OKMC Apr12 * SG169 * Dive index * Mission links * Dive 445 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 95.56 of 147.52 AH used of 24V (35.22% remains)
• Previous NAKs 0, Timeouts 0 • 62.27 of 108.53 AH used of 10V (42.62% remains)
• Surface angle -69.5 deg, depth 0.90 m • Intended pitch -13.7 deg, speed -11.000 cm/s
• No surface pump (final VBD was 614.97, SM_CC=450)
• GPS1 time: 38 s
• GPS2 time: 14 s, HDOP was 2.7 m • 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
17 - - - 113 VBD -0.70 - - 116 - - - 2475 - -292.0 -93.90 - 2997 - - - - - - - - - - -
117 3.3 -6.5 16 151 roll -0.70 8.07 0.232 2028 236.9 2.62 0.032 966 -576.0 -292.0 -18.58 - 3962 -51.9 - - - - - - - 24.70 26.11 26.60
160 18.5 -35.7 22 167 done -0.51 0.25 0.162 2084 224.0 2.62 0.028 2464 571.8 -292.0 - - 3962 - - - - - - - - 25.44 26.06 -
298 53.7 -23.1 47 307 roll -0.43 - - 2096 - 2.55 0.023 973 -584.7 -292.0 - - 3962 - - - - - - - - - 26.18 -
383 68.5 -14.3 62 390 done -0.42 - - 2083 - 2.65 0.031 2473 566.0 -292.0 - - 3962 - - - - - - - - - 26.11 -
517 93.1 -19.5 87 527 roll -0.37 0.12 0.159 2113 250.0 2.03 0.036 3843 674.9 -292.0 - - 3962 - - - - - - - - 26.13 26.11 -
540 97.6 -18.1 90 547 done -0.32 - - 2121 - 2.12 0.017 2388 -686.3 -292.0 - - 3962 - - - - - - - - - 26.39 -
676 116.2 -13.4 115 685 roll -0.30 - - 2123 - 2.35 0.023 966 -605.1 -292.0 - - 3962 - - - - - - - - - 26.26 -
702 119.7 -12.0 119 711 done -0.30 0.12 0.127 2151 233.3 2.50 0.028 2428 584.8 -292.0 - - 3962 - - - - - - - - 26.02 26.22 -
839 132.9 -9.1 144 846 roll -0.30 - - 2141 - 2.17 0.041 3832 647.0 -292.0 - - 3962 - - - - - - - - - 26.12 -
886 137.8 -10.3 152 893 done -0.32 - - 2141 - 2.10 0.017 2365 -698.6 -292.0 - - 3962 - - - - - - - - - 26.44 -
1022 150.1 -9.0 177 1029 roll -0.38 - - 2141 - 2.33 0.037 3848 636.5 -292.0 - - 3962 - - - - - - - - - 26.15 -
1062 154.4 -10.8 184 1070 done -0.47 0.12 0.089 2088 -441.7 2.03 0.017 2420 -703.4 -292.0 - - 3962 - - - - - - - - 26.27 26.46 -
1203 169.1 -10.6 209 1210 roll -0.48 - - 2082 - 2.20 0.038 3828 640.0 -292.0 - - 3962 - - - - - - - - - 26.16 -
1280 178.4 -11.8 223 1287 done -0.47 - - 2082 - 1.80 0.018 2498 -738.9 -292.0 - - 3962 - - - - - - - - - 26.47 -
1418 194.3 -10.7 248 1427 roll -0.44 - - 2082 - 2.65 0.024 966 -578.1 -292.0 - - 3962 - - - - - - - - - 26.27 -
1452 198.1 -10.2 253 1459 done -0.44 0.12 0.128 2108 216.7 2.95 0.030 2607 556.3 -292.0 - - 3962 - - - - - - - - 26.02 26.20 -
1589 210.3 -8.2 278 1595 done -0.44 - - 2108 - - - 2605 - -292.0 - - 3962 - - - - - - - - - - -
