NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 632 * Raw log
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• Previous call tries 1 • 180.80 of 350.00 AH used of 24V (48.34% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -75.9 deg, depth 0.90 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.33 (SM_CC=400)
• GPS1 time: 34 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
32 - - - 112 done -0.39 - - 85 - - - 1947 - -107.1 -76.25 - 3382 - - - - - - - - 14.47 12.49 14.35
119 1.7 -2.0 2 143 roll -0.39 14.32 0.356 3249 220.9 2.65 0.098 3388 543.8 -107.1 - - 3382 - - - - - - - - 13.68 14.02 13.90
165 25.4 -33.8 9 173 done -0.39 - - 3249 - 2.58 0.087 1978 -546.5 -107.1 - - 3383 - - - - - - - - 14.12 13.99 14.17
505 67.0 -11.7 23 512 roll -0.39 - - 3249 - 2.62 0.099 559 -541.6 -107.1 - - 3384 - - - - - - - - 14.45 13.82 14.45
534 70.0 -10.6 27 541 done -0.39 - - 3249 - 2.58 0.086 1967 545.7 -107.1 - - 3384 - - - - - - - - 14.02 13.88 14.07
882 103.3 -9.8 40 890 roll -0.39 - - 3249 - 2.65 0.101 3389 536.6 -107.1 - - 3382 - - - - - - - - 14.48 13.71 14.47
921 106.9 -8.9 46 928 done -0.39 - - 3249 - 2.60 0.082 1967 -546.9 -107.1 - - 3384 - - - - - - - - 14.01 13.88 14.06
1261 136.4 -8.6 57 1269 roll -0.39 - - 3249 - 2.60 0.096 559 -541.5 -107.1 - - 3384 - - - - - - - - 14.49 13.79 14.48
1325 141.9 -8.1 68 1333 done -0.39 - - 3249 - 2.62 0.088 1986 544.7 -107.1 - - 3382 - - - - - - - - 13.97 13.83 14.05
1631 166.0 -7.9 74 1638 roll -0.39 - - 3249 - 2.60 0.100 3377 535.0 -107.1 - - 3386 - - - - - - - - 14.45 13.75 14.47
1665 168.6 -7.8 79 1672 done -0.39 - - 3249 - 2.60 0.084 1959 -545.4 -107.1 - - 3384 - - - - - - - - 13.99 13.85 14.04
2008 193.5 -7.2 91 2012 done -0.39 - - 3250 - - - 1959 - -107.1 - - 3383 - - - - - - - - 14.50 14.49 14.49
2310 214.1 -6.9 96 2317 roll -0.39 - - 3249 - 2.62 0.099 561 -533.6 -107.1 - - 3384 - - - - - - - - 14.46 13.74 14.48
2342 216.7 -8.2 101 2351 done -0.39 - - 3252 - 2.60 0.087 1966 540.4 -107.1 - - 3384 - - - - - - - - 13.88 13.72 13.96
2687 242.1 -7.7 113 2696 roll -0.39 - - 3249 - 2.67 0.101 3389 533.0 -107.1 - - 3381 - - - - - - - - 14.47 13.69 14.48
2762 248.1 -8.0 126 2770 done -0.39 - - 3246 - 2.62 0.083 1963 -544.3 -107.1 - - 3383 - - - - - - - - 13.95 13.80 14.02
3131 278.8 -8.6 142 3139 roll -0.39 - - 3249 - 2.65 0.098 549 -533.6 -107.1 - - 3383 - - - - - - - - 14.43 13.72 14.45
3225 288.3 -9.7 159 3233 done -0.39 - - 3249 - 2.65 0.087 1983 541.1 -107.1 - - 3383 - - - - - - - - 13.93 13.78 13.98
3569 317.6 -8.4 171 3577 roll -0.39 - - 3249 - 2.65 0.102 3379 526.8 -107.1 - - 3382 - - - - - - - - 14.45 13.69 14.48
