GOCART Oct17 * SG542 * Dive index * Mission links * Dive 70 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 16.95 of 145.00 AH used of 24V (88.31% remains)
• Previous NAKs 0, Timeouts 0 • 26.61 of 95.00 AH used of 10V (71.99% remains)
• Surface angle -67.1 deg, depth 1.17 m • Intended pitch -17.1 deg, speed -9.804 cm/s
• No surface pump (final VBD was 192.31, SM_CC=180)
• GPS1 time: 34 s
• GPS2 time: 23 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
16 - - - 72 done -0.56 - - 137 - - - 1979 - -87.6 -52.28 - 2523 - - - - - - - - 25.88 24.62 25.89
74 3.6 -5.5 8 90 roll -0.56 9.02 0.246 2393 250.1 2.42 0.073 556 -588.0 -87.6 - - 2525 - - - - - - - - 25.35 25.55 25.60
367 56.1 -15.6 58 376 done -0.56 - - 2385 - 2.40 0.072 1972 590.0 -87.6 - - 2527 - - - - - - - - 25.83 25.77 25.87
426 64.6 -15.7 67 432 done -0.56 - - 2385 - - - 1972 - -87.6 - - 2527 - - - - - - - - 26.13 26.15 26.15
479 73.4 -15.2 76 487 roll -0.56 - - 2374 - 2.40 0.079 3389 590.4 -87.6 - - 2527 - - - - - - - - 26.16 25.80 26.17
518 79.4 -15.6 82 527 done -0.56 - - 2374 - 2.38 0.066 1968 -597.1 -87.6 - - 2526 - - - - - - - - 25.90 25.84 25.94
577 88.7 -17.4 91 583 done -0.56 - - 2374 - - - 1967 - -87.6 - - 2527 - - - - - - - - 26.20 26.20 26.20
629 98.5 -17.7 100 637 done -0.56 - - 2374 - - - 1968 - -87.6 - - 2526 - - - - - - - - 26.21 26.22 26.22
687 107.8 -16.9 109 693 done -0.56 - - 2374 - - - 1967 - -87.6 - - 2527 - - - - - - - - 26.23 26.25 26.25
833 132.1 -15.0 134 841 done -0.56 - - 2375 - - - 1967 - -87.6 - - 2526 - - - - - - - - 26.28 26.29 26.29
983 154.8 -14.6 159 989 done -0.56 - - 2374 - - - 1967 - -87.6 - - 2527 - - - - - - - - 26.32 26.34 26.33
1129 177.1 -15.1 184 1137 roll -0.56 - - 2374 - 2.35 0.081 568 -595.3 -87.6 - - 2527 - - - - - - - - 26.35 25.99 26.36
1168 183.3 -15.6 190 1177 done -0.56 - - 2364 - 2.35 0.069 1979 600.4 -87.6 - - 2526 - - - - - - - - 26.08 26.02 26.12
1321 206.1 -15.5 215 1327 roll -0.56 - - 2354 - 2.35 0.080 3389 600.0 -87.6 - - 2527 - - - - - - - - 26.39 26.02 26.40
1339 209.7 -15.4 218 1350 done -0.56 0.10 0.199 2381 270.0 2.33 0.065 1984 -603.0 -87.6 - - 2526 - - - - - - - - 25.90 26.05 26.03
1493 230.5 -12.9 243 1500 roll -0.56 - - 2372 - 2.33 0.080 3395 605.6 -87.6 - - 2527 - - - - - - - - 26.41 26.04 26.42
1525 235.2 -13.6 248 1534 done -0.56 - - 2372 - 2.35 0.066 1979 -602.6 -87.6 - - 2527 - - - - - - - - 26.13 26.07 26.17
1676 255.6 -14.0 273 1682 done -0.56 - - 2372 - - - 1978 - -87.6 - - 2527 - - - - - - - - 26.44 26.44 26.44
1821 275.7 -13.3 298 1830 roll -0.56 - - 2362 - 2.38 0.080 3384 590.8 -87.6 - - 2527 - - - - - - - - 26.45 26.09 26.46
