00
13637 937.1 -7.7 561 13644 done -0.53 - - 1999 - 2.58 0.088 2271 539.1 -116.8 - - 3176 - - - - - - - - 14.80 14.62 14.82
13961 961.8 -7.7 572 13966 roll -0.53 - - 1991 - 2.58 0.112 3695 551.9 -116.8 - - 3176 - - - - - - - - 14.97 14.62 14.98
14016 967.1 -8.4 580 14022 done -0.53 0.15 0.262 2026 233.3 2.42 0.066 2281 -584.3 -116.8 - - 3175 - - - - - - - - 14.47 14.71 14.71
14353 988.6 -6.5 593 14358 roll -0.53 - - 2027 - 2.45 0.073 874 -574.3 -116.8 - - 3175 - - - - - - - - 14.95 14.66 14.97
14362 end dive: TARGET_DEPTH_EXCEEDED
14362 begin apogee
14373 990.4 -6.8 595 14562 roll -0.19 0.40 0.234 2134 267.5 - - 2234 - - 187.40 1.704 2742 -2.3 0.249 - - - - - - 14.48 14.01 13.44
14565 end apogee: CONTROL_FINISHED_OK
14565 begin climb
14569 994.9 - 598 14725 roll 0.68 0.95 0.168 2411 291.6 2.72 0.113 3646 519.1 116.8 145.57 1.955 2262 -3.3 0.312 - - - - - - 13.98 14.01 13.21
14801 974.6 11.4 636 14807 done 0.60 - - 2420 - 2.60 0.083 2236 -542.3 116.8 - - 2236 - - - - 1 - - - 14.17 14.09 14.19
15152 933.9 11.7 644 15157 roll 0.51 0.17 0.283 2374 -270.6 2.62 0.112 3637 534.7 116.8 - - 2229 - - - - - - - - 14.28 14.40 14.42
15278 921.1 9.6 662 15283 done 0.51 - - 2384 - 2.50 0.080 2226 -564.4 116.8 - - 2231 - - - - 1 - - - 14.58 14.48 14.60
15600 890.8 9.5 673 15606 roll 0.51 - - 2394 - 2.58 0.099 820 -545.0 116.8 - - 2228 - - - - - - - - 14.81 14.53 14.83
15635 887.5 10.2 678 15640 done 0.51 - - 2394 - 2.58 0.088 2229 546.1 116.8 - - 2227 - - - - - - - - 14.66 14.55 14.69
15993 852.0 10.1 687 15998 roll 0.46 0.15 0.287 2355 -260.0 2.60 0.118 3640 542.7 116.8 - - 2227 - - - - - - - - 14.45 14.57 14.59
16082 843.7 8.6 700 16088 done 0.46 - - 2364 - 2.53 0.081 2245 -551.4 116.8 - - 2228 - - - - - - - - 14.66 14.60 14.69
16441 815.0 8.0 709 16447 roll 0.46 - - 2375 - 2.60 0.097 808 -552.7 116.8 - - 2226 - - - - - - - - 14.89 14.61 14.91
16523 808.6 7.5 721 16529 done 0.46 - - 2375 - 2.62 0.090 2247 549.2 116.8 - - 2225 - - - - - - - - 14.73 14.62 14.77
16889 778.9 8.1 731 16893 roll 0.46 - - 2375 - 2.55 0.117 3640 546.3 116.8 - - 2225 - - - - - - - - 14.91 14.61 14.92
16944 773.8 8.3 739 16949 done 0.46 0.15 0.272 2351 -160.0 2.50 0.080 2225 -566.0 116.8 - - 2224 - - - - - - - - 14.50 14.64 14.73
17281 750.6 6.8 752 17287 roll 0.47 - - 2361 - 2.60 0.096 820 -540.4 128.9 2.72 0.832 2212 -4.4 0.739 - - - - - - 14.92 14.68 13.77
17371 744.3 6.9 765 17396 done 0.48 - - 2362 - 2.58 0.086 2241 550.8 138.2 17.95 1.812 2170 -2.3 0.178 - - - - - - 14.76 14.64 13.99
17721 716.4 8.2 780 17726 roll 0.48 - - 2361 - 2.58 0.116 3643 543.4 138.2 - - 2159 - - - - - - - - 14.84 14.57 14.85