1725 221.9 -8.5 303 1732 roll -0.50 - - 2109 - 2.90 0.023 958 -567.9 -292.0 - - 3962 - - - - - - - - - 26.28 -
1964 243.5 -9.8 349 1971 done -0.58 0.15 0.083 2051 -386.7 2.92 0.028 2591 559.2 -292.0 - - 3962 - - - - - - - - 26.14 26.24 -
2098 256.2 -9.6 374 2107 roll -0.59 - - 2042 - 1.77 0.039 3842 706.8 -292.0 - - 3961 - - - - - - - - - 26.18 -
2147 261.6 -12.4 382 2156 done -0.56 - - 2042 - 2.20 0.018 2357 -675.0 -292.0 - - 3960 - - - - - - - - - 26.41 -
2286 279.3 -13.2 407 2293 done -0.53 0.12 0.136 2087 375.0 - - 2357 - -292.0 - - 3960 - - - - - - - - 26.27 - -
2423 293.2 -9.8 432 2429 roll -0.52 - - 2075 - 2.38 0.037 3833 620.2 -292.0 - - 3959 - - - - - - - - - 26.16 -
2486 299.6 -9.8 443 2493 done -0.52 - - 2076 - 2.17 0.017 2354 -681.6 -292.0 -0.05 - 3970 -220.0 - - - - - - - - 26.44 25.70
2628 312.0 -8.8 468 2634 roll -0.55 - - 2065 - 2.40 0.037 3848 622.5 -292.0 - - 3969 - - - - - - - - - 26.17 -
2709 320.2 -9.7 483 2717 done -0.55 - - 2065 - 1.88 0.018 2482 -726.6 -292.0 - - 3969 - - - - - - - - - 26.48 -
2847 332.4 -8.5 508 2855 roll -0.57 - - 2057 - 2.08 0.039 3831 648.6 -292.0 - - 3968 - - - - - - - - - 26.16 -
2899 337.6 -10.2 517 2908 done -0.57 - - 2058 - 1.65 0.018 2532 -787.3 -292.0 - - 3968 - - - - - - - - - 26.48 -
3037 350.1 -9.0 542 3044 roll -0.60 - - 2057 - 2.75 0.023 965 -569.8 -292.0 - - 3967 - - - - - - - - - 26.28 -
3103 356.9 -9.8 554 3109 done -0.60 - - 2045 - 2.97 0.029 2623 558.2 -292.0 - - 3966 - - - - - - - - - 26.21 -
3242 370.6 -9.6 579 3248 roll -0.60 - - 2045 - 2.90 0.022 974 -568.6 -292.0 - - 3965 - - - - - - - - - 26.27 -
3292 376.3 -11.3 588 3301 done -0.60 - - 2034 - 2.78 0.029 2531 560.1 -292.0 - - 3965 - - - - - - - - - 26.22 -
3431 392.5 -12.2 613 3438 roll -0.57 0.10 0.155 2066 320.0 2.75 0.022 966 -569.1 -292.0 - - 3964 - - - - - - - - 26.37 26.26 -
3469 396.4 -9.8 619 3475 done -0.58 - - 2056 - 2.62 0.029 2474 575.6 -292.0 - - 3964 - - - - - - - - - 26.22 -
3605 408.8 -9.0 644 3614 roll -0.57 - - 2045 - 2.08 0.039 3845 659.1 -292.0 - - 3963 - - - - - - - - - 26.15 -
3651 413.4 -10.4 651 3657 done -0.56 - - 2045 - 2.05 0.018 2421 -694.6 -292.0 - - 3962 - - - - - - - - - 26.44 -
3788 427.1 -10.8 676 3798 roll -0.54 0.10 0.140 2065 200.0 2.25 0.037 3830 626.2 -292.0 - - 3961 - - - - - - - - 26.40 26.13 -
3824 430.5 -9.0 681 3830 done -0.54 - - 2065 - 1.88 0.018 2478 -719.1 -292.0 - - 3961 - - - - - - - - - 26.45 -
3959 441.6 -7.6 706 3966 roll -0.57 - - 2057 - 2.10 0.040 3843 650.0 -292.0 - - 3960 - - - - - - - - - 26.13 -
4012 446.3 -8.8 715 4019 done -0.58 - - 2057 - 1.75 0.018 2514 -759.4 -292.0 -0.05 - 3972 -240.0 - - - - - - - - 26.48 25.70