1844 278.5 -13.4 301 1850 done -0.56 - - 2362 - 2.30 0.065 1966 -616.5 -87.6 - - 2527 - - - - - - - - 26.22 26.12 26.25
1991 298.8 -13.7 326 2000 done -0.56 - - 2362 - - - 1965 - -87.6 - - 2527 - - - - - - - - 26.47 26.48 26.48
2141 318.5 -13.5 351 2147 done -0.56 - - 2362 - - - 1965 - -87.6 - - 2527 - - - - - - - - 26.48 26.50 26.50
2287 338.2 -13.2 376 2295 done -0.56 - - 2362 - - - 1966 - -87.6 - - 2527 - - - - - - - - 26.51 26.52 26.51
2436 357.5 -13.2 401 2441 done -0.56 - - 2362 - - - 1965 - -87.6 - - 2527 - - - - - - - - 26.52 26.53 26.53
2581 376.0 -11.9 426 2589 done -0.56 - - 2362 - - - 1965 - -87.6 - - 2527 - - - - - - - - 26.53 26.55 26.54
2730 393.7 -11.7 451 2736 done -0.56 - - 2362 - - - 1965 - -87.6 - - 2526 - - - - - - - - 26.55 26.55 26.55
2875 410.4 -11.1 476 2884 roll -0.56 - - 2362 - 2.33 0.081 569 -599.1 -87.6 - - 2527 - - - - - - - - 26.55 26.19 26.56
2913 414.8 -12.0 482 2924 done -0.56 0.10 0.203 2379 170.0 2.33 0.069 1976 603.9 -87.6 - - 2527 - - - - - - - - 26.07 26.23 26.19
3066 429.3 -9.6 507 3073 roll -0.56 - - 2379 - 2.30 0.078 562 -614.8 -87.6 - - 2526 - - - - - - - - 26.56 26.20 26.58
3097 432.8 -10.6 512 3105 done -0.56 - - 2371 - 2.35 0.069 1983 604.7 -87.6 - - 2526 - - - - - - - - 26.28 26.22 26.32
3247 448.8 -10.8 537 3254 roll -0.56 - - 2360 - 2.33 0.081 3391 604.3 -87.6 - - 2526 - - - - - - - - 26.56 26.20 26.58
3301 455.4 -11.7 546 3310 done -0.56 - - 2360 - 2.33 0.063 1971 -609.4 -87.6 - - 2527 - - - - - - - - 26.29 26.23 26.33
3453 472.9 -11.5 571 3460 done -0.56 0.08 0.220 2385 312.5 - - 1970 - -87.6 - - 2526 - - - - - - - - 26.12 26.30 26.23
3600 488.6 -10.1 596 3608 done -0.56 - - 2385 - - - 1970 - -87.6 - - 2527 - - - - - - - - 26.58 26.60 26.60
3746 503.8 -10.2 621 3752 roll -0.56 - - 2376 - 2.33 0.079 3395 611.6 -87.6 - - 2526 - - - - - - - - 26.59 26.22 26.60
3794 509.1 -11.2 630 3801 done -0.56 - - 2376 - 2.33 0.063 1976 -609.0 -87.6 - - 2527 - - - - - - - - 26.32 26.25 26.36
4119 545.5 -11.2 691 4125 roll -0.56 - - 2366 - 2.33 0.080 3398 610.3 -87.6 - - 2526 - - - - - - - - 26.60 26.24 26.62
4142 548.2 -11.9 695 4148 done -0.56 - - 2366 - 2.28 0.064 1979 -622.4 -87.6 - - 2527 - - - - - - - - 26.38 26.27 26.40
4464 587.3 -12.8 756 4470 roll -0.56 - - 2366 - 2.33 0.080 547 -614.6 -87.6 - - 2526 - - - - - - - - 26.62 26.25 26.63
4494 591.0 -13.3 761 4501 done -0.56 0.12 0.210 2389 191.7 2.33 0.068 1988 618.5 -87.6 - - 2526 - - - - - - - - 26.12 26.27 26.32
4817 628.3 -11.4 822 4823 done -0.56 - - 2389 - - - 1988 - -87.6 - - 2526 - - - - - - - - 26.63 26.64 26.64
