NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 119 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 42.38 of 506.00 AH used of 24V (91.63% remains)
• Surface angle -66.1 deg, depth 1.22 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 988.6, SM_CC=430)
• GPS1 time: 30 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
18.73 - - - 97.47 VBD -1.18 - - 178.06 - - - 2279.44 - -77.86 54.88 0.005 2424.56 - - - - - - - - - - 15.57
99.69 3.38 -4.28 11 201.62 -1.18 16.78 0.232 2228.38 122.2 - - 2280.12 - -77.86 11.98 0.007 3206.84 65.3 -5.233 - - - - - - 15.66 - 15.63
387.37 53.66 -12.01 54 406.33 roll -1.18 - - 2228.12 - 3.10 0.063 1142.81 -366.9 -77.86 - - 3214.34 - - - - - - - - - 15.90 -
472.48 63.62 -11.83 68 490.73 roll -1.18 - - 2227.94 - 2.81 0.026 2277.38 403.8 -77.86 - - 3213.41 - - - - - - - - - 15.86 -
676.68 85.84 -9.90 106 683.23 no move -1.18 - - 2228.19 - - - 2277.38 - -77.86 - - 3214.44 - - - - - - - - - - -
874.01 104.31 -8.46 140 892.33 roll -1.18 - - 2228.31 - 3.06 0.063 1142.50 -370.9 -77.86 - - 3214.94 - - - - - - - - - 15.91 -
948.49 110.40 -8.20 152 966.01 roll -1.18 - - 2228.50 - 2.76 0.025 2279.88 412.1 -77.86 - - 3216.62 - - - - - - - - - 15.91 -
1271.82 131.48 -6.43 184 1290.13 done -1.18 - - 2228.25 - 3.08 0.063 1144.06 -368.8 -77.86 - - 3215.41 - - - - - - - - - 15.98 -
1300.56 133.54 -6.88 187 1318.80 done -1.18 - - 2228.56 - 2.79 0.025 2280.50 407.3 -77.86 - - 3216.75 - - - - - - - - - 16.00 -
1624.61 156.01 -6.95 219 1642.93 done -1.18 - - 2227.38 - 3.06 0.063 1143.12 -371.7 -77.86 - - 3217.41 - - - - - - - - - 16.00 -
1679.10 160.08 -7.48 227 1696.61 done -1.18 - - 2227.31 - 2.78 0.025 2280.81 409.2 -77.86 - - 3216.56 - - - - - - - - - 16.01 -
2002.43 181.86 -7.36 259 2021.15 done -1.18 - - 2228.19 - 3.04 0.085 3352.69 352.6 -77.86 - - 3216.31 - - - - - - - - - 15.94 -
2107.49 190.96 -8.93 277 2124.41 done -1.18 - - 2227.75 - 2.69 0.020 2187.81 -433.0 -77.86 - - 3216.47 - - - - - - - - - 15.99 -
2430.26 216.29 -7.94 309 2451.43 roll -1.18 - - 2228.00 - 3.32 0.080 3353.94 351.2 -77.86 - - 3214.47 - - - - - - - - - 16.01 -
2482.64 220.75 -8.64 316 2499.98 roll -1.18 - - 2228.25 - 2.72 0.020 2190.69 -427.7 -77.86 - - 3215.56 - - - - - - - - - 15.99 -
2805.82 246.02 -7.88 348 2809.88 no move -1.18 - - 2228.31 - - - 2188.38 - -77.86 - - 3214.12 - - - - - - - - - - -
3115.88 270.67 -7.76 379 3136.64 roll -1.18 - - 2227.06 - 3.30 0.082 3351.31 352.4 -77.86 - - 3215.03 - - - - - - - - - 16.04 -
3192.11 277.21 -8.79 391 3210.17 roll -1.18 - - 2227.25 - 2.72 0.021 2188.88 -427.4 -77.86 - - 3214.97 - - - - - - - - - 16.05 -
