NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 84 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 29.74 of 506.00 AH used of 24V (94.12% remains)
• Surface angle -65.3 deg, depth 1.19 m • Intended pitch -16.4 deg, speed -8.049 cm/s
• No surface pump (final VBD was 952.2, SM_CC=430)
• GPS1 time: 23 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
12 begin dive
18.72 - - - 97.09 VBD -1.18 - - 178.38 - - - 2259.75 - -77.86 54.90 0.005 2559.41 - - - - - - - - - - 15.64
99.31 3.19 -4.17 11 215.88 -1.18 16.47 0.228 2227.44 124.4 2.93 0.088 3303.00 356.1 -77.86 10.23 0.007 3211.03 63.7 -4.801 - - - - - - 15.72 15.63 15.70
221.93 32.44 -15.17 19 239.72 roll -1.18 - - 2227.75 - 2.72 0.021 2146.38 -425.2 -77.86 - - 3213.28 - - - - - - - - - 15.90 -
425.66 58.67 -12.38 57 443.89 roll -1.18 - - 2227.62 - 2.80 0.070 1092.94 -376.2 -77.86 - - 3214.53 - - - - - - - - - 15.91 -
470.05 64.32 -12.65 63 487.89 roll -1.18 - - 2227.56 - 2.77 0.024 2232.81 411.5 -77.86 - - 3213.81 - - - - - - - - - 15.94 -
673.68 86.61 -11.07 101 693.11 roll -1.18 - - 2226.94 - 3.02 0.065 1091.94 -377.8 -77.86 - - 3215.53 - - - - - - - - - 15.92 -
744.28 94.06 -11.03 112 762.13 roll -1.18 - - 2227.94 - 2.78 0.024 2230.94 409.7 -77.86 - - 3215.16 - - - - - - - - - 15.92 -
952.93 110.28 -6.52 137 971.25 roll -1.18 - - 2226.88 - 3.02 0.065 1091.75 -377.2 -77.86 - - 3216.19 - - - - - - - - - 15.92 -
1067.42 117.63 -6.31 157 1084.54 roll -1.18 - - 2228.06 - 2.77 0.024 2232.75 411.9 -77.86 - - 3217.59 - - - - - - - - - 15.99 -
1390.35 135.53 -5.72 189 1408.27 done -1.18 - - 2226.75 - 2.96 0.082 3304.50 362.1 -77.86 - - 3216.22 - - - - - - - - - 15.99 -
1468.69 140.54 -6.32 202 1486.40 roll -1.18 - - 2227.25 - 2.66 0.021 2137.88 -438.6 -77.86 - - 3216.00 - - - - - - - - - 16.02 -
1792.37 161.24 -7.39 234 1796.43 no move -1.18 - - 2227.19 - - - 2138.31 - -77.86 - - 3215.28 - - - - - - - - - - -
2102.41 184.48 -6.77 265 2106.46 no move -1.18 - - 2227.56 - - - 2138.31 - -77.86 - - 3214.84 - - - - - - - - - - -
2412.45 207.23 -7.53 296 2416.51 no move -1.18 - - 2226.75 - - - 2136.62 - -77.86 - - 3214.25 - - - - - - - - - - -
2722.49 232.36 -8.56 327 2741.85 roll -1.18 - - 2226.00 - 3.23 0.080 3302.50 361.0 -77.86 - - 3214.34 - - - - - - - - - 15.99 -
2798.06 239.48 -9.69 339 2814.99 roll -1.18 - - 2226.00 - 2.66 0.021 2144.00 -435.5 -77.86 - - 3215.06 - - - - - - - - - 16.07 -
3120.81 267.21 -8.35 371 3124.87 no move -1.18 - - 2227.81 - - - 2144.62 - -77.86 - - 3213.09 - - - - - - - - - - -
3430.84 293.33 -8.30 402 3449.81 roll -1.18 - - 2227.25 - 3.19 0.080 3304.25 363.5 -77.86 - - 3212.22 - - - - - - - - - 16.08 -