5140 663.1 -10.3 883 5145 done -0.56 - - 2389 - - - 1988 - -87.6 - - 2526 - - - - - - - - 26.65 26.65 26.65
5461 694.6 -9.1 944 5470 roll -0.56 - - 2380 - 2.33 0.080 3391 602.1 -87.6 - - 2526 - - - - - - - - 26.65 26.32 26.67
5525 700.7 -9.5 955 5531 done -0.56 - - 2380 - 2.28 0.066 1974 -621.5 -87.6 - - 2526 - - - - - - - - 26.43 26.32 26.45
5846 732.3 -9.7 1016 5855 done -0.56 - - 2380 - - - 1974 - -87.6 - - 2527 - - - - - - - - 26.66 26.67 26.67
6170 764.2 -9.8 1077 6176 roll -0.56 - - 2380 - 2.28 0.080 569 -616.2 -87.6 - - 2527 - - - - - - - - 26.67 26.30 26.68
6215 769.0 -11.4 1085 6221 done -0.56 - - 2370 - 2.28 0.069 1980 618.9 -87.6 - - 2526 - - - - - - - - 26.44 26.32 26.46
6537 804.2 -10.9 1146 6543 done -0.56 - - 2370 - - - 1980 - -87.6 - - 2527 - - - - - - - - 26.67 26.69 26.69
6860 840.1 -11.0 1207 6866 roll -0.56 - - 2359 - 2.33 0.080 3394 606.9 -87.6 - - 2526 - - - - - - - - 26.68 26.31 26.70
6888 843.4 -11.8 1212 6896 done -0.56 0.08 0.189 2389 375.0 2.33 0.066 1974 -609.4 -87.6 - - 2527 - - - - - - - - 26.20 26.34 26.39
7215 875.0 -9.8 1273 7221 roll -0.56 - - 2389 - 2.28 0.080 568 -616.7 -87.6 - - 2526 - - - - - - - - 26.69 26.31 26.70
7238 877.8 -10.6 1277 7244 done -0.56 - - 2381 - 2.28 0.068 1980 619.3 -87.6 - - 2526 - - - - - - - - 26.46 26.33 26.48
7563 910.5 -10.1 1338 7569 roll -0.56 - - 2370 - 2.33 0.081 3409 613.3 -87.6 - - 2526 - - - - - - - - 26.68 26.31 26.70
7605 914.6 -10.6 1345 7611 done -0.56 - - 2370 - 2.30 0.066 1979 -621.7 -87.6 - - 2526 - - - - - - - - 26.46 26.34 26.48
7925 949.0 -11.2 1406 7932 roll -0.56 - - 2370 - 2.33 0.080 545 -615.5 -87.6 - - 2526 - - - - - - - - 26.69 26.32 26.70
7976 954.9 -11.8 1415 7983 done -0.56 0.10 0.212 2385 150.0 2.30 0.067 1977 622.6 -87.6 - - 2526 - - - - - - - - 26.19 26.34 26.39
8298 986.4 -9.6 1476 8305 roll -0.56 - - 2376 - 2.35 0.081 3407 608.5 -87.6 - - 2526 - - - - - - - - 26.70 26.31 26.70
8359 992.5 -9.6 1487 8365 done -0.56 - - 2376 - 2.30 0.065 1975 -622.6 -87.6 - - 2526 - - - - - - - - 26.46 26.33 26.48
8436 end dive: TARGET_DEPTH_EXCEEDED
8436 begin apogee
8440 1000.1 -10.1 1501 8533 done -0.14 0.45 0.175 2517 313.3 - - 1893 - - 83.75 1.795 2164 -4.3 0.263 - - - - - - 26.21 24.03 23.30
8534 end apogee: CONTROL_FINISHED_OK
8534 begin climb
8535 1003.8 - 1517 8627 done 0.56 0.75 0.127 2755 317.3 - - 1893 - 87.6 88.05 1.743 1807 -4.1 0.255 - - - - - - 24.43 23.31 22.44
8945 967.8 10.1 1593 8951 roll 0.56 - - 2755 - 2.50 0.081 3319 570.4 87.6 - - 1797 - - - - - - - - 25.27 24.94 25.29
8991 963.0 11.0 1601 8997 done 0.56 - - 2765 - 2.40 0.066 1915 -585.0 87.6 - - 1794 - - - - - - - - 25.15 25.05 25.18