3648 323.7 -7.5 185 3657 done -0.39 - - 3250 - 2.60 0.085 1973 -540.8 -107.1 - - 3382 - - - - - - - - 13.93 13.78 13.98
4008 350.3 -7.3 200 4015 roll -0.39 - - 3249 - 2.62 0.096 560 -539.3 -107.1 - - 3382 - - - - - - - - 14.46 13.71 14.48
4046 353.3 -7.7 206 4054 done -0.39 - - 3250 - 2.60 0.086 1976 544.6 -107.1 - - 3381 - - - - - - - - 13.94 13.79 14.00
4386 376.4 -6.9 217 4390 done -0.39 - - 3246 - - - 1976 - -107.1 - - 3378 - - - - - - - - 14.43 14.45 14.44
4685 397.3 -7.0 222 4693 roll -0.39 - - 3249 - 2.65 0.103 3386 532.1 -107.1 - - 3380 - - - - - - - - 14.47 13.68 14.49
4735 400.7 -6.7 230 4742 done -0.39 - - 3249 - 2.65 0.086 1954 -540.4 -107.1 - - 3380 - - - - - - - - 13.94 13.77 13.96
5065 424.1 -7.2 239 5068 done -0.39 - - 3249 - - - 1953 - -107.1 - - 3380 - - - - - - - - 14.42 14.47 14.47
5364 444.3 -6.6 244 5367 done -0.39 - - 3249 - - - 1953 - -107.1 - - 3380 - - - - - - - - 14.45 14.47 14.47
5665 462.1 -5.9 249 5668 done -0.39 - - 3246 - - - 1953 - -107.1 - - 3379 - - - - - - - - 14.42 14.44 14.44
5964 481.0 -6.3 254 5972 roll -0.39 - - 3249 - 2.65 0.101 552 -528.7 -107.1 - - 3381 - - - - - - - - 14.45 13.68 14.47
5993 483.0 -6.6 258 6001 done -0.39 - - 3249 - 2.62 0.087 1967 540.1 -107.1 - - 3378 - - - - - - - - 13.90 13.74 13.95
6343 504.9 -6.2 271 6351 roll -0.39 - - 3250 - 2.70 0.104 3390 527.0 -107.1 - - 3378 - - - - - - - - 14.44 13.66 14.46
6388 507.5 -5.8 278 6395 done -0.39 - - 3250 - 2.62 0.084 1974 -540.5 -107.1 - - 3378 - - - - - - - - 13.92 13.76 13.97
6722 529.1 -6.7 288 6725 done -0.39 - - 3249 - - - 1973 - -107.1 - - 3377 - - - - - - - - 14.42 14.44 14.44
7023 548.5 -6.5 293 7026 done -0.39 - - 3249 - - - 1973 - -107.1 - - 3377 - - - - - - - - 14.41 14.43 14.42
7322 569.1 -7.0 298 7330 roll -0.39 - - 3249 - 2.67 0.100 546 -534.5 -107.1 - - 3377 - - - - - - - - 14.45 13.68 14.46
7356 571.7 -7.7 303 7363 done -0.39 - - 3253 - 2.65 0.087 1971 537.7 -107.1 - - 3377 - - - - - - - - 13.90 13.74 13.95
7701 593.6 -6.3 315 7709 roll -0.39 - - 3249 - 2.70 0.104 3387 524.4 -107.1 - - 3376 - - - - - - - - 14.40 13.64 14.42
7779 598.5 -6.1 329 7787 done -0.39 - - 3249 - 2.65 0.086 1961 -538.1 -107.1 - - 3376 - - - - - - - - 13.90 13.76 13.95
8140 619.9 -5.9 344 8148 roll -0.39 - - 3250 - 2.75 0.103 3389 519.3 -107.1 - - 3374 - - - - - - - - 14.43 13.64 14.45
8193 623.1 -5.5 353 8202 done -0.39 - - 3246 - 2.65 0.087 1973 -534.3 -107.1 - - 3375 - - - - - - - - 13.89 13.74 13.95
8519 639.8 -5.2 361 8522 done -0.39 - - 3249 - - - 1972 - -107.1 - - 3372 - - - - - - - - 14.43 14.45 14.45
