NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 690 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 200.99 of 350.00 AH used of 24V (42.58% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -73.6 deg, depth 0.99 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.82 (SM_CC=400)
• GPS1 time: 55 s
• GPS2 time: 3 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
27 end surface: CONTROL_FINISHED_OK
27 begin dive
33 - - - 113 done -0.39 - - 84 - - - 1979 - -107.1 -75.93 - 3379 - - - - - - - - 14.42 12.50 14.28
121 1.8 -2.1 2 143 roll -0.39 14.48 0.360 3251 218.7 2.65 0.096 3390 532.5 -107.1 - - 3381 - - - - - - - - 13.62 13.98 13.98
296 42.3 -10.8 35 304 done -0.39 - - 3250 - 2.62 0.086 1974 -540.5 -107.1 - - 3383 - - - - - - - - 14.00 13.85 14.04
621 77.0 -10.7 44 624 done -0.39 - - 3250 - - - 1974 - -107.1 - - 3383 - - - - - - - - 14.39 14.37 14.36
920 103.2 -8.6 49 928 roll -0.39 - - 3252 - 2.67 0.100 3379 526.2 -107.1 - - 3382 - - - - - - - - 14.35 13.78 14.37
994 109.3 -8.2 62 1002 done -0.39 - - 3250 - 2.62 0.084 1958 -542.4 -107.1 - - 3381 - - - - - - - - 13.96 13.83 14.00
1360 141.1 -8.9 78 1368 roll -0.39 - - 3248 - 2.60 0.096 563 -536.5 -107.1 - - 3384 - - - - - - - - 14.36 13.77 14.38
1410 145.9 -9.4 86 1417 done -0.39 - - 3250 - 2.60 0.086 1968 540.4 -107.1 - - 3383 - - - - - - - - 13.96 13.81 14.01
1740 175.6 -9.0 95 1748 roll -0.39 - - 3250 - 2.67 0.101 3391 533.0 -107.1 - - 3383 - - - - - - - - 14.35 13.74 14.36
1818 182.2 -7.9 109 1827 done -0.39 - - 3249 - 2.62 0.081 1975 -540.5 -107.1 - - 3382 - - - - - - - - 13.87 13.74 13.95
2180 209.9 -7.6 124 2188 roll -0.39 - - 3251 - 2.65 0.096 545 -539.6 -107.1 - - 3383 - - - - - - - - 14.34 13.75 14.36
2228 213.8 -7.6 132 2236 done -0.39 - - 3250 - 2.65 0.086 1982 542.3 -107.1 - - 3383 - - - - - - - - 13.94 13.81 13.98
2558 236.6 -6.9 141 2566 roll -0.39 - - 3250 - 2.65 0.102 3387 530.2 -107.1 - - 3383 - - - - - - - - 14.35 13.74 14.37
2614 240.3 -6.7 150 2621 done -0.39 - - 3251 - 2.62 0.080 1958 -545.4 -107.1 - - 3382 - - - - - - - - 13.94 13.81 13.99
2938 263.0 -7.0 158 2946 roll -0.39 - - 3250 - 2.60 0.096 565 -535.8 -107.1 - - 3383 - - - - - - - - 14.33 13.76 14.35
2967 265.3 -7.9 162 2974 done -0.39 - - 3248 - 2.60 0.083 1967 539.2 -107.1 - - 3380 - - - - - - - - 13.93 13.78 13.97
3317 289.8 -6.9 175 3324 roll -0.39 - - 3251 - 2.70 0.102 3388 526.3 -107.1 - - 3382 - - - - - - - - 14.35 13.74 14.35
3425 296.2 -5.7 195 3433 done -0.39 - - 3251 - 2.62 0.080 1973 -540.1 -107.1 - - 3382 - - - - - - - - 13.96 13.79 13.99
3756 315.7 -6.0 204 3763 roll -0.39 - - 3251 - 2.65 0.094 556 -534.7 -107.1 - - 3382 - - - - - - - - 14.33 13.78 14.32