9310 929.0 10.5 1662 9316 done 0.56 - - 2765 - - - 1915 - 87.6 - - 1794 - - - - - - - - 25.78 25.79 25.79
9633 894.6 11.2 1723 9638 done 0.56 - - 2765 - - - 1915 - 87.6 - - 1793 - - - - - - - - 26.02 26.03 26.03
9952 859.8 10.6 1784 9961 done 0.56 - - 2765 - - - 1915 - 87.6 - - 1792 - - - - - - - - 26.17 26.19 26.18
10276 825.9 10.3 1845 10281 done 0.56 - - 2765 - - - 1915 - 87.6 - - 1791 - - - - - - - - 26.27 26.29 26.29
10596 792.4 10.8 1906 10602 done 0.56 - - 2765 - - - 1915 - 87.6 - - 1791 - - - - - - - - 26.35 26.36 26.36
10917 758.8 10.3 1967 10922 done 0.56 - - 2765 - - - 1915 - 87.6 - - 1791 - - - - - - - - 26.41 26.42 26.42
11239 727.5 9.2 2028 11256 done 0.58 - - 2765 - - - 1915 - 101.3 11.10 1.539 1750 -3.7 0.191 - - - - - - 26.46 25.46 24.70
11574 696.6 9.0 2091 11597 done 0.60 - - 2765 - - - 1915 - 120.6 19.92 1.578 1673 -3.9 0.187 - - - - - - 26.25 25.20 24.26
11913 662.3 10.3 2155 11919 roll 0.60 - - 2765 - 2.35 0.082 3313 594.9 120.6 - - 1666 - - - - - - - - 26.02 25.68 26.03
11958 657.3 11.4 2163 11964 done 0.60 - - 2776 - 2.35 0.067 1903 -600.0 120.6 - - 1666 - - - - - - - - 25.84 25.72 25.86
12278 622.3 10.5 2224 12287 done 0.60 - - 2777 - - - 1903 - 120.6 - - 1666 - - - - - - - - 26.21 26.22 26.22
12602 587.5 10.7 2285 12608 roll 0.60 - - 2787 - 2.35 0.083 485 -603.4 120.6 - - 1666 - - - - - - - - 26.31 25.96 26.32
12641 583.2 11.5 2292 12647 done 0.60 - - 2787 - 2.38 0.070 1928 606.3 120.6 - - 1665 - - - - - - - - 26.10 25.98 26.13
12967 545.9 12.3 2353 12973 roll 0.60 - - 2787 - 2.30 0.082 3316 603.5 120.6 - - 1665 - - - - - - - - 26.39 26.03 26.40
13000 541.0 13.4 2359 13007 done 0.60 0.10 0.198 2771 -160.0 2.33 0.068 1896 -609.4 120.6 - - 1664 - - - - - - - - 25.94 26.06 26.13
13323 505.0 10.8 2420 13330 roll 0.60 - - 2780 - 2.35 0.085 482 -601.7 120.6 - - 1664 - - - - - - - - 26.44 26.08 26.45
13354 501.9 11.1 2425 13360 done 0.60 - - 2780 - 2.33 0.070 1905 610.7 120.6 - - 1664 - - - - - - - - 26.22 26.10 26.25
13707 463.5 10.7 2486 13715 roll 0.60 - - 2781 - 2.38 0.080 3316 592.9 120.6 - - 1664 - - - - - - - - 26.48 26.13 26.49
13791 453.9 11.7 2500 13800 done 0.60 - - 2791 - 2.35 0.069 1907 -599.6 120.6 - - 1663 - - - - - - - - 26.22 26.15 26.25
13943 437.6 10.9 2525 13949 done 0.60 - - 2790 - - - 1908 - 120.6 - - 1663 - - - - - - - - 26.51 26.52 26.51
14088 421.2 11.1 2550 14096 done 0.60 - - 2791 - - - 1907 - 120.6 - - 1663 - - - - - - - - 26.51 26.53 26.53
14239 405.1 10.4 2575 14246 roll 0.60 - - 2791 - 2.33 0.080 3316 604.7 120.6 - - 1663 - - - - - - - - 26.53 26.17 26.54