3516.01 301.49 -9.53 416 3532.94 roll -1.18 - - 2227.75 - 2.66 0.022 2147.06 -435.0 -77.86 - - 3213.25 - - - - - - - - - 16.09 -
3838.76 326.61 -7.08 448 3857.72 roll -1.18 - - 2227.69 - 3.20 0.080 3302.12 361.0 -77.86 - - 3212.50 - - - - - - - - - 16.09 -
3888.19 330.45 -7.54 455 3906.48 roll -1.18 - - 2227.81 - 2.66 0.022 2144.88 -435.1 -77.86 - - 3211.94 - - - - - - - - - 16.09 -
4212.45 351.39 -6.01 487 4231.40 roll -1.18 - - 2227.25 - 3.20 0.080 3302.94 361.9 -77.86 - - 3210.97 - - - - - - - - - 16.08 -
4277.61 355.81 -6.79 497 4294.54 roll -1.18 - - 2227.88 - 2.65 0.021 2144.00 -437.3 -77.86 - - 3211.25 - - - - - - - - - 16.09 -
4600.40 375.53 -6.02 529 4619.76 roll -1.18 - - 2225.44 - 3.21 0.080 3303.56 361.2 -77.86 - - 3211.16 - - - - - - - - - 16.04 -
4645.96 378.69 -6.75 535 4662.89 roll -1.18 - - 2227.50 - 2.67 0.022 2146.19 -433.5 -77.86 - - 3211.09 - - - - - - - - - 16.09 -
4968.71 400.20 -7.21 567 4972.77 no move -1.18 - - 2228.06 - - - 2145.75 - -77.86 - - 3209.59 - - - - - - - - - - -
5278.74 422.60 -7.61 598 5298.10 roll -1.18 - - 2227.50 - 3.21 0.081 3303.50 360.7 -77.86 - - 3210.47 - - - - - - - - - 16.09 -
5344.30 428.10 -8.83 608 5361.24 roll -1.18 - - 2227.31 - 2.67 0.022 2147.50 -433.0 -77.86 - - 3210.00 - - - - - - - - - 16.09 -
5667.09 452.16 -7.65 640 5686.69 roll -1.18 - - 2228.06 - 3.21 0.081 3302.00 359.7 -77.86 - - 3209.44 - - - - - - - - - 16.09 -
5743.00 458.48 -8.43 652 5759.93 roll -1.18 - - 2227.56 - 2.68 0.022 2147.38 -430.8 -77.86 - - 3208.72 - - - - - - - - - 16.00 -
6065.75 482.94 -7.67 684 6070.20 no move -1.18 - - 2227.56 - - - 2146.56 - -77.86 - - 3208.34 - - - - - - - - - - -
6376.06 506.93 -7.59 715 6395.44 roll -1.18 - - 2227.00 - 3.22 0.082 3304.00 359.5 -77.86 - - 3206.41 - - - - - - - - - 16.10 -
6511.66 518.24 -8.51 739 6528.58 roll -1.18 - - 2227.19 - 2.68 0.022 2148.31 -431.2 -77.86 - - 3207.75 - - - - - - - - - 16.10 -
6834.43 543.28 -7.57 771 6853.80 roll -1.18 - - 2227.81 - 3.20 0.082 3303.88 361.1 -77.86 - - 3205.28 - - - - - - - - - 16.10 -
6880.00 546.99 -7.72 777 6896.92 roll -1.18 - - 2227.56 - 2.67 0.022 2148.19 -432.8 -77.86 - - 3206.53 - - - - - - - - - 16.10 -
7202.74 570.79 -7.39 809 7206.80 no move -1.18 - - 2227.62 - - - 2148.25 - -77.86 - - 3205.56 - - - - - - - - - - -
7512.77 590.63 -6.40 840 7532.19 roll -1.18 - - 2227.81 - 3.21 0.083 3302.31 359.5 -77.86 - - 3203.94 - - - - - - - - - 16.11 -
7562.66 594.29 -6.89 847 7580.67 roll -1.18 - - 2227.81 - 2.67 0.022 2147.44 -432.5 -77.86 - - 3205.22 - - - - - - - - - 16.10 -
7886.63 617.43 -7.23 879 7890.69 no move -1.18 - - 2227.06 - - - 2146.38 - -77.86 - - 3203.91 - - - - - - - - - - -