3515.99 300.28 -6.88 423 3536.76 roll -1.18 - - 2227.44 - 3.30 0.082 3353.50 352.9 -77.86 - - 3212.41 - - - - - - - - - 16.05 -
3622.24 308.56 -7.83 441 3640.92 roll -1.18 - - 2228.00 - 2.72 0.021 2191.12 -427.3 -77.86 - - 3214.03 - - - - - - - - - 16.07 -
3946.88 330.73 -6.89 473 3967.66 roll -1.18 - - 2228.44 - 3.26 0.082 3352.25 356.2 -77.86 - - 3211.31 - - - - - - - - - 16.07 -
3988.85 334.08 -7.70 478 4006.18 roll -1.18 - - 2228.06 - 2.71 0.021 2190.94 -428.5 -77.86 - - 3213.19 - - - - - - - - - 16.06 -
4312.00 357.89 -7.32 510 4316.06 no move -1.18 - - 2227.88 - - - 2189.31 - -77.86 - - 3211.41 - - - - - - - - - - -
4622.02 380.86 -7.16 541 4642.78 roll -1.18 - - 2225.25 - 3.30 0.083 3352.50 352.5 -77.86 - - 3211.22 - - - - - - - - - 16.07 -
4708.24 387.71 -7.95 555 4726.31 roll -1.18 - - 2227.88 - 2.72 0.021 2194.50 -425.7 -77.86 - - 3210.12 - - - - - - - - - 16.01 -
5032.16 409.46 -6.66 587 5036.22 no move -1.18 - - 2227.25 - - - 2193.38 - -77.86 - - 3209.12 - - - - - - - - - - -
5342.22 430.25 -6.57 618 5362.98 roll -1.18 - - 2228.12 - 3.30 0.083 3353.44 351.5 -77.86 - - 3208.62 - - - - - - - - - 16.07 -
5428.46 436.99 -8.13 632 5446.54 roll -1.18 - - 2228.19 - 2.71 0.021 2195.12 -427.4 -77.86 - - 3209.81 - - - - - - - - - 16.01 -
5752.44 460.92 -7.50 664 5756.74 no move -1.18 - - 2227.50 - - - 2193.19 - -77.86 - - 3207.53 - - - - - - - - - - -
6062.71 483.38 -7.11 695 6083.86 roll -1.18 - - 2227.69 - 3.32 0.083 3353.00 349.3 -77.86 - - 3205.88 - - - - - - - - - 16.07 -
6129.33 488.41 -7.32 705 6147.39 roll -1.18 - - 2228.38 - 2.72 0.021 2194.38 -426.0 -77.86 - - 3207.22 - - - - - - - - - 16.07 -
6453.23 510.69 -7.11 737 6474.40 roll -1.18 - - 2228.25 - 3.31 0.083 3350.62 349.3 -77.86 - - 3205.91 - - - - - - - - - 16.06 -
6509.87 515.02 -7.63 745 6527.94 roll -1.18 - - 2228.12 - 2.72 0.021 2194.69 -425.0 -77.86 - - 3207.09 - - - - - - - - - 16.07 -
6833.78 538.26 -7.19 777 6837.84 no move -1.18 - - 2227.81 - - - 2193.88 - -77.86 - - 3205.66 - - - - - - - - - - -
7143.84 559.27 -6.47 808 7147.90 no move -1.18 - - 2227.69 - - - 2193.12 - -77.86 - - 3204.44 - - - - - - - - - - -
7453.89 578.88 -6.04 839 7474.65 roll -1.18 - - 2227.88 - 3.30 0.084 3352.69 351.4 -77.86 - - 3204.88 - - - - - - - - - 16.07 -
7545.85 585.42 -7.23 854 7563.18 roll -1.18 - - 2227.56 - 2.71 0.021 2195.50 -427.0 -77.86 - - 3204.19 - - - - - - - - - 16.09 -
7869.00 607.24 -6.72 886 7873.30 no move -1.18 - - 2227.62 - - - 2194.69 - -77.86 - - 3203.53 - - - - - - - - - - -
8179.27 629.47 -7.39 917 8197.03 roll -1.18 - - 2227.88 - 2.86 0.076 1142.88 -367.8 -77.86 - - 3203.97 - - - - - - - - - 16.09 -