14266 402.1 10.8 2579 14273 done 0.60 0.12 0.194 2767 -200.0 2.33 0.069 1902 -606.9 120.6 - - 1663 - - - - - - - - 26.06 26.19 26.27
14414 388.7 8.5 2604 14451 done 0.63 - - 2767 - - - 1902 - 153.2 30.58 1.435 1540 -4.0 0.119 - - - - - - 26.54 25.34 24.37
14593 372.5 9.3 2633 14608 done 0.64 - - 2767 - - - 1903 - 164.6 11.50 1.364 1493 -4.1 0.122 - - - - - - 25.89 25.19 24.30
14750 357.3 9.5 2659 14766 roll 0.65 - - 2776 - 2.45 0.085 492 -575.9 172.7 8.30 1.294 1461 -3.9 0.116 - - - - - - 25.84 25.05 24.38
14792 353.1 10.2 2665 14798 done 0.65 - - 2776 - 2.40 0.070 1910 590.8 172.7 - - 1460 - - - - - - - - 25.48 25.37 25.51
14938 337.3 10.5 2690 14947 roll 0.65 - - 2776 - 2.42 0.081 3320 582.6 172.7 - - 1458 - - - - - - - - 25.89 25.57 25.90
14988 331.6 11.2 2698 14996 done 0.65 - - 2787 - 2.40 0.068 1911 -587.1 172.7 - - 1457 - - - - - - - - 25.67 25.60 25.71
15138 314.4 11.8 2723 15144 done 0.65 - - 2787 - - - 1911 - 172.7 - - 1457 - - - - - - - - 26.05 26.06 26.06
15284 297.0 12.4 2748 15293 roll 0.65 - - 2798 - 2.42 0.085 491 -586.8 172.7 - - 1456 - - - - - - - - 26.13 25.78 26.14
15319 293.0 12.3 2753 15326 done 0.65 - - 2798 - 2.35 0.068 1913 605.1 172.7 - - 1456 - - - - - - - - 25.93 25.81 25.95
15465 274.2 12.9 2778 15474 roll 0.65 - - 2798 - 2.38 0.080 3315 589.1 172.7 - - 1456 - - - - - - - - 26.20 25.86 26.22
15512 268.2 13.7 2785 15519 done 0.65 - - 2809 - 2.35 0.069 1893 -605.1 172.7 - - 1455 - - - - - - - - 25.99 25.86 26.02
15658 248.4 13.3 2810 15666 roll 0.65 - - 2820 - 2.38 0.086 494 -587.8 172.7 - - 1456 - - - - - - - - 26.27 25.91 26.27
15692 243.9 14.0 2815 15699 done 0.65 0.12 0.181 2784 -300.0 2.33 0.069 1909 607.3 172.7 - - 1455 - - - - - - - - 25.83 25.94 26.00
15839 226.5 10.9 2840 15849 roll 0.65 - - 2784 - 2.38 0.080 3319 592.4 172.7 - - 1455 - - - - - - - - 26.31 25.96 26.32
15878 222.1 11.6 2846 15887 done 0.65 - - 2793 - 2.38 0.068 1903 -595.0 172.7 - - 1455 - - - - - - - - 26.03 25.97 26.08
16028 205.6 11.6 2871 16035 done 0.65 - - 2793 - - - 1903 - 172.7 - - 1455 - - - - - - - - 26.34 26.36 26.36
16174 189.2 11.0 2896 16183 roll 0.65 - - 2804 - 2.38 0.083 492 -592.9 172.7 - - 1455 - - - - - - - - 26.38 26.03 26.39
16209 185.6 11.1 2901 16215 done 0.65 - - 2804 - 2.33 0.070 1911 609.0 172.7 - - 1455 - - - - - - - - 26.16 26.03 26.18
16355 169.7 10.2 2926 16363 roll 0.65 - - 2804 - 2.35 0.079 3314 597.0 172.7 - - 1455 - - - - - - - - 26.40 26.05 26.41
16437 161.0 11.0 2939 16444 done 0.65 0.10 0.194 2787 -170.0 2.33 0.069 1894 -609.4 172.7 - - 1455 - - - - - - - - 25.96 26.07 26.14
16585 146.6 9.4 2964 16595 done 0.66 - - 2787 - - - 1894 - 182.7 7.72 1.214 1420 -4.5 0.060 - - - - - - 26.44 25.83 24.92