8196.68 641.50 -8.08 910 8216.05 roll -1.18 - - 2226.81 - 3.22 0.083 3303.75 359.4 -77.86 - - 3204.09 - - - - - - - - - 16.10 -
8282.26 648.18 -7.97 924 8299.19 roll -1.18 - - 2228.12 - 2.67 0.022 2147.88 -432.9 -77.86 - - 3204.41 - - - - - - - - - 16.09 -
8605.04 670.27 -6.47 956 8609.19 no move -1.18 - - 2227.19 - - - 2148.12 - -77.86 - - 3203.53 - - - - - - - - - - -
8915.10 688.75 -5.51 987 8919.16 no move -1.18 - - 2227.06 - - - 2147.88 - -77.86 - - 3202.66 - - - - - - - - - - -
9225.16 707.23 -5.76 1018 9229.21 no move -1.18 - - 2227.69 - - - 2146.94 - -77.86 - - 3202.50 - - - - - - - - - - -
9535.21 728.57 -7.51 1049 9554.57 roll -1.18 - - 2227.44 - 3.21 0.084 3303.50 360.3 -77.86 - - 3203.19 - - - - - - - - - 16.09 -
9660.76 738.22 -7.59 1071 9677.70 roll -1.18 - - 2225.81 - 2.68 0.023 2149.06 -430.8 -77.86 - - 3203.16 - - - - - - - - - 16.10 -
9983.55 760.30 -6.31 1103 9987.61 no move -1.18 - - 2226.81 - - - 2148.81 - -77.86 - - 3201.03 - - - - - - - - - - -
10293.60 780.01 -5.80 1134 10313.21 roll -1.18 - - 2227.06 - 3.22 0.085 3302.50 358.3 -77.86 - - 3202.28 - - - - - - - - - 16.10 -
10453.83 791.32 -6.45 1163 10471.50 roll -1.18 - - 2227.00 - 2.68 0.023 2147.69 -430.9 -77.86 - - 3201.62 - - - - - - - - - 16.10 -
10777.35 809.78 -5.83 1195 10796.71 roll -1.18 - - 2226.81 - 3.22 0.084 3302.44 358.6 -77.86 - - 3201.88 - - - - - - - - - 16.09 -
10857.19 815.57 -7.18 1208 10874.86 roll -1.18 - - 2227.44 - 2.67 0.023 2146.81 -432.8 -77.86 - - 3200.94 - - - - - - - - - 16.10 -
11180.68 836.92 -6.40 1240 11200.06 roll -1.18 - - 2227.00 - 3.22 0.084 3302.62 358.9 -77.86 - - 3200.56 - - - - - - - - - 16.09 -
11266.39 843.93 -7.53 1254 11283.31 roll -1.18 - - 2225.75 - 2.68 0.023 2148.06 -430.8 -77.86 - - 3201.59 - - - - - - - - - 16.07 -
11589.16 864.96 -6.84 1286 11608.52 roll -1.18 - - 2224.62 - 3.22 0.084 3302.62 358.6 -77.86 - - 3200.44 - - - - - - - - - 16.08 -
11779.01 880.23 -8.02 1321 11796.93 roll -1.18 - - 2227.44 - 2.67 0.023 2148.44 -432.3 -77.86 - - 3201.41 - - - - - - - - - 16.08 -
12102.90 900.45 -5.81 1353 12106.96 no move -1.18 - - 2227.31 - - - 2148.31 - -77.86 - - 3199.47 - - - - - - - - - - -
12412.96 920.32 -6.88 1384 12432.32 roll -1.18 - - 2227.75 - 3.22 0.085 3301.19 358.0 -77.86 - - 3200.03 - - - - - - - - - 16.02 -
12472.78 924.75 -6.82 1393 12490.45 roll -1.18 - - 2227.19 - 2.68 0.023 2147.50 -430.5 -77.86 - - 3200.41 - - - - - - - - - 16.02 -
12796.31 944.64 -5.45 1425 12813.81 roll -1.18 - - 2226.25 - 2.80 0.080 1094.00 -376.2 -77.86 - - 3200.56 - - - - - - - - - 16.08 -