8217.50 632.50 -7.31 922 8235.65 roll -1.18 - - 2228.31 - 2.77 0.028 2277.75 409.7 -77.86 - - 3204.06 - - - - - - - - - 16.08 -
8541.51 656.20 -7.04 954 8545.57 no move -1.18 - - 2227.81 - - - 2277.88 - -77.86 - - 3202.53 - - - - - - - - - - -
8851.56 676.87 -6.54 985 8855.62 no move -1.18 - - 2227.50 - - - 2278.06 - -77.86 - - 3201.91 - - - - - - - - - - -
9161.61 695.93 -6.17 1016 9165.67 no move -1.18 - - 2227.94 - - - 2277.62 - -77.86 - - 3201.59 - - - - - - - - - - -
9471.67 715.04 -6.52 1047 9475.73 no move -1.18 - - 2227.31 - - - 2278.19 - -77.86 - - 3201.16 - - - - - - - - - - -
9781.71 732.80 -5.95 1078 9800.25 roll -1.18 - - 2228.06 - 3.08 0.090 3351.94 348.6 -77.86 - - 3199.75 - - - - - - - - - 16.07 -
10030.78 749.77 -6.74 1125 10048.86 roll -1.18 - - 2227.88 - 2.71 0.022 2195.44 -426.8 -77.86 - - 3200.88 - - - - - - - - - 16.07 -
10354.83 768.73 -5.78 1157 10376.00 roll -1.18 - - 2226.69 - 3.32 0.086 3352.00 348.4 -77.86 - - 3200.22 - - - - - - - - - 16.05 -
10607.71 784.77 -5.95 1204 10625.05 roll -1.18 - - 2227.50 - 2.71 0.022 2194.44 -427.1 -77.86 - - 3200.44 - - - - - - - - - 16.07 -
10930.91 802.27 -5.84 1236 10952.08 roll -1.18 - - 2227.88 - 3.33 0.086 3352.00 347.6 -77.86 - - 3200.25 - - - - - - - - - 16.05 -
11183.47 819.02 -6.50 1283 11200.83 roll -1.18 - - 2227.62 - 2.72 0.022 2196.25 -424.9 -77.86 - - 3200.28 - - - - - - - - - 16.08 -
11506.68 838.35 -6.15 1315 11527.85 roll -1.18 - - 2228.69 - 3.31 0.086 3352.31 349.3 -77.86 - - 3199.03 - - - - - - - - - 16.05 -
11759.11 855.82 -7.23 1362 11776.45 roll -1.18 - - 2228.38 - 2.73 0.022 2196.06 -423.5 -77.86 - - 3198.06 - - - - - - - - - 16.07 -
12082.30 875.62 -6.39 1394 12103.48 roll -1.18 - - 2227.94 - 3.32 0.086 3353.19 348.5 -77.86 - - 3198.16 - - - - - - - - - 16.04 -
12334.73 893.50 -7.22 1441 12352.07 roll -1.18 - - 2227.81 - 2.73 0.022 2197.69 -423.3 -77.86 - - 3198.44 - - - - - - - - - 16.06 -
12658.01 913.40 -5.96 1473 12679.19 roll -1.18 - - 2227.81 - 3.34 0.086 3355.19 346.6 -77.86 - - 3198.19 - - - - - - - - - 16.04 -
12910.45 930.87 -6.88 1520 12927.80 roll -1.18 - - 2227.69 - 2.75 0.022 2199.00 -420.4 -77.86 - - 3198.75 - - - - - - - - - 16.06 -
13233.64 949.96 -6.23 1552 13254.80 roll -1.18 - - 2225.75 - 3.34 0.086 3352.12 345.2 -77.86 - - 3198.34 - - - - - - - - - 16.03 -
13486.02 966.95 -6.91 1599 13503.36 roll -1.18 - - 2227.62 - 2.73 0.022 2200.62 -421.8 -77.86 - - 3198.12 - - - - - - - - - 16.07 -
13809.21 986.96 -6.12 1631 13830.38 roll -1.18 - - 2225.25 - 3.32 0.086 3351.69 346.7 -77.86 - - 3197.41 - - - - - - - - - 16.02 -
13856 end dive: TARGET_DEPTH_EXCEEDED