16739 132.3 9.5 2989 16753 roll 0.67 - - 2797 - 2.40 0.086 492 -584.2 190.8 4.43 1.037 1386 -7.7 0.107 - - - - - - 26.29 25.83 24.87
16771 128.3 10.7 2994 16780 done 0.67 - - 2797 - 2.38 0.068 1906 594.1 190.8 - - 1385 - - - - - - - - 25.95 25.87 25.96
16922 111.8 11.5 3019 16928 roll 0.67 - - 2797 - 2.35 0.081 3319 601.3 190.8 - - 1385 - - - - - - - - 26.26 25.90 26.27
16972 105.6 12.7 3027 16978 done 0.67 - - 2807 - 2.33 0.069 1908 -605.6 190.8 - - 1384 - - - - - - - - 26.05 25.93 26.07
17119 87.7 12.1 3052 17128 roll 0.67 - - 2818 - 2.40 0.086 493 -589.6 190.8 - - 1384 - - - - - - - - 26.31 25.96 26.32
17142 84.9 12.3 3055 17149 done 0.67 - - 2819 - 2.33 0.069 1909 607.7 190.8 - - 1383 - - - - - - - - 26.09 25.97 26.12
17196 77.8 12.9 3064 17205 roll 0.67 - - 2819 - 2.38 0.081 3316 591.2 190.8 - - 1383 - - - - - - - - 26.32 25.96 26.33
17231 73.3 13.6 3069 17239 done 0.67 0.12 0.183 2794 -208.3 2.33 0.068 1901 -607.3 190.8 - - 1383 - - - - - - - - 25.89 25.99 26.06
17286 66.7 10.6 3078 17294 done 0.67 - - 2794 - - - 1901 - 190.8 - - 1383 - - - - - - - - 26.34 26.35 26.34
17342 61.2 10.3 3087 17348 done 0.67 - - 2794 - - - 1901 - 190.8 - - 1383 - - - - - - - - 26.35 26.36 26.36
17395 55.6 10.1 3096 17404 done 0.67 - - 2794 - - - 1901 - 190.8 - - 1383 - - - - - - - - 26.36 26.37 26.37
17453 50.0 10.4 3105 17460 roll 0.67 - - 2804 - 2.35 0.085 486 -602.1 190.8 - - 1383 - - - - - - - - 26.37 26.01 26.38
17483 46.2 11.4 3110 17492 done 0.67 - - 2804 - 2.38 0.070 1906 596.6 190.8 - - 1383 - - - - - - - - 26.08 26.03 26.13
17541 40.1 10.9 3119 17547 roll 0.67 - - 2804 - 2.33 0.081 3314 604.3 190.8 - - 1383 - - - - - - - - 26.39 26.02 26.39
17580 35.7 11.7 3125 17586 done 0.67 - - 2814 - 2.33 0.068 1900 -606.9 190.8 - - 1382 - - - - - - - - 26.17 26.05 26.19
17633 29.2 11.1 3134 17641 done 0.67 - - 2813 - - - 1900 - 190.8 - - 1383 - - - - - - - - 26.39 26.40 26.40
17690 23.1 11.3 3143 17696 done 0.67 - - 2814 - - - 1899 - 190.8 - - 1383 - - - - - - - - 26.40 26.41 26.41
17743 17.3 10.4 3152 17751 done 0.67 - - 2814 - - - 1899 - 190.8 - - 1382 - - - - - - - - 26.41 26.42 26.42
17800 10.9 12.2 3161 17806 done 0.67 - - 2814 - - - 1900 - 190.8 - - 1382 - - - - - - - - 26.42 26.44 26.43
17852 4.6 11.2 3170 17860 done 0.67 - - 2814 - - - 1900 - 190.8 - - 1382 - - - - - - - - 26.43 26.44 26.44
17873 end climb: SURFACE_DEPTH_REACHED
17873 begin surface coast
17904 end surface coast: CONTROL_FINISHED_OK
17904 begin surface
SM 1.41 - - - - -7.45 7.10 0.060 162 22.8 0.15 0.114 1981 13166.7 192.31 - - 1380 - - - - - - - -