3819 320.3 -7.1 215 3827 done -0.39 - - 3250 - 2.62 0.084 1972 540.5 -107.1 - - 3382 - - - - - - - - 13.93 13.77 13.97
4126 340.9 -6.8 221 4135 roll -0.39 - - 3250 - 2.70 0.104 3388 524.4 -107.1 - - 3381 - - - - - - - - 14.35 13.74 14.37
4181 344.8 -7.1 230 4188 done -0.39 - - 3251 - 2.62 0.083 1963 -543.9 -107.1 - - 3381 - - - - - - - - 13.94 13.80 13.98
4505 367.8 -7.1 238 4508 done -0.39 - - 3250 - - - 1962 - -107.1 - - 3381 - - - - - - - - 14.36 14.38 14.38
4806 388.1 -6.8 243 4813 roll -0.39 - - 3250 - 2.75 0.103 3389 518.9 -107.1 - - 3380 - - - - - - - - 14.35 13.76 14.37
4849 391.2 -6.7 250 4857 done -0.39 - - 3244 - 2.65 0.083 1961 -538.9 -107.1 - - 3381 - - - - - - - - 13.95 13.81 14.00
5183 413.7 -6.8 260 5186 done -0.39 - - 3256 - - - 1961 - -107.1 - - 3380 - - - - - - - - 14.34 14.35 14.35
5485 433.0 -6.4 265 5488 done -0.39 - - 3250 - - - 1960 - -107.1 - - 3381 - - - - - - - - 14.34 14.38 14.35
5784 451.4 -6.1 270 5791 roll -0.39 - - 3253 - 2.65 0.100 562 -527.5 -107.1 - - 3379 - - - - - - - - 14.33 13.78 14.35
5822 454.0 -6.6 276 5830 done -0.39 - - 3251 - 2.65 0.089 1981 535.5 -107.1 - - 3379 - - - - - - - - 13.93 13.78 13.97
6163 473.8 -5.9 287 6171 roll -0.39 - - 3250 - 2.67 0.106 3385 525.8 -107.1 - - 3378 - - - - - - - - 14.32 13.78 14.38
6241 478.6 -6.0 301 6249 done -0.39 - - 3251 - 2.62 0.085 1974 -538.5 -107.1 - - 3381 - - - - - - - - 13.91 13.76 13.96
6602 499.5 -5.7 316 6610 roll -0.39 - - 3250 - 2.67 0.099 551 -533.0 -107.1 - - 3378 - - - - - - - - 14.34 13.78 14.35
6645 502.4 -6.8 323 6653 done -0.39 - - 3250 - 2.65 0.090 1966 534.0 -107.1 - - 3378 - - - - - - - - 13.92 13.76 13.97
6979 521.7 -5.6 333 6987 roll -0.39 - - 3250 - 2.70 0.105 3390 527.4 -107.1 - - 3377 - - - - - - - - 14.31 13.74 14.33
7039 525.0 -5.6 343 7047 done -0.39 - - 3251 - 2.67 0.086 1955 -537.5 -107.1 - - 3377 - - - - - - - - 13.92 13.78 13.97
7359 543.6 -6.0 350 7367 roll -0.39 - - 3250 - 2.62 0.099 554 -534.7 -107.1 - - 3377 - - - - - - - - 14.31 13.78 14.33
7412 547.7 -7.7 359 7420 done -0.39 - - 3251 - 2.65 0.089 1971 534.7 -107.1 - - 3378 - - - - - - - - 13.91 13.76 13.97
7738 569.8 -6.9 367 7745 roll -0.39 - - 3246 - 2.70 0.106 3390 525.6 -107.1 - - 3377 - - - - - - - - 14.33 13.74 14.35
7811 574.6 -6.4 380 7818 done -0.39 - - 3250 - 2.65 0.085 1974 -534.3 -107.1 - - 3376 - - - - - - - - 13.90 13.76 13.95
8180 596.6 -6.1 396 8188 roll -0.39 - - 3251 - 2.67 0.098 557 -530.7 -107.1 - - 3374 - - - - - - - - 14.27 13.78 14.28
8254 601.9 -6.7 409 8262 done -0.39 - - 3250 - 2.65 0.090 1980 537.0 -107.1 - - 3376 - - - - - - - - 13.90 13.76 13.96