17784 710.7 8.9 789 17790 done 0.48 - - 2371 - 2.50 0.078 2235 -563.2 138.2 - - 2159 - - - - - - - - 14.71 14.62 14.73
18114 681.5 8.9 801 18119 roll 0.48 - - 2381 - 2.58 0.094 820 -548.4 138.2 - - 2158 - - - - - - - - 14.88 14.61 14.90
18175 676.0 8.7 810 18181 done 0.48 - - 2381 - 2.58 0.086 2237 549.2 138.2 - - 2157 - - - - - - - - 14.73 14.62 14.76
18506 646.3 9.0 822 18511 roll 0.48 - - 2381 - 2.58 0.117 3646 546.1 138.2 - - 2156 - - - - - - - - 14.90 14.62 14.92
18567 640.2 9.8 831 18573 done 0.48 0.08 0.243 2355 -325.0 2.55 0.080 2234 -553.7 138.2 - - 2156 - - - - - - - - 14.52 14.64 14.73
18898 617.9 6.6 843 18924 roll 0.49 - - 2365 - 2.58 0.095 818 -548.8 156.0 20.83 1.706 2097 -2.8 0.191 - - - - - - 14.92 14.49 13.97
18988 612.1 6.6 856 19014 done 0.56 - - 2365 - 2.58 0.087 2230 547.3 173.7 20.62 1.690 2028 -3.3 0.225 - - - - - - 14.64 14.54 13.86
19345 585.5 7.7 872 19350 roll 0.56 - - 2365 - 2.60 0.118 3641 542.7 173.7 - - 2010 - - - - - - - - 14.77 14.50 14.79
19415 579.5 8.6 882 19420 done 0.56 - - 2375 - 2.50 0.080 2237 -561.6 173.7 - - 2009 - - - - - - - - 14.66 14.56 14.68
19737 552.4 8.5 893 19743 roll 0.56 - - 2385 - 2.58 0.093 816 -550.8 173.7 - - 2008 - - - - - - - - 14.85 14.59 14.87
19799 547.0 8.4 902 19805 done 0.56 - - 2384 - 2.60 0.087 2243 548.8 173.7 - - 2008 - - - - - - - - 14.71 14.59 14.73
20130 515.8 9.6 914 20135 roll 0.56 - - 2387 - 2.58 0.116 3644 543.0 173.7 - - 2008 - - - - - - - - 14.89 14.60 14.91
20212 507.1 10.2 926 20218 done 0.56 - - 2393 - 2.50 0.079 2260 -553.6 173.7 - - 2007 - - - - - - - - 14.69 14.62 14.72
20578 470.5 10.1 936 20582 roll 0.56 - - 2404 - 2.62 0.092 811 -553.1 173.7 - - 2007 - - - - - - - - 14.92 14.64 14.92
20639 464.2 9.7 945 20646 done 0.56 - - 2404 - 2.65 0.088 2269 550.2 173.7 - - 2007 - - - - - - - - 14.76 14.64 14.78
20970 429.9 10.4 957 20975 roll 0.56 - - 2404 - 2.53 0.116 3647 544.7 173.7 - - 2006 - - - - - - - - 14.92 14.63 14.94
21046 421.4 10.7 968 21051 done 0.56 0.12 0.276 2384 -166.7 2.45 0.076 2258 -566.9 173.7 - - 2006 - - - - - - - - 14.54 14.68 14.76
21362 395.2 8.2 978 21366 roll 0.56 - - 2394 - 2.60 0.092 818 -553.8 173.7 - - 2007 - - - - - - - - 14.92 14.63 14.95
21437 389.2 7.7 989 21444 done 0.56 - - 2394 - 2.62 0.086 2269 553.8 173.7 - - 2006 - - - - - - - - 14.77 14.66 14.81
21754 362.2 8.8 999 21759 roll 0.56 - - 2394 - 2.50 0.113 3640 548.4 173.7 - - 2005 - - - - - - - - 14.93 14.64 14.95
21801 357.4 9.9 1006 21809 done 0.56 - - 2404 - 2.47 0.073 2256 -560.3 173.7 - - 2006 - - - - - - - - 14.75 14.66 14.76
22145 323.6 9.9 1013 22151 roll 0.56 0.10 0.294 2393 -110.0 2.58 0.090 821 -556.2 173.7 - - 2006 - - - - - - - - 14.56 14.66 14.79