13856 begin apogee
13873.24 990.45 -6.82 1637 13972.89 -0.31 1.54 0.137 2440.50 139.8 0.16 0.166 2287.69 -6650.0 - 60.64 2.497 2890.91 -5.1 0.333 - - - - - - 15.94 15.59 11.66
13978 end apogee: CONTROL_FINISHED_OK
13978 begin climb
13981.01 993.02 - 1644 14107.31 1.18 2.54 0.097 2804.62 143.4 3.29 0.079 1145.25 -347.2 77.86 65.49 2.441 2571.75 -4.9 0.329 - - - - - - 15.70 15.35 12.45
14314.08 975.84 6.46 1698 14331.83 done 1.28 - - 2803.31 - 2.84 0.032 2272.38 396.9 77.86 - - 2563.28 - - - - - - - - - 15.78 -
14638.19 955.52 5.97 1730 14643.97 1.40 0.32 0.069 2866.31 196.9 - - 2272.06 - 77.86 - - 2562.25 - - - - - - - - 15.87 - -
14950.45 931.35 7.52 1761 14969.00 done 1.43 - - 2868.56 - 3.02 0.077 1144.00 -373.5 77.86 - - 2560.25 - - - - - - - - - 15.88 -
15045.21 923.45 8.79 1777 15063.35 done 1.43 - - 2868.00 - 2.83 0.033 2272.81 398.9 77.86 - - 2562.09 - - - - - - - - - 15.97 -
15369.32 898.93 7.57 1809 15373.38 VBD 1.43 - - 2868.50 - - - 2272.81 - 77.86 - - 2558.69 - - - - - - - - - - -
15679.38 875.82 7.59 1840 15697.95 done 1.43 - - 2868.44 - 3.04 0.076 1143.50 -371.5 77.86 - - 2560.06 - - - - - - - - - 16.01 -
15734.15 871.64 7.66 1848 15751.91 done 1.43 - - 2867.88 - 2.84 0.033 2273.56 397.9 77.86 - - 2559.12 - - - - - - - - - 16.01 -
16058.17 846.79 7.52 1880 16076.73 done 1.47 - - 2866.69 - 3.07 0.076 1143.31 -368.2 77.86 - - 2560.22 - - - - - - - - - 16.02 -
16142.93 839.79 8.42 1894 16160.68 done 1.47 - - 2868.88 - 2.84 0.033 2273.88 398.1 77.86 - - 2559.59 - - - - - - - - - 16.04 -
16466.53 814.59 7.65 1926 16470.60 VBD 1.47 - - 2868.00 - - - 2274.19 - 77.86 - - 2557.31 - - - - - - - - - - -
16776.60 791.02 7.56 1957 16795.16 done 1.47 - - 2867.75 - 3.08 0.076 1144.50 -366.8 77.86 - - 2558.75 - - - - - - - - - 16.03 -
16901.38 781.24 7.87 1979 16919.37 done 1.47 - - 2867.94 - 2.84 0.033 2271.81 396.9 77.86 - - 2558.97 - - - - - - - - - 16.05 -
17225.39 756.58 7.84 2011 17229.46 VBD 1.47 - - 2867.81 - - - 2272.00 - 77.86 - - 2557.00 - - - - - - - - - - -
17535.85 733.69 7.04 2042 17554.43 done 1.53 - - 2866.62 - 3.09 0.075 1144.31 -364.9 77.86 - - 2558.25 - - - - - - - - - 16.04 -
17595.31 729.34 7.03 2051 17615.02 1.59 0.19 0.082 2913.81 248.4 2.82 0.032 2274.69 400.8 77.86 - - 2558.91 - - - - - - - - 15.94 16.05 -
17920.87 705.11 7.94 2083 17924.93 VBD 1.59 - - 2913.81 - - - 2273.50 - 77.86 - - 2556.75 - - - - - - - - - - -
18231.32 682.30 6.99 2114 18235.39 VBD 1.65 - - 2913.50 - - - 2274.62 - 77.86 - - 2556.34 - - - - - - - - - - -
18541.23 659.37 7.78 2145 18559.80 done 1.65 - - 2913.06 - 3.09 0.075 1144.88 -365.6 77.86 - - 2557.53 - - - - - - - - - 16.05 -