8624 621.5 -5.3 425 8633 roll -0.39 - - 3250 - 2.67 0.106 3377 523.2 -107.1 - - 3375 - - - - - - - - 14.28 13.78 14.29
8679 624.6 -5.1 434 8687 done -0.39 - - 3250 - 2.65 0.086 1963 -533.6 -107.1 - - 3375 - - - - - - - - 13.93 13.78 13.97
9006 640.2 -4.8 442 9009 done -0.39 - - 3250 - - - 1959 - -107.1 - - 3377 - - - - - - - - 14.30 14.32 14.32
9304 655.2 -5.0 447 9311 roll -0.39 - - 3250 - 2.67 0.103 546 -529.2 -107.1 - - 3372 - - - - - - - - 14.33 13.76 14.35
9342 657.5 -5.8 453 9351 done -0.39 - - 3251 - 2.67 0.091 1970 533.3 -107.1 - - 3374 - - - - - - - - 13.90 13.74 13.96
9685 674.9 -5.1 464 9692 roll -0.39 - - 3250 - 2.72 0.106 3389 521.7 -107.1 - - 3374 - - - - - - - - 14.28 13.75 14.31
9768 679.6 -5.7 479 9776 done -0.39 - - 3250 - 2.67 0.086 1956 -536.7 -107.1 - - 3374 - - - - - - - - 13.89 13.76 13.95
10124 700.4 -5.9 493 10132 roll -0.39 - - 3250 - 2.65 0.101 554 -529.1 -107.1 - - 3373 - - - - - - - - 14.28 13.76 14.31
10173 703.7 -6.7 501 10181 done -0.39 - - 3250 - 2.65 0.091 1967 533.2 -107.1 - - 3371 - - - - - - - - 13.90 13.74 13.95
10504 723.1 -5.9 510 10511 roll -0.39 - - 3250 - 2.72 0.106 3389 522.8 -107.1 - - 3371 - - - - - - - - 14.30 13.73 14.31
10574 727.4 -6.1 522 10582 done -0.39 - - 3250 - 2.67 0.086 1963 -534.1 -107.1 - - 3372 - - - - - - - - 13.91 13.77 13.96
10948 747.1 -5.1 539 10951 done -0.39 - - 3250 - - - 1968 - -107.1 - - 3372 - - - - - - - - 14.30 14.32 14.32
11245 763.1 -5.4 544 11248 done -0.39 - - 3250 - - - 1963 - -107.1 - - 3372 - - - - - - - - 14.30 14.31 14.33
11543 779.5 -5.5 549 11546 done -0.39 - - 3250 - - - 1963 - -107.1 - - 3371 - - - - - - - - 14.29 14.31 14.31
11844 796.2 -5.6 554 11847 done -0.39 - - 3251 - - - 1963 - -107.1 - - 3371 - - - - - - - - 14.32 14.34 14.34
12145 812.3 -5.4 559 12148 done -0.39 - - 3250 - - - 1966 - -107.1 - - 3371 - - - - - - - - 14.28 14.29 14.29
12443 828.4 -5.4 564 12451 roll -0.39 - - 3250 - 2.67 0.103 561 -526.2 -107.1 - - 3371 - - - - - - - - 14.31 13.77 14.33
12483 831.0 -4.2 570 12491 done -0.39 - - 3250 - 2.67 0.093 1981 531.8 -107.1 - - 3370 - - - - - - - - 13.92 13.77 13.97
12823 849.6 -5.4 581 12832 roll -0.39 - - 3250 - 2.70 0.106 3376 516.7 -107.1 - - 3370 - - - - - - - - 14.30 13.77 14.32
12898 853.5 -5.5 594 12906 done -0.39 - - 3250 - 2.65 0.090 1976 -528.3 -107.1 - - 3368 - - - - - - - - 13.90 13.75 13.94
13268 873.6 -5.5 610 13271 done -0.39 - - 3247 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.24 14.26 14.26
13562 890.3 -5.5 615 13565 done -0.39 - - 3250 - - - 1974 - -107.1 - - 3371 - - - - - - - - 14.31 14.32 14.32