22194 319.2 8.7 1020 22200 done 0.56 - - 2393 - 2.60 0.084 2258 552.7 173.7 - - 2006 - - - - - - - - 14.78 14.66 14.81
22538 287.0 9.5 1027 22542 roll 0.56 - - 2392 - 2.53 0.112 3647 549.0 173.7 - - 2006 - - - - - - - - 14.95 14.65 14.96
22613 279.0 10.2 1038 22619 done 0.56 - - 2403 - 2.47 0.074 2260 -561.5 173.7 - - 2005 - - - - - - - - 14.73 14.67 14.77
22930 247.5 10.1 1048 22935 roll 0.56 - - 2411 - 2.58 0.089 821 -557.8 173.7 - - 2006 - - - - - - - - 14.94 14.66 14.96
22998 240.8 9.3 1058 23004 done 0.56 0.12 0.256 2382 -241.7 2.60 0.083 2266 555.8 173.7 - - 2006 - - - - - - - - 14.57 14.66 14.77
23322 214.1 8.2 1069 23327 roll 0.56 - - 2385 - 2.50 0.111 3646 552.0 173.7 - - 2006 - - - - - - - - 14.95 14.63 14.96
23384 208.5 8.8 1078 23389 done 0.56 - - 2391 - 2.42 0.072 2257 -574.0 173.7 - - 2006 - - - - - - - - 14.79 14.69 14.82
23713 181.4 8.3 1090 23718 roll 0.56 - - 2400 - 2.58 0.089 818 -557.8 173.7 - - 2006 - - - - - - - - 14.95 14.66 14.97
23783 175.7 7.8 1100 23788 done 0.56 - - 2400 - 2.60 0.083 2267 557.3 173.7 - - 2004 - - - - - - - - 14.78 14.66 14.81
24105 146.8 9.1 1111 24110 roll 0.56 - - 2400 - 2.50 0.109 3645 551.2 173.7 - - 2006 - - - - - - - - 14.95 14.64 14.96
24140 143.3 10.3 1116 24145 done 0.56 0.12 0.257 2380 -166.7 2.42 0.071 2253 -575.2 173.7 - - 2006 - - - - - - - - 14.57 14.70 14.77
24498 113.5 8.2 1125 24504 roll 0.56 - - 2380 - 2.53 0.108 3641 548.6 173.7 - - 2006 - - - - - - - - 14.95 14.64 14.97
24524 111.1 8.3 1129 24531 done 0.56 - - 2388 - 2.42 0.069 2263 -569.4 173.7 - - 2006 - - - - - - - - 14.75 14.69 14.77
24862 90.0 5.2 1141 24896 roll 0.65 - - 2393 - 2.58 0.082 826 -557.0 225.4 28.33 0.400 1820 -6.6 0.274 - - - - - - 14.95 14.62 14.38
25011 82.3 5.5 1162 25048 done 0.79 0.17 0.108 2466 429.4 2.55 0.076 2256 560.8 269.0 28.67 0.376 1644 -6.1 0.250 - - - - - - 14.70 14.64 14.36
25369 59.6 6.3 1180 25393 roll 0.86 - - 2466 - 2.55 0.106 3641 543.1 292.8 16.25 0.298 1551 -5.7 0.213 - - - - - - 14.88 14.57 14.40
25442 54.6 6.5 1191 25462 done 0.94 - - 2474 - 2.45 0.067 2258 -564.5 313.4 14.50 0.282 1464 -6.0 0.216 - - - - - - 14.63 14.58 14.40
25789 37.2 4.1 1207 25846 roll 1.10 0.20 0.103 2577 515.0 2.62 0.080 822 -548.1 390.9 48.47 0.240 1144 -6.6 0.190 - - - - - - 14.66 14.58 14.44
25953 26.7 6.9 1231 25965 done 1.11 - - 2576 - 2.53 0.076 2240 560.5 400.5 7.60 0.198 1105 -5.1 0.128 - - - - - - 14.69 14.59 14.47
26230 end climb: SURFACE_DEPTH_REACHED
26230 begin surface coast
26258 end surface coast: CONTROL_FINISHED_OK
26258 begin surface
SM 0.94 - - - - -6.15 6.78 0.080 211 31.1 0.08 0.181 2285 -87112.5 500.17 60.25 0.131 698 11.6 -0.008 - - - - - -