8820 655.0 -5.1 366 8828 roll -0.39 - - 3255 - 2.67 0.100 546 -534.1 -107.1 - - 3374 - - - - - - - - 14.40 13.65 14.42
8864 658.4 -6.8 373 8873 done -0.39 - - 3249 - 2.67 0.090 1985 539.0 -107.1 - - 3374 - - - - - - - - 13.86 13.71 13.92
9200 679.0 -6.4 383 9208 roll -0.39 - - 3249 - 2.67 0.106 3387 525.1 -107.1 - - 3376 - - - - - - - - 14.41 13.64 14.42
9258 683.4 -7.3 393 9267 done -0.39 - - 3247 - 2.65 0.086 1970 -534.7 -107.1 - - 3373 - - - - - - - - 13.88 13.74 13.93
9578 702.3 -5.6 400 9581 done -0.39 - - 3249 - - - 1969 - -107.1 - - 3373 - - - - - - - - 14.41 14.42 14.43
9880 717.6 -5.2 405 9888 roll -0.39 - - 3249 - 2.70 0.103 545 -527.4 -107.1 - - 3372 - - - - - - - - 14.38 13.65 14.39
9914 719.9 -6.7 410 9922 done -0.39 - - 3249 - 2.67 0.091 1966 532.2 -107.1 - - 3372 - - - - - - - - 13.84 13.70 13.92
10259 740.1 -6.0 422 10267 roll -0.39 - - 3249 - 2.72 0.107 3394 525.0 -107.1 - - 3371 - - - - - - - - 14.42 13.64 14.43
10304 742.8 -6.1 429 10313 done -0.39 - - 3250 - 2.67 0.086 1957 -538.2 -107.1 - - 3371 - - - - - - - - 13.88 13.74 13.94
10639 761.7 -5.5 439 10642 done -0.39 - - 3249 - - - 1956 - -107.1 - - 3371 - - - - - - - - 14.41 14.43 14.42
10941 772.7 -3.5 444 10948 roll -0.39 - - 3250 - 2.65 0.103 562 -526.0 -107.1 - - 3371 - - - - - - - - 14.41 13.66 14.40
10980 774.7 -4.4 450 10988 done -0.39 - - 3249 - 2.62 0.090 1967 536.3 -107.1 - - 3371 - - - - - - - - 13.87 13.70 13.93
11319 791.1 -5.0 461 11328 roll -0.39 - - 3249 - 2.70 0.106 3389 526.7 -107.1 - - 3373 - - - - - - - - 14.45 13.64 14.44
11378 794.2 -4.9 470 11385 done -0.39 - - 3249 - 2.65 0.086 1974 -534.0 -107.1 - - 3370 - - - - - - - - 13.87 13.71 13.93
11702 812.3 -5.7 478 11706 done -0.39 - - 3249 - - - 1974 - -107.1 - - 3367 - - - - - - - - 14.42 14.42 14.42
12002 827.8 -5.1 483 12005 done -0.39 - - 3249 - - - 1974 - -107.1 - - 3370 - - - - - - - - 14.38 14.40 14.39
12303 843.0 -5.0 488 12311 roll -0.39 - - 3249 - 2.72 0.105 3389 520.2 -107.1 - - 3369 - - - - - - - - 14.40 13.63 14.42
12327 844.3 -5.0 491 12334 done -0.39 - - 3249 - 2.67 0.087 1956 -536.7 -107.1 - - 3369 - - - - - - - - 13.87 13.73 13.93
12687 861.3 -4.8 505 12695 roll -0.39 - - 3249 - 2.78 0.105 3391 516.2 -107.1 - - 3369 - - - - - - - - 14.34 13.64 14.36
12725 863.8 -5.6 511 12732 done -0.39 - - 3249 - 2.65 0.086 1975 -534.3 -107.1 - - 3369 - - - - - - - - 13.86 13.71 13.92
13064 885.0 -6.2 522 13068 done -0.39 - - 3249 - - - 1975 - -107.1 - - 3371 - - - - - - - - 14.37 14.38 14.38
13365 900.2 -4.9 527 13369 done -0.39 - - 3249 - - - 1975 - -107.1 - - 3371 - - - - - - - - 14.39 14.41 14.42