13862 905.8 -5.1 620 13865 done -0.39 - - 3250 - - - 1974 - -107.1 - - 3370 - - - - - - - - 14.30 14.31 14.31
14164 920.1 -4.8 625 14172 roll -0.39 - - 3250 - 2.70 0.103 548 -528.1 -107.1 - - 3369 - - - - - - - - 14.28 13.76 14.33
14203 922.2 -5.7 631 14211 done -0.39 - - 3249 - 2.67 0.093 1967 531.5 -107.1 - - 3366 - - - - - - - - 13.89 13.73 13.94
14547 938.1 -4.7 642 14555 roll -0.39 - - 3250 - 2.72 0.106 3389 522.8 -107.1 - - 3369 - - - - - - - - 14.32 13.69 14.33
14627 942.2 -5.1 656 14635 done -0.39 - - 3250 - 2.70 0.087 1956 -530.7 -107.1 - - 3368 - - - - - - - - 13.89 13.75 13.94
14991 960.3 -5.1 671 14994 done -0.39 - - 3250 - - - 1956 - -107.1 - - 3369 - - - - - - - - 14.26 14.28 14.28
15288 976.7 -5.5 676 15291 done -0.39 - - 3250 - - - 1956 - -107.1 - - 3365 - - - - - - - - 14.28 14.30 14.29
15581 end dive: TARGET_DEPTH_EXCEEDED
15581 begin apogee
15593 992.7 -5.3 681 15694 done -0.16 0.32 0.141 3342 287.5 - - 2250 - - 96.00 1.932 2942 -4.4 0.444 - - - - - - 13.58 13.73 12.84
15697 end apogee: CONTROL_FINISHED_OK
15698 begin climb
15704 995.2 - 682 15822 roll 0.39 0.47 0.085 3520 378.7 2.78 0.109 3665 509.0 107.1 99.88 1.925 2501 -4.4 0.448 - - - - - - 13.74 13.32 12.57
15863 993.0 5.6 711 15874 done 0.43 - - 3527 - 2.67 0.090 2252 -529.2 107.1 - - 2500 - - - - - - - - 13.89 13.76 13.92
16221 974.2 5.3 724 16233 roll 0.46 - - 3527 - 2.62 0.103 838 -539.7 107.1 - - 2499 - - - - - - - - 14.44 13.96 14.45
16305 969.4 5.3 738 16357 done 0.49 - - 3527 - 2.62 0.095 2263 543.9 150.7 39.20 1.880 2325 -4.4 0.449 - - - - - - 14.15 14.04 12.98
16656 945.9 6.8 753 16666 done 0.50 - - 3527 - - - 2259 - 150.7 - - 2326 - - - - - - - - 14.45 14.47 14.47
16957 926.9 6.3 758 16969 roll 0.52 0.10 0.142 3598 710.0 2.65 0.098 841 -535.1 150.7 - - 2326 - - - - - - - - 14.20 13.97 14.21
16985 924.5 6.3 761 16998 done 0.54 - - 3598 - 2.60 0.092 2246 540.4 150.7 - - 2326 - - - - - - - - 14.15 14.00 14.20
17350 889.2 10.0 775 17361 roll 0.54 0.08 0.255 3573 -312.5 2.67 0.104 3663 530.7 150.7 - - 2326 - - - - - - - - 13.83 13.91 13.93
17379 885.6 10.1 778 17390 done 0.54 - - 3582 - 2.62 0.090 2239 -543.5 150.7 - - 2329 - - - - - - - - 14.14 14.01 14.19
17742 852.6 9.2 792 17753 done 0.54 - - 3581 - - - 2239 - 150.7 - - 2326 - - - - - - - - 14.45 14.47 14.47
18037 825.2 9.1 797 18048 roll 0.54 - - 3589 - 2.60 0.101 840 -538.1 150.7 - - 2326 - - - - - - - - 14.50 13.92 14.51
18074 821.8 8.9 802 18086 done 0.54 - - 3589 - 2.62 0.093 2258 541.2 150.7 - - 2326 - - - - - - - - 14.14 13.99 14.19
18429 788.9 9.6 814 18440 roll 0.54 - - 3589 - 2.67 0.109 3664 526.6 150.7 - - 2325 - - - - - - - - 14.46 13.88 14.47