4149 457.8 -8.7 740 4156 roll -0.61 - - 2052 - 1.98 0.041 3832 665.7 -292.0 - - 3971 - - - - - - - - - 26.13 -
4201 462.4 -9.0 749 4208 done -0.63 - - 2052 - 2.03 0.018 2429 -691.1 -292.0 - - 3971 - - - - - - - - - 26.45 -
4334 473.8 -8.6 774 4341 roll -0.64 - - 2043 - 2.20 0.038 3828 635.9 -292.0 - - 3970 - - - - - - - - - 26.13 -
4421 481.7 -9.4 789 4427 done -0.64 - - 2043 - 1.75 0.018 2521 -746.9 -292.0 - - 3969 - - - - - - - - - 26.46 -
4556 495.4 -10.0 814 4563 roll -0.62 - - 2043 - 2.70 0.024 984 -569.3 -292.0 - - 3968 - - - - - - - - - 26.21 -
4637 503.3 -9.7 825 4644 done -0.62 - - 2032 - 2.88 0.031 2581 554.5 -292.0 - - 3967 - - - - - - - - - 26.18 -
4945 537.9 -11.0 856 4955 roll -0.60 - - 2032 - 2.85 0.025 979 -562.1 -292.0 - - 3964 - - - - - - - - - 26.20 -
5031 546.8 -10.2 864 5042 done -0.60 0.08 0.102 2058 325.0 2.75 0.031 2525 562.2 -292.0 - - 3963 - - - - - - - - 25.96 26.16 -
5340 574.3 -8.5 895 5342 done -0.60 - - 2058 - - - 2523 - -292.0 - - 3961 - - - - - - - - - - -
5644 599.8 -8.8 925 5652 roll -0.63 - - 2058 - 2.67 0.024 976 -579.4 -292.0 - - 3957 - - - - - - - - - 26.22 -
5730 607.5 -8.6 933 5737 done -0.65 - - 2048 - 2.70 0.030 2505 566.3 -292.0 - - 3956 - - - - - - - - - 26.15 -
6039 634.8 -8.5 964 6048 roll -0.66 - - 2039 - 2.00 0.041 3830 662.5 -292.0 - - 3953 - - - - - - - - - 26.05 -
6101 640.4 -9.4 970 6105 done -0.66 - - 2039 - 1.77 0.019 2528 -735.6 -292.0 - - 3952 - - - - - - - - - 26.43 -
6413 671.0 -9.9 1001 6422 roll -0.65 - - 2040 - 2.70 0.025 987 -570.7 -292.0 - - 3949 - - - - - - - - - 26.15 -
6450 674.1 -9.6 1004 6457 done -0.65 - - 2029 - 2.97 0.031 2628 552.5 -292.0 - - 3950 - - - - - - - - - 26.09 -
6758 706.6 -11.1 1035 6768 roll -0.63 - - 2030 - 2.90 0.025 987 -565.9 -292.0 - - 3947 - - - - - - - - - 26.14 -
6837 714.2 -9.3 1042 6844 done -0.63 - - 2018 - 2.88 0.032 2576 551.7 -292.0 - - 3946 - - - - - - - - - 26.08 -
7144 750.5 -12.1 1073 7153 roll -0.60 0.12 0.143 2063 375.0 2.83 0.025 980 -564.0 -292.0 - - 3944 - - - - - - - - 26.20 26.10 -
7209 756.4 -8.5 1079 7218 done -0.63 - - 2059 - 2.80 0.032 2537 556.1 -292.0 - - 3944 - - - - - - - - - 26.06 -
7517 783.2 -8.7 1110 7518 done -0.67 - - 2059 - - - 2535 - -292.0 - - 3943 - - - - - - - - - - -
7820 809.4 -9.0 1140 7827 done -0.70 0.10 0.092 2000 -590.0 - - 2535 - -292.0 - - 3940 - - - - - - - - 26.49 - -
8128 850.8 -14.4 1171 8135 done -0.67 0.12 0.142 2038 316.7 - - 2535 - -292.0 - - 3937 - - - - - - - - 26.24 - -
8437 884.1 -10.3 1202 8448 roll -0.66 - - 2038 - 2.78 0.028 986 -557.2 -292.0 - - 3935 - - - - - - - - - 26.06 -