13664 916.7 -5.5 532 13667 done -0.39 - - 3249 - - - 1975 - -107.1 - - 3371 - - - - - - - - 14.37 14.38 14.39
13964 932.2 -5.3 537 13967 done -0.39 - - 3248 - - - 1977 - -107.1 - - 3367 - - - - - - - - 14.37 14.37 14.38
14266 947.5 -5.0 542 14269 done -0.39 - - 3252 - - - 1975 - -107.1 - - 3368 - - - - - - - - 14.38 14.41 14.39
14564 962.4 -4.8 547 14572 roll -0.39 - - 3249 - 2.70 0.103 561 -523.7 -107.1 - - 3368 - - - - - - - - 14.38 13.67 14.40
14597 962.9 2.3 552 14605 done -0.39 - - 3250 - 2.67 0.096 1971 528.1 -107.1 - - 3367 - - - - - - - - 13.87 13.70 13.92
14817 end dive: NO_VERTICAL_VELOCITY
14817 begin apogee
14830 962.9 - 562 14932 done -0.16 0.28 0.064 3377 453.6 - - 2262 - - 96.97 1.886 2941 -4.4 0.441 - - - - - - 13.96 13.70 12.71
14936 end apogee: CONTROL_FINISHED_OK
14936 begin climb
14941 963.2 - 563 15063 roll 0.39 0.38 0.052 3555 468.4 2.75 0.111 3660 508.4 107.1 100.07 1.875 2502 -4.4 0.443 - - - - - - 13.93 13.58 12.52
15164 955.4 7.3 605 15176 done 0.39 0.15 0.223 3523 -213.3 2.65 0.090 2234 -538.1 107.1 - - 2502 - - - - - - - - 13.74 13.93 13.97
15514 936.6 5.7 616 15525 roll 0.42 - - 3530 - 2.58 0.101 842 -539.5 107.1 - - 2502 - - - - - - - - 14.49 13.94 14.50
15641 929.3 5.5 638 15654 done 0.46 - - 3527 - 2.58 0.093 2246 544.2 107.1 - - 2500 - - - - - - - - 13.99 13.90 14.04
15966 915.2 4.3 645 16039 roll 0.49 - - 3527 - 2.72 0.109 3663 521.0 174.1 59.92 1.828 2228 -4.5 0.446 - - - - - - 14.51 13.88 12.88
16108 905.9 7.7 672 16120 done 0.49 - - 3527 - 2.60 0.090 2256 -541.2 174.1 - - 2228 - - - - - - - - 14.12 13.97 14.15
16471 883.6 6.2 686 16482 roll 0.52 - - 3527 - 2.62 0.103 823 -546.9 174.1 - - 2230 - - - - - - - - 14.50 13.95 14.52
16514 881.0 5.8 692 16526 done 0.55 0.15 0.106 3607 533.3 2.62 0.092 2253 545.8 174.1 - - 2231 - - - - - - - - 14.13 14.02 14.22
16863 847.1 10.0 703 16875 roll 0.55 0.12 0.216 3567 -333.3 2.65 0.106 3668 534.0 174.1 - - 2230 - - - - - - - - 13.81 13.88 13.91
16951 838.8 8.4 717 16962 done 0.55 - - 3570 - 2.62 0.092 2250 -541.2 174.1 - - 2233 - - - - - - - - 14.12 13.97 14.18
17320 810.6 7.4 732 17331 done 0.55 - - 3570 - - - 2250 - 174.1 - - 2230 - - - - - - - - 14.54 14.55 14.55
17615 788.0 7.6 737 17627 roll 0.55 - - 3577 - 2.62 0.101 831 -541.6 174.1 - - 2231 - - - - - - - - 14.56 13.90 14.57
17657 784.2 10.3 743 17668 done 0.55 - - 3580 - 2.62 0.094 2256 543.9 174.1 - - 2230 - - - - - - - - 14.12 13.96 14.16
18007 750.7 10.0 754 18018 roll 0.55 - - 3580 - 2.65 0.108 3663 530.9 174.1 - - 2231 - - - - - - - - 14.51 13.83 14.52
18064 743.5 11.7 763 18075 done 0.55 - - 3585 - 2.65 0.093 2236 -538.5 174.1 - - 2229 - - - - - - - - 14.07 13.90 14.16