18455 785.7 9.7 817 18467 done 0.54 - - 3598 - 2.62 0.090 2249 -540.1 150.7 - - 2325 - - - - - - - - 14.13 13.98 14.16
18820 749.0 10.3 831 18831 done 0.54 - - 3599 - - - 2249 - 150.7 - - 2325 - - - - - - - - 14.45 14.47 14.47
19114 718.3 10.2 836 19125 done 0.54 0.10 0.248 3572 -270.0 - - 2249 - 150.7 - - 2325 - - - - - - - - 13.79 14.02 13.95
19416 690.8 9.1 841 19428 roll 0.54 - - 3580 - 2.65 0.099 822 -538.5 150.7 - - 2325 - - - - - - - - 14.43 13.85 14.43
19464 686.3 9.3 848 19475 done 0.54 - - 3580 - 2.65 0.093 2260 542.6 150.7 - - 2323 - - - - - - - - 14.10 13.95 14.14
19806 657.7 8.3 858 19816 done 0.54 - - 3581 - - - 2259 - 150.7 - - 2321 - - - - - - - - 14.42 14.46 14.45
20103 633.5 8.0 863 20113 done 0.54 - - 3581 - - - 2259 - 150.7 - - 2323 - - - - - - - - 14.45 14.47 14.47
20401 610.2 7.8 868 20412 done 0.54 - - 3580 - - - 2259 - 150.7 - - 2325 - - - - - - - - 14.43 14.45 14.45
20703 586.8 7.7 873 20714 roll 0.54 - - 3582 - 2.70 0.103 824 -531.5 150.7 - - 2324 - - - - - - - - 14.45 13.82 14.49
20760 582.3 7.7 882 20771 done 0.54 - - 3582 - 2.65 0.094 2246 536.6 150.7 - - 2325 - - - - - - - - 14.06 13.91 14.11
21088 558.2 7.4 890 21099 roll 0.54 - - 3582 - 2.72 0.107 3664 521.3 150.7 - - 2325 - - - - - - - - 14.45 13.81 14.46
21131 554.7 8.5 896 21142 done 0.54 - - 3582 - 2.65 0.089 2238 -538.1 150.7 - - 2325 - - - - - - - - 14.04 13.90 14.09
21478 528.2 7.8 907 21489 done 0.54 - - 3582 - - - 2238 - 150.7 - - 2325 - - - - - - - - 14.41 14.43 14.43
21777 504.4 7.9 912 21787 done 0.54 - - 3582 - - - 2238 - 150.7 - - 2325 - - - - - - - - 14.44 14.47 14.45
22074 479.2 8.4 917 22085 roll 0.54 - - 3578 - 2.62 0.103 843 -532.4 150.7 - - 2325 - - - - - - - - 14.41 13.78 14.42
22148 473.0 8.4 929 22160 done 0.54 - - 3583 - 2.62 0.093 2251 537.4 150.7 - - 2327 - - - - - - - - 14.06 13.88 14.09
22526 442.9 7.8 946 22537 roll 0.54 - - 3586 - 2.70 0.106 3664 523.3 150.7 - - 2325 - - - - - - - - 14.42 13.78 14.45
22584 437.8 8.4 955 22595 done 0.54 - - 3585 - 2.65 0.088 2251 -533.2 150.7 - - 2326 - - - - - - - - 14.02 13.88 14.07
22912 415.2 6.7 963 22923 roll 0.55 - - 3586 - 2.65 0.100 841 -532.1 150.7 - - 2325 - - - - - - - - 14.43 13.78 14.45
22986 410.1 7.1 975 22997 done 0.55 - - 3586 - 2.65 0.094 2264 537.0 150.7 - - 2325 - - - - - - - - 13.98 13.84 14.04
23359 383.7 7.1 992 23370 roll 0.55 - - 3586 - 2.67 0.106 3664 524.3 150.7 - - 2325 - - - - - - - - 14.43 13.77 14.45
23417 379.0 8.6 1001 23429 done 0.55 - - 3586 - 2.65 0.087 2253 -532.5 150.7 - - 2323 - - - - - - - - 14.00 13.85 14.04