18626.01 652.41 8.18 2159 18643.76 done 1.65 - - 2913.81 - 2.82 0.033 2274.69 400.6 77.86 - - 2558.34 - - - - - - - - - 16.07 -
18950.02 629.90 6.71 2191 18968.57 done 1.73 - - 2913.88 - 3.09 0.075 1144.44 -365.8 77.86 - - 2555.19 - - - - - - - - - 16.05 -
19155.21 615.15 7.08 2229 19174.63 1.79 0.22 0.074 2962.69 221.9 2.84 0.033 2273.25 397.5 77.86 - - 2557.31 - - - - - - - - 15.94 16.05 -
19480.99 591.22 7.01 2261 19485.05 VBD 1.85 - - 2962.19 - - - 2273.12 - 77.86 - - 2555.91 - - - - - - - - - - -
19791.30 569.67 6.91 2292 19809.87 done 1.92 - - 2962.94 - 3.09 0.075 1144.06 -365.4 77.86 - - 2555.38 - - - - - - - - - 16.04 -
19936.51 559.12 7.20 2318 19955.51 1.97 0.17 0.082 3007.69 263.2 2.83 0.033 2274.25 399.4 77.86 - - 2556.94 - - - - - - - - 15.95 16.06 -
20261.47 533.38 8.34 2350 20265.53 VBD 1.97 - - 3007.25 - - - 2274.06 - 77.86 - - 2555.62 - - - - - - - - - - -
20571.52 508.06 8.36 2381 20575.58 VBD 1.97 - - 3008.44 - - - 2274.00 - 77.86 - - 2555.84 - - - - - - - - - - -
20881.55 481.83 8.27 2412 20900.12 done 1.97 - - 3007.94 - 3.06 0.074 1144.50 -369.1 77.86 - - 2554.97 - - - - - - - - - 16.05 -
20980.61 472.84 8.77 2429 20999.11 done 1.97 - - 3008.44 - 2.82 0.033 2273.06 400.2 77.86 - - 2556.00 - - - - - - - - - 16.05 -
21305.33 447.59 7.39 2461 21324.13 done 2.01 - - 3007.38 - 3.08 0.073 1144.25 -366.5 77.86 - - 2555.34 - - - - - - - - - 16.04 -
21370.46 442.38 8.09 2471 21388.22 done 2.01 - - 3007.25 - 2.84 0.032 2273.88 397.8 77.86 - - 2556.91 - - - - - - - - - 15.95 -
21694.44 418.53 7.46 2503 21713.12 done 2.05 - - 3007.50 - 3.07 0.073 1143.88 -368.1 77.86 - - 2555.34 - - - - - - - - - 16.02 -
21829.76 408.26 7.45 2527 21847.51 done 2.08 - - 3007.75 - 2.83 0.032 2274.00 399.3 77.86 - - 2557.00 - - - - - - - - - 15.97 -
22153.76 386.11 6.68 2559 22172.35 2.16 - - 3007.81 - 3.06 0.073 1143.00 -369.6 77.86 - - 2554.81 - - - - - - - - - 16.03 -
22243.24 379.78 7.23 2574 22261.74 2.21 - - 3007.88 - 2.82 0.032 2274.88 401.4 77.86 - - 2556.16 - - - - - - - - - 16.05 -
22568.00 357.63 6.68 2606 22572.16 2.29 - - 3007.88 - - - 2274.75 - 77.86 - - 2555.34 - - - - - - - - - - -
22878.39 337.38 6.22 2637 22896.96 2.40 - - 3005.69 - 3.09 0.072 1143.00 -366.3 77.86 - - 2556.97 - - - - - - - - - 16.02 -
22978.10 331.09 6.21 2654 22996.60 2.51 - - 3007.94 - 2.83 0.031 2274.12 399.7 77.86 - - 2556.16 - - - - - - - - - 16.05 -
23302.97 313.48 5.15 2686 23307.05 2.69 - - 3007.56 - - - 2273.94 - 77.86 - - 2555.97 - - - - - - - - - - -
23613.29 297.98 5.02 2717 23702.62 2.81 - - 3007.62 - 3.12 0.075 1144.88 -361.9 140.40 48.76 1.654 2315.50 -4.9 0.147 - - - - - - - 15.80 11.76