18392 710.5 9.9 771 18403 roll 0.55 - - 3596 - 2.58 0.101 843 -539.9 174.1 - - 2231 - - - - - - - - 14.51 13.74 14.52
18454 703.9 10.8 781 18466 done 0.55 - - 3596 - 2.60 0.093 2244 538.8 174.1 - - 2231 - - - - - - - - 14.07 13.91 14.13
18778 666.9 11.5 788 18789 roll 0.55 - - 3595 - 2.70 0.106 3665 526.3 174.1 - - 2231 - - - - - - - - 14.52 13.80 14.54
18874 655.2 12.8 804 18885 done 0.55 - - 3595 - 2.62 0.091 2255 -538.2 174.1 - - 2231 - - - - - - - - 14.04 13.90 14.09
19232 614.3 11.4 817 19243 done 0.55 - - 3595 - - - 2255 - 174.1 - - 2231 - - - - - - - - 14.50 14.52 14.52
19527 581.5 10.9 822 19538 roll 0.55 - - 3595 - 2.67 0.103 824 -536.0 174.1 - - 2231 - - - - - - - - 14.52 13.78 14.55
19585 575.3 10.9 831 19596 done 0.55 - - 3596 - 2.65 0.093 2268 544.9 174.1 - - 2230 - - - - - - - - 14.05 13.88 14.08
19912 542.7 9.8 839 19923 done 0.55 - - 3596 - - - 2266 - 174.1 - - 2230 - - - - - - - - 14.54 14.54 14.54
20212 514.6 9.3 844 20223 roll 0.55 - - 3596 - 2.65 0.106 3658 525.3 174.1 - - 2231 - - - - - - - - 14.52 13.77 14.51
20280 507.6 10.4 855 20292 done 0.55 - - 3598 - 2.62 0.089 2252 -536.6 174.1 - - 2231 - - - - - - - - 14.01 13.85 14.07
20585 479.7 9.0 861 20597 roll 0.55 - - 3600 - 2.67 0.101 822 -535.6 174.1 - - 2231 - - - - - - - - 14.52 13.76 14.53
20648 473.9 9.3 871 20659 done 0.55 - - 3600 - 2.62 0.093 2244 542.7 174.1 - - 2231 - - - - - - - - 14.00 13.82 14.06
20971 444.5 9.1 878 20983 roll 0.55 - - 3600 - 2.70 0.105 3664 525.9 174.1 - - 2231 - - - - - - - - 14.52 13.74 14.54
21034 438.7 9.6 888 21045 done 0.55 - - 3600 - 2.65 0.088 2252 -532.8 174.1 - - 2231 - - - - - - - - 14.00 13.83 14.05
21357 410.8 8.5 895 21368 roll 0.55 - - 3611 - 2.65 0.099 830 -536.6 174.1 - - 2231 - - - - - - - - 14.50 13.74 14.52
21465 401.0 9.6 913 21477 done 0.55 0.15 0.207 3570 -273.3 2.62 0.093 2244 539.7 174.1 - - 2232 - - - - - - - - 13.64 13.83 13.89
21812 373.9 7.7 924 21824 roll 0.55 - - 3570 - 2.70 0.106 3661 524.8 174.1 - - 2232 - - - - - - - - 14.50 13.73 14.51
21876 368.3 8.9 934 21887 done 0.55 - - 3570 - 2.67 0.089 2234 -534.5 174.1 - - 2232 - - - - - - - - 14.00 13.80 14.04
22198 343.7 7.6 941 22210 roll 0.55 - - 3570 - 2.62 0.102 831 -535.5 174.1 - - 2232 - - - - - - - - 14.47 13.72 14.49
22267 338.6 7.6 952 22279 done 0.55 - - 3570 - 2.65 0.091 2266 541.5 174.1 - - 2232 - - - - - - - - 13.96 13.80 14.02
22572 316.0 7.4 958 22583 roll 0.55 - - 3570 - 2.65 0.106 3664 527.5 174.1 - - 2232 - - - - - - - - 14.49 13.71 14.55
22614 312.6 8.2 964 22625 done 0.55 - - 3569 - 2.62 0.087 2254 -538.2 174.1 - - 2232 - - - - - - - - 13.97 13.81 14.02