23747 354.8 7.3 1009 23757 done 0.55 - - 3587 - - - 2254 - 150.7 - - 2326 - - - - - - - - 14.44 14.45 14.45
24047 333.4 7.2 1014 24058 roll 0.55 - - 3596 - 2.67 0.099 820 -537.1 150.7 - - 2325 - - - - - - - - 14.42 13.66 14.44
24125 327.6 7.7 1027 24136 done 0.55 - - 3596 - 2.65 0.092 2246 538.1 150.7 - - 2324 - - - - - - - - 13.97 13.83 14.02
24494 298.5 8.1 1043 24505 roll 0.55 - - 3596 - 2.70 0.104 3664 525.2 150.7 - - 2324 - - - - - - - - 14.43 13.74 14.42
24606 289.1 8.9 1062 24617 done 0.55 - - 3599 - 2.67 0.086 2234 -535.6 150.7 - - 2326 - - - - - - - - 13.97 13.82 14.03
24945 260.9 8.3 1072 24956 roll 0.55 - - 3608 - 2.60 0.096 842 -535.4 150.7 - - 2326 - - - - - - - - 14.38 13.75 14.39
25057 251.4 8.4 1091 25069 done 0.55 0.12 0.210 3576 -266.7 2.60 0.090 2247 540.4 150.7 - - 2334 - - - - - - - - 13.64 13.81 13.88
25401 228.8 6.4 1101 25412 done 0.57 - - 3576 - - - 2246 - 150.7 - - 2326 - - - - - - - - 14.38 14.39 14.39
25696 214.4 4.7 1106 25757 roll 0.60 - - 3576 - 2.65 0.105 3671 537.7 208.7 46.47 1.011 2085 -5.2 0.216 - - - - - - 14.45 14.08 13.44
25773 210.6 6.1 1119 25785 done 0.63 - - 3582 - 2.60 0.085 2245 -548.5 208.7 - - 2085 - - - - - - - - 14.14 14.02 14.19
26146 182.7 7.8 1135 26157 roll 0.63 - - 3583 - 2.60 0.099 839 -540.8 208.7 - - 2087 - - - - - - - - 14.45 13.90 14.46
26229 175.9 7.7 1149 26241 done 0.63 - - 3582 - 2.60 0.091 2246 541.2 208.7 - - 2091 - - - - - - - - 14.07 13.92 14.12
26597 148.2 7.5 1164 26607 done 0.63 - - 3582 - - - 2246 - 208.7 - - 2087 - - - - - - - - 14.45 14.47 14.47
26894 125.0 7.7 1169 26904 done 0.63 - - 3582 - - - 2246 - 208.7 - - 2087 - - - - - - - - 14.42 14.44 14.44
27193 103.2 7.1 1174 27203 done 0.63 - - 3582 - - - 2245 - 208.7 - - 2087 - - - - - - - - 14.46 14.46 14.46
27498 82.6 6.7 1179 27509 done 0.64 - - 3583 - - - 2246 - 208.7 - - 2090 - - - - - - - - 14.42 14.43 14.43
27792 61.6 7.1 1184 27803 roll 0.64 - - 3579 - 2.62 0.096 845 -534.7 208.7 - - 2091 - - - - - - - - 14.45 13.79 14.45
27908 56.5 4.5 1204 27968 done 0.67 - - 3583 - 2.60 0.087 2265 546.2 269.9 46.67 0.812 1837 -5.4 0.074 - - - - - - 14.07 13.93 13.49
28295 37.5 4.9 1229 28349 roll 0.69 0.08 0.148 3653 875.0 2.62 0.101 3660 532.4 322.7 39.58 0.777 1622 -5.4 0.051 - - - - - - 14.15 14.04 13.48
28375 30.4 10.7 1242 28387 done 0.69 0.17 0.213 3622 -182.4 2.58 0.083 2251 -546.1 322.7 - - 1622 - - - - - - - - 13.88 14.03 14.10
28708 end climb: SURFACE_DEPTH_REACHED
28708 begin surface coast
28740 end surface coast: CONTROL_FINISHED_OK
28740 begin surface
SM 0.82 - - - - -10.26 10.02 0.041 95 9.5 0.52 0.099 1961 -6086.5 400.82 32.72 0.080 1308 40.0 -0.042 - - - - - -