23783.10 283.86 9.89 2744 23801.62 roll back 2.81 - - 3008.06 - 2.86 0.032 2272.75 394.4 140.40 - - 2310.00 - - - - - - - - - 15.89 -
24107.58 251.87 10.20 2776 24126.17 2.81 - - 3007.62 - 3.10 0.073 1144.56 -363.9 140.40 - - 2306.09 - - - - - - - - - 15.91 -
24212.39 240.74 10.67 2794 24230.15 2.81 - - 3007.25 - 2.86 0.032 2274.25 395.0 140.40 - - 2306.19 - - - - - - - - - 15.94 -
24535.98 209.75 9.03 2826 24554.56 2.81 - - 3005.81 - 3.08 0.072 1145.31 -366.5 140.40 - - 2306.34 - - - - - - - - - 15.96 -
24585.03 205.05 9.48 2833 24603.83 2.81 - - 3008.12 - 2.81 0.032 2273.50 401.5 140.40 - - 2305.53 - - - - - - - - - 15.98 -
24909.79 176.09 8.74 2865 24928.37 2.81 - - 3006.00 - 3.08 0.072 1144.12 -366.7 140.40 - - 2305.44 - - - - - - - - - 15.86 -
25014.60 166.51 8.96 2883 25032.77 2.81 - - 3006.88 - 2.83 0.031 2273.56 399.1 140.40 - - 2305.69 - - - - - - - - - 15.90 -
25338.62 138.67 8.34 2915 25357.20 2.81 - - 3007.31 - 3.10 0.071 1144.06 -364.4 140.40 - - 2303.62 - - - - - - - - - 15.93 -
25513.45 124.59 7.77 2947 25531.62 2.81 - - 3009.00 - 2.84 0.031 2276.25 398.7 140.40 - - 2305.00 - - - - - - - - - 15.98 -
25837.87 105.33 3.79 2979 25951.63 2.99 - - 3008.06 - 3.13 0.073 1142.88 -362.1 228.50 67.63 1.396 1955.75 -5.2 0.065 - - - - - - - 15.71 12.12
25958.12 98.62 7.27 2993 25976.62 roll back 3.04 - - 3007.31 - 2.87 0.030 2272.75 393.7 228.50 - - 1953.31 - - - - - - - - - 15.81 -
26283.40 71.71 7.21 3055 26303.50 3.09 - - 3007.06 - 3.11 0.070 1143.88 -363.0 228.50 - - 1946.47 - - - - - - - - - 15.85 -
26400.12 64.66 5.66 3075 26418.61 3.23 - - 3008.38 - 2.85 0.029 2274.75 396.8 228.50 - - 1945.72 - - - - - - - - - 15.79 -
26604.88 54.22 4.56 3113 26701.97 3.37 - - 3006.69 - 3.13 0.072 1144.00 -361.3 300.56 54.22 1.293 1664.31 -5.2 0.036 - - - - - - - 15.68 12.29
26708.58 48.97 5.79 3126 26727.07 roll back 3.51 - - 3007.31 - 2.87 0.029 2274.88 394.0 300.56 - - 1658.56 - - - - - - - - - 15.79 -
26913.32 35.91 6.62 3164 26920.33 3.60 - - 3007.94 - - - 2274.88 - 300.56 - - 1654.78 - - - - - - - - - - -
27106.60 26.26 3.84 3202 27223.72 3.77 - - 3007.88 - 3.19 0.094 3350.25 337.1 387.60 67.12 1.238 1309.66 -5.1 0.018 - - - - - - - 15.62 12.14
27450.48 11.29 4.64 3262 27546.35 3.91 - - 3008.25 - 2.75 0.022 2192.31 -421.1 458.04 54.54 1.184 1023.19 -5.3 0.008 - - - - - - - 15.78 12.33
27602 end climb: SURFACE_DEPTH_REACHED
27602 begin surface coast
27683 end surface coast: CONTROL_FINISHED_OK
27683 begin surface
SM 1.17 - - - - 178.2 - - 1013.2 - 18.44 0.049 1037.9 56.3 - 0.17 0.088 988.6 5799.1 -7.880 - - 30.00 15.78 15.82 -