22964 288.6 6.9 975 22975 roll 0.55 - - 3571 - 2.65 0.099 840 -533.6 174.1 - - 2232 - - - - - - - - 14.48 13.74 14.49
23001 285.8 6.0 980 23012 done 0.58 - - 3570 - 2.60 0.090 2244 540.0 174.1 - - 2232 - - - - - - - - 13.97 13.81 14.03
23354 262.2 7.0 992 23365 done 0.58 - - 3570 - - - 2243 - 174.1 - - 2235 - - - - - - - - 14.42 14.45 14.45
23649 242.4 6.5 997 23661 roll 0.59 - - 3571 - 2.65 0.099 847 -526.8 174.1 - - 2233 - - - - - - - - 14.52 13.71 14.53
23753 236.6 6.2 1014 23764 done 0.61 - - 3570 - 2.62 0.089 2262 540.1 174.1 - - 2233 - - - - - - - - 13.95 13.81 14.01
24106 213.5 6.8 1026 24117 roll 0.63 - - 3570 - 2.65 0.103 3667 530.2 174.1 - - 2233 - - - - - - - - 14.49 13.72 14.49
24208 205.1 8.6 1043 24219 done 0.63 - - 3570 - 2.62 0.084 2258 -537.8 174.1 - - 2233 - - - - - - - - 13.95 13.79 14.00
24560 180.8 6.8 1055 24572 roll 0.64 - - 3579 - 2.65 0.097 820 -542.6 174.1 - - 2233 - - - - - - - - 14.47 13.71 14.48
24624 176.3 6.7 1065 24636 done 0.65 - - 3579 - 2.65 0.087 2254 541.1 174.1 - - 2234 - - - - - - - - 13.98 13.83 14.03
24947 156.4 6.1 1072 24958 done 0.67 - - 3579 - - - 2254 - 174.1 - - 2234 - - - - - - - - 14.47 14.48 14.48
25248 138.2 6.1 1077 25261 roll 0.70 0.12 0.128 3652 608.3 2.70 0.096 822 -530.4 174.1 - - 2234 - - - - - - - - 14.07 13.72 14.10
25370 127.9 7.8 1098 25382 done 0.70 0.12 0.213 3618 -283.3 2.65 0.089 2260 542.6 174.1 - - 2235 - - - - - - - - 13.60 13.81 13.84
25704 105.3 7.0 1106 25715 done 0.70 - - 3618 - - - 2260 - 174.1 - - 2235 - - - - - - - - 14.42 14.44 14.45
25999 86.5 6.3 1111 26010 roll 0.72 - - 3618 - 2.67 0.104 3663 525.5 174.1 - - 2235 - - - - - - - - 14.50 13.72 14.51
26081 81.2 6.8 1124 26092 done 0.73 - - 3622 - 2.65 0.084 2231 -540.4 174.1 - - 2235 - - - - - - - - 13.95 13.80 14.00
26450 60.6 5.1 1140 26501 roll 0.75 - - 3625 - 2.50 0.094 842 -555.6 223.3 39.28 0.831 2027 -5.3 0.076 - - - - - - 14.47 13.89 13.45
26618 51.6 5.4 1171 26629 done 0.79 - - 3625 - 2.55 0.086 2245 550.2 223.3 - - 2025 - - - - - - - - 14.13 13.98 14.17
26956 35.9 4.1 1186 27023 roll 0.83 0.12 0.125 3700 625.0 2.67 0.102 3666 532.2 294.8 53.40 0.769 1733 -5.5 0.050 - - - - - - 14.15 14.08 13.47
27064 25.9 12.5 1205 27077 done 0.83 0.17 0.247 3664 -211.8 2.58 0.085 2255 -546.9 294.8 - - 1731 - - - - - - - - 13.82 14.04 14.09
27282 end climb: SURFACE_DEPTH_REACHED
27283 begin surface coast
27309 end surface coast: CONTROL_FINISHED_OK
27309 begin surface
SM 0.78 - - - - -10.27 10.05 0.035 82 8.2 0.52 0.098 1963 -6082.7 400.33 44.08 0.078 1309 29.7 -0.030 - - - - - -