8484 888.2 -9.3 1206 8494 done -0.66 - - 2029 - 3.03 0.033 2627 541.6 -292.0 - - 3935 - - - - - - - - - 25.98 -
8792 919.7 -10.0 1237 8801 roll -0.65 - - 2030 - 2.95 0.027 978 -559.0 -292.0 - - 3933 - - - - - - - - - 26.03 -
8858 925.6 -8.8 1243 8865 done -0.66 - - 2030 - 2.97 0.034 2596 544.8 -292.0 - - 3933 - - - - - - - - - 25.95 -
9166 955.2 -9.1 1274 9177 roll -0.64 - - 2030 - 2.90 0.028 985 -555.5 -292.0 - - 3931 - - - - - - - - - 26.00 -
9243 961.9 -8.4 1281 9251 done -0.65 - - 2029 - 2.85 0.034 2546 547.7 -292.0 - - 3930 - - - - - - - - - 25.94 -
9551 989.0 -8.4 1312 9560 roll -0.64 - - 2030 - 2.80 0.027 978 -560.0 -292.0 - - 3929 - - - - - - - - - 26.01 -
9572 end dive: TARGET_DEPTH_EXCEEDED
9572 begin apogee
9581 991.0 -8.3 1314 9826 roll -0.20 0.43 0.086 2183 355.8 - - 2484 - - 233.30 1.341 2980 -4.1 0.322 - - - - 1 - 25.81 - 22.88
9826 end apogee: CONTROL_FINISHED_OK
9827 begin climb
9829 1003.4 - 1339 10232 roll 0.70 0.77 0.044 2482 388.3 2.70 0.028 1004 -548.1 292.0 389.67 0.959 1786 -3.1 0.343 - - - - - - 24.96 24.99 23.68
10275 952.7 14.0 1383 10282 done 0.69 - - 2482 - 2.72 0.037 2489 546.0 292.0 - - 1757 - - - - - - - - - 25.60 -
10581 899.5 17.0 1414 10592 roll 0.64 - - 2495 - 2.58 0.031 1024 -567.8 292.0 - - 1751 - - - - - - - - - 26.01 -
10630 892.6 15.5 1418 10640 done 0.62 0.15 0.144 2452 -286.7 2.65 0.035 2498 556.2 292.0 - - 1750 - - - - - - - - 25.75 26.01 -
10938 850.9 13.6 1449 10946 roll 0.59 - - 2452 - 2.05 0.042 3833 651.2 292.0 - - 1749 - - - - - - - - - 26.03 -
10982 844.6 14.7 1453 10991 done 0.57 0.08 0.135 2435 -212.5 2.03 0.021 2473 -670.0 292.0 - - 1748 - - - - - - - - 25.89 26.20 -
11290 807.8 12.1 1484 11299 roll 0.55 - - 2449 - 2.55 0.033 1011 -573.3 292.0 - - 1748 - - - - - - - - - 26.06 -
11314 805.1 12.2 1486 11325 done 0.54 - - 2449 - 2.67 0.034 2503 558.8 292.0 - - 1747 - - - - - - - - - 26.06 -
11623 766.1 11.9 1517 11632 roll 0.52 0.12 0.163 2409 -333.3 2.03 0.041 3831 654.2 292.0 - - 1747 - - - - - - - - 26.05 26.01 -
11667 761.3 11.0 1521 11676 done 0.52 - - 2420 - 2.00 0.021 2477 -677.0 293.1 - - 1747 - - - - - - - - - 26.23 -
11976 731.9 9.2 1552 12068 roll 0.61 - - 2433 - 2.70 0.031 1025 -537.8 362.4 85.45 0.881 1491 -3.0 0.267 - - - - - - - 25.34 23.71
12091 721.6 8.8 1563 12197 done 0.73 0.12 0.034 2523 750.0 2.72 0.030 2509 545.6 451.0 98.80 0.899 1139 -3.6 0.306 - - - - - - 25.58 25.56 23.69
12499 649.8 17.0 1604 12510 roll 0.70 0.15 0.168 2476 -313.3 2.03 0.039 3830 650.7 451.0 - - 1105 - - - - - - - - 25.75 25.89 -
12523 645.3 17.5 1606 12534 done 0.68 - - 2486 - 2.03 0.021 2481 -664.5 451.0 - - 1104 - - - - - - - - - 26.08 -