12880.02 949.67 -6.16 1439 12897.97 roll -1.18 - - 2226.94 - 2.77 0.028 2229.31 409.9 -77.86 - - 3199.78 - - - - - - - - - 16.09 -
13203.79 968.35 -5.85 1471 13207.85 no move -1.18 - - 2227.25 - - - 2230.19 - -77.86 - - 3198.78 - - - - - - - - - - -
13514.23 970.75 -0.55 1502 13532.78 roll -1.18 - - 2225.62 - 3.02 0.091 3301.25 354.7 -77.86 - - 3199.56 - - - - - - - - - 16.06 -
13614 end dive: NO_VERTICAL_VELOCITY
13614 begin apogee
13630.55 970.60 - 1519 13730.42 -0.31 1.49 0.112 2443.06 145.9 0.17 0.160 2285.81 -5973.2 - 60.62 2.460 2889.62 -5.1 0.334 - - - - - - 15.98 15.61 11.85
13736 end apogee: CONTROL_FINISHED_OK
13736 begin climb
13738.55 970.75 - 1526 13863.33 1.18 2.46 0.084 2806.69 147.8 3.17 0.078 1144.31 -360.1 77.86 64.92 2.402 2571.09 -4.9 0.328 - - - - - - 15.73 15.37 12.57
14094.35 949.86 6.84 1585 14113.22 done 1.25 - - 2806.00 - 2.87 0.032 2273.06 393.3 77.86 - - 2565.03 - - - - - - - - - 15.82 -
14419.59 928.81 6.40 1617 14439.79 1.35 0.23 0.079 2854.12 209.2 3.02 0.075 1143.56 -374.0 77.86 - - 2561.69 - - - - - - - - 15.88 15.88 -
14670.34 908.30 8.20 1664 14689.00 done 1.35 - - 2855.38 - 2.85 0.033 2273.50 396.5 77.86 - - 2561.53 - - - - - - - - - 15.96 -
14995.02 881.81 8.68 1696 14999.08 VBD 1.35 - - 2855.69 - - - 2273.06 - 77.86 - - 2560.09 - - - - - - - - - - -
15305.07 856.58 7.99 1727 15309.14 VBD 1.35 - - 2854.94 - - - 2273.19 - 77.86 - - 2559.66 - - - - - - - - - - -
15615.53 834.34 6.90 1758 15634.09 done 1.42 - - 2855.00 - 3.02 0.074 1144.19 -373.8 77.86 - - 2557.62 - - - - - - - - - 16.05 -
15694.97 828.84 6.77 1771 15713.46 done 1.50 - - 2855.88 - 2.83 0.032 2275.19 399.6 77.86 - - 2559.78 - - - - - - - - - 16.02 -
16019.71 809.86 5.22 1803 16042.12 1.67 0.41 0.063 2934.56 191.9 3.06 0.098 3351.25 351.7 77.86 - - 2557.31 - - - - - - - - 16.01 15.98 -
16183.36 794.79 9.82 1832 16200.31 done 1.67 - - 2934.81 - 2.69 0.024 2201.50 -427.4 77.86 - - 2559.53 - - - - - - - - - 16.06 -
16506.16 767.08 9.30 1864 16525.54 done 1.67 - - 2933.88 - 3.25 0.093 3350.50 353.5 77.86 - - 2560.03 - - - - - - - - - 16.00 -
16596.02 757.66 11.43 1879 16613.69 done 1.67 - - 2934.62 - 2.67 0.024 2202.12 -430.1 77.86 - - 2558.59 - - - - - - - - - 16.06 -
16919.52 725.52 9.37 1911 16937.67 done 1.67 - - 2934.50 - 2.82 0.079 1142.88 -375.6 77.86 - - 2559.34 - - - - - - - - - 16.07 -
17104.03 709.44 8.77 1945 17121.78 done 1.67 - - 2934.12 - 2.81 0.033 2275.06 402.9 77.86 - - 2558.78 - - - - - - - - - 16.05 -
17428.03 686.33 6.58 1977 17446.19 done 1.76 - - 2934.81 - 2.98 0.097 3352.12 361.4 77.86 - - 2558.91 - - - - - - - - - 16.05 -