12833 607.3 12.3 1637 12842 roll 0.68 - - 2500 - 2.55 0.032 1017 -574.1 451.0 - - 1104 - - - - - - - - - 26.01 -
12876 602.5 11.3 1641 12884 done 0.68 - - 2500 - 2.65 0.031 2500 559.6 451.0 - - 1102 - - - - - - - - - 26.03 -
13186 561.2 13.4 1672 13195 roll 0.68 0.12 0.153 2457 -358.3 2.05 0.041 3817 642.4 451.0 - - 1102 - - - - - - - - 26.07 25.96 -
13221 557.0 12.6 1675 13228 done 0.68 - - 2468 - 2.00 0.021 2468 -674.5 451.0 - - 1101 - - - - - - - - - 26.23 -
13530 524.2 10.3 1706 13572 roll 0.74 - - 2468 - 2.58 0.031 1020 -561.2 479.6 36.55 0.786 1018 -2.3 0.162 - - - - - - - 25.75 24.18
13660 510.0 12.5 1718 13668 done 0.81 0.12 0.109 2514 383.3 2.67 0.031 2498 553.6 479.6 - - 1003 - - - - - - - - 25.75 25.84 -
13970 477.1 11.0 1770 13977 roll 0.90 - - 2514 - 2.65 0.031 1008 -562.3 479.6 - - 1002 - - - - - - - - - 25.97 -
14174 451.3 12.5 1809 14182 done 0.99 0.17 0.084 2584 411.8 2.85 0.033 2552 541.8 479.6 - - 1001 - - - - - - - - 25.92 25.99 -
14313 428.4 19.6 1834 14322 roll 0.94 - - 2597 - 2.80 0.030 1012 -550.0 479.6 - - 1000 - - - - - - - - - 26.00 -
14340 422.1 19.8 1838 14350 done 0.91 0.20 0.132 2539 -290.0 2.88 0.034 2565 539.2 479.6 - - 1000 - - - - - - - - 25.62 25.99 -
14479 401.6 15.7 1863 14485 done 0.89 - - 2539 - - - 2563 - 479.6 - - 1000 - - - - - - - - - - -
14613 381.6 13.9 1888 14620 roll 0.88 - - 2553 - 2.85 0.032 1012 -544.2 479.6 - - 1000 - - - - - - - - - 25.98 -
14656 376.2 12.5 1895 14663 done 0.88 - - 2553 - 2.78 0.031 2537 548.6 479.6 - - 1001 - - - - - - - - - 26.02 -
14793 355.3 15.0 1920 14799 done 0.86 - - 2553 - - - 2536 - 479.6 - - 1000 - - - - - - - - - - -
14930 334.4 14.1 1945 14938 roll 0.84 0.12 0.161 2527 -216.7 2.75 0.030 1027 -548.7 479.6 - - 1000 - - - - - - - - 26.06 25.98 -
14955 330.4 14.2 1949 14962 done 0.84 - - 2527 - 2.67 0.029 2512 556.2 479.6 - - 1000 - - - - - - - - - 26.04 -
15090 313.2 12.6 1974 15099 roll 0.84 - - 2541 - 2.70 0.032 1016 -554.1 479.6 - - 1000 - - - - - - - - - 25.98 -
15157 305.2 11.8 1985 15164 done 0.85 - - 2541 - 2.42 0.029 2426 582.6 479.6 - - 1000 - - - - - - - - - 26.06 -
15293 289.0 12.1 2010 15302 roll 0.85 - - 2541 - 2.25 0.040 3832 624.9 479.6 - - 1000 - - - - - - - - - 25.94 -
15337 283.2 13.1 2017 15343 done 0.85 - - 2552 - 2.28 0.022 2369 -641.7 479.6 - - 1000 - - - - - - - - - 26.17 -
15473 266.6 12.2 2042 15482 roll 0.85 - - 2564 - 2.33 0.033 1006 -585.0 479.6 - - 1000 - - - - - - - - - 26.00 -
15495 263.6 12.0 2045 15502 done 0.85 0.12 0.133 2527 -308.3 2.45 0.029 2428 580.4 479.6 - - 1000 - - - - - - - - 25.82 26.05 -