17522.40 679.09 7.70 1993 17539.73 done 1.76 - - 2935.06 - 2.67 0.024 2200.88 -431.2 77.86 - - 2558.59 - - - - - - - - - 16.07 -
17845.99 656.57 7.04 2025 17866.76 done 1.82 - - 2934.94 - 3.25 0.092 3351.62 354.1 77.86 - - 2556.16 - - - - - - - - - 16.07 -
17932.25 649.02 9.07 2039 17950.32 done 1.82 - - 2935.19 - 2.66 0.023 2201.06 -432.5 77.86 - - 2558.78 - - - - - - - - - 16.06 -
18256.17 623.00 8.17 2071 18273.51 done 1.82 - - 2933.38 - 2.80 0.079 1143.00 -377.9 77.86 - - 2558.34 - - - - - - - - - 16.08 -
18504.01 601.50 8.68 2118 18522.49 done 1.82 - - 2934.62 - 2.80 0.032 2276.12 404.7 77.86 - - 2558.31 - - - - - - - - - 16.09 -
18828.85 576.22 7.27 2150 18834.22 1.86 0.20 0.077 2981.44 234.1 - - 2274.88 - 77.86 - - 2555.72 - - - - - - - - 16.04 - -
19140.07 550.34 8.33 2181 19158.23 done 1.86 - - 2982.75 - 2.98 0.075 1144.12 -379.4 77.86 - - 2555.53 - - - - - - - - - 16.08 -
19254.44 540.87 8.32 2201 19272.21 done 1.86 - - 2982.06 - 2.80 0.032 2275.81 404.2 77.86 - - 2557.78 - - - - - - - - - 16.07 -
19578.45 516.70 7.26 2233 19597.01 done 1.91 - - 2982.25 - 3.04 0.094 3353.25 354.4 77.86 - - 2556.56 - - - - - - - - - 16.06 -
19643.22 511.48 9.28 2243 19660.16 done 1.91 - - 2982.31 - 2.65 0.023 2198.50 -435.8 77.86 - - 2558.09 - - - - - - - - - 16.08 -
19966.41 488.66 6.55 2275 19970.47 VBD 2.00 - - 2981.62 - - - 2197.19 - 77.86 - - 2555.97 - - - - - - - - - - -
20276.73 468.39 6.77 2306 20295.31 2.08 0.10 0.114 3012.75 311.3 2.80 0.077 1144.06 -376.1 77.86 - - 2557.59 - - - - - - - - 16.01 15.97 -
20342.04 463.68 7.38 2316 20359.63 done 2.12 - - 3015.31 - 2.80 0.031 2276.44 404.4 77.86 - - 2557.38 - - - - - - - - - 16.07 -
20665.60 438.61 8.83 2348 20669.66 VBD 2.12 - - 3014.75 - - - 2275.88 - 77.86 - - 2556.28 - - - - - - - - - - -
20975.64 412.50 8.13 2379 20993.81 done 2.12 - - 3013.06 - 2.99 0.073 1144.00 -378.6 77.86 - - 2556.75 - - - - - - - - - 16.06 -
21094.31 402.34 8.49 2400 21113.01 done 2.12 - - 3015.38 - 2.82 0.031 2275.62 401.3 77.86 - - 2557.69 - - - - - - - - - 16.06 -
21418.85 376.95 7.73 2432 21437.02 done 2.12 - - 3015.81 - 2.98 0.072 1144.31 -379.6 77.86 - - 2557.56 - - - - - - - - - 16.07 -
21557.52 365.91 7.73 2457 21576.14 done 2.12 - - 3015.88 - 2.82 0.031 2275.38 401.1 77.86 - - 2557.69 - - - - - - - - - 16.00 -
21882.39 343.60 6.83 2489 21886.46 2.19 - - 3015.69 - - - 2275.81 - 77.86 - - 2556.50 - - - - - - - - - - -
22192.71 323.15 6.29 2520 22196.79 2.30 - - 3015.81 - - - 2275.12 - 77.86 - - 2556.34 - - - - - - - - - - -
22503.04 306.46 5.18 2551 22521.54 2.47 - - 3015.50 - 2.98 0.072 1143.00 -379.9 77.86 - - 2556.19 - - - - - - - - - 16.07 -
22728.31 292.12 6.21 2593 22746.49 2.58 - - 3015.44 - 2.83 0.031 2276.50 400.5 77.86 - - 2557.50 - - - - - - - - - 16.06 -
23052.74 272.17 6.43 2625 23056.81 2.68 - - 3015.44 - - - 2276.75 - 77.86 - - 2556.53 - - - - - - - - - - -
23363.06 252.88 5.92 2656 23381.23 2.80 - - 3015.00 - 2.99 0.072 1143.12 -379.1 77.86 - - 2558.81 - - - - - - - - - 16.06 -
23497.87 243.67 6.86 2680 23515.63 2.87 - - 3015.44 - 2.81 0.031 2276.31 403.3 77.86 - - 2556.97 - - - - - - - - - 15.98 -
23821.88 224.88 5.30 2712 23840.44 3.04 - - 3015.25 - 2.98 0.071 1142.00 -380.6 77.86 - - 2558.72 - - - - - - - - - 16.05 -
24047.09 213.11 5.29 2754 24065.25 3.21 - - 3015.12 - 2.84 0.030 2276.81 399.6 77.86 - - 2558.03 - - - - - - - - - 15.93 -
24371.49 200.52 4.27 2786 24474.73 3.36 - - 3015.69 - 3.05 0.073 1143.62 -371.5 155.90 59.68 1.532 2254.06 -5.1 0.110 - - - - - - - 15.76 11.92
24521.07 188.64 9.96 2808 24538.83 roll back 3.36 - - 3015.69 - 2.86 0.030 2274.50 395.4 155.90 - - 2247.53 - - - - - - - - - 15.86 -
24844.76 154.62 11.01 2840 24848.83 3.36 - - 3015.62 - - - 2274.56 - 155.90 - - 2243.03 - - - - - - - - - - -
25154.77 120.17 9.98 2871 25172.94 3.36 - - 3016.00 - 3.00 0.071 1143.00 -377.2 155.90 - - 2242.66 - - - - - - - - - 15.90 -
25189.14 116.76 9.89 2875 25206.93 3.36 - - 3015.38 - 2.82 0.030 2275.19 401.5 155.90 - - 2241.88 - - - - - - - - - 15.95 -
25512.75 89.92 7.68 2919 25532.03 3.36 - - 3016.31 - 2.98 0.071 1143.69 -379.7 155.90 - - 2241.06 - - - - - - - - - 15.91 -
25613.67 82.83 6.53 2936 25632.56 3.45 - - 3015.44 - 2.82 0.029 2275.56 401.4 155.90 - - 2241.84 - - - - - - - - - 15.94 -
25818.82 72.62 4.48 2974 25916.17 3.60 - - 3015.94 - 3.04 0.072 1143.81 -372.3 229.59 55.90 1.345 1953.28 -5.2 0.046 - - - - - - - 15.73 12.22
26082.93 53.65 7.40 3019 26101.43 3.64 - - 3015.31 - 2.86 0.029 2274.06 395.2 229.59 - - 1945.56 - - - - - - - - - 15.82 -
26287.70 40.27 6.68 3057 26307.01 3.72 - - 3015.88 - 3.08 0.092 3352.62 350.2 229.59 - - 1942.78 - - - - - - - - - 15.83 -
26413.64 31.28 6.67 3079 26431.72 3.80 - - 3016.38 - 2.70 0.022 2194.75 -428.8 229.59 - - 1942.44 - - - - - - - - - 15.88 -
26617.99 22.29 4.39 3117 26722.52 3.96 - - 3016.38 - 3.32 0.088 3350.06 348.0 305.27 57.93 1.260 1644.38 -5.1 0.015 - - - - - - - 15.69 12.35
26954.15 13.03 0.10 3176 27148.48 4.28 - - 3016.25 - 2.72 0.021 2189.75 -426.6 469.60 124.64 1.224 976.03 -5.4 0.009 - - - - - - - 15.87 12.37
27159 end climb: SURFACE_DEPTH_REACHED
27160 begin surface coast
27230 end surface coast: CONTROL_FINISHED_OK
27231 begin surface
SM 1.10 - - - - 178.2 - - 963.9 - 18.39 0.047 975.6 53.1 - 0.05 0.183 952.2 18989.6 -11.666 - - 30.00 15.75 15.77 -