15633 248.5 10.6 2070 15655 roll 0.88 - - 2527 - 2.28 0.037 3843 620.6 495.6 15.20 0.702 951 -3.2 0.122 - - - - - - - 25.91 24.27
15694 241.7 11.9 2080 15701 done 0.89 - - 2539 - 2.22 0.021 2390 -654.5 495.6 - - 942 - - - - - - - - - 26.13 -
15832 227.4 10.5 2105 15858 done 0.92 - - 2539 - - - 2389 - 517.1 22.73 0.685 864 -3.4 0.122 - - - - - - - - 24.30
15988 212.3 11.0 2133 15995 roll 1.00 - - 2545 - 2.35 0.033 1020 -582.6 517.1 - - 848 - - - - - - - - - 25.91 -
16023 207.7 11.6 2139 16031 done 1.09 0.17 0.071 2624 464.7 2.47 0.026 2441 575.3 517.1 - - 847 - - - - - - - - 25.95 25.99 -
16162 187.6 16.1 2164 16170 roll 1.07 0.12 0.169 2598 -216.7 2.50 0.029 1024 -566.8 517.1 - - 847 - - - - - - - - 25.94 25.97 -
16189 183.4 14.6 2168 16196 done 1.06 - - 2598 - 2.50 0.028 2453 571.6 517.1 - - 846 - - - - - - - - - 26.01 -
16325 165.1 12.6 2193 16331 roll 1.05 - - 2598 - 2.15 0.037 3827 639.1 517.1 - - 847 - - - - - - - - - 25.96 -
16373 158.3 14.8 2201 16380 done 1.04 - - 2609 - 2.10 0.020 2430 -665.2 517.1 - - 846 - - - - - - - - - 26.19 -
16509 141.2 11.0 2226 16516 roll 1.03 - - 2621 - 2.45 0.029 1008 -580.4 517.4 - - 847 - - - - - - - - - 26.05 -
16556 136.2 10.9 2234 16563 done 1.03 0.15 0.138 2578 -286.7 2.45 0.028 2435 582.4 521.1 - - 846 - - - - - - - - 25.77 26.09 -
16689 123.8 9.1 2259 16774 roll 1.14 0.10 0.096 2646 680.0 2.30 0.038 3826 604.8 597.4 73.05 0.616 525 -4.4 0.095 - - - - - - 26.45 25.60 24.24
16801 109.8 13.7 2276 16809 done 1.14 0.15 0.136 2614 -213.3 2.25 0.021 2382 -641.8 597.4 - - 517 - - - - - - - - 25.51 25.81 -
16936 94.8 10.5 2301 16962 roll 1.24 - - 2614 - 2.40 0.031 1016 -569.2 616.7 16.73 0.246 468 -2.9 0.121 - - - - - - - 25.89 24.65
17193 63.3 12.2 2350 17201 done 1.32 0.17 0.076 2690 447.1 2.30 0.027 2375 590.9 616.7 2.55 0.156 463 -2.0 0.085 - - - - - - 25.99 26.06 25.17
17328 47.1 13.5 2375 17336 roll 1.35 - - 2690 - 2.42 0.036 3844 607.0 616.7 2.17 0.151 464 - - - - - - - - - 25.98 25.26
17403 35.9 16.9 2388 17411 done 1.34 - - 2701 - 2.05 0.020 2450 -680.0 616.7 2.33 0.149 462 - - - - - - - - - 26.22 25.22
17538 14.5 14.6 2413 17546 roll 1.32 - - 2715 - 2.58 0.029 1005 -560.1 616.7 2.30 0.148 462 - - - - - - - - - 26.06 25.24
17581 8.5 13.6 2420 17588 done 1.32 0.15 0.138 2670 -300.0 2.62 0.028 2487 565.6 616.7 - - 468 - - - - - - - - 25.79 26.09 -
17619 end climb: SURFACE_DEPTH_REACHED
17619 begin surface coast
17641 end surface coast: CONTROL_FINISHED_OK
17641 begin surface
SM 0.81 - - - - -6.55 6.43 0.030 130 -395.0 0.12 0.060 2382 -875.0 614.97 - - 472 - - - - - - - -