ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 105 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 38.12 of 310.00 AH used of 24V (87.70% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.9 deg, depth 1.47 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 20 s
• GPS2 time: 14 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
9 - - - 74 done -0.92 - - 232 - - - 1879 - -58.4 -60.47 - 2439 - - - - - - - - 14.66 13.65 14.69
75 3.1 -4.1 11 89 roll -0.92 6.25 0.365 2207 316.0 2.47 0.063 3278 566.4 -58.4 - - 2441 - - - - - - - - 14.27 14.47 14.49
157 17.1 -15.7 27 166 done -0.92 0.05 0.384 2221 280.0 2.42 0.044 1871 -581.4 -58.4 - - 2441 - - - - - - - - 14.35 14.51 14.50
194 23.5 -16.8 34 195 done -0.92 - - 2220 - - - 1869 - -58.4 - - 2441 - - - - - - - - 14.71 14.71 14.71
225 28.7 -17.1 40 225 done -0.92 - - 2220 - - - 1870 - -58.4 - - 2441 - - - - - - - - 14.71 14.71 14.71
254 33.9 -17.5 46 255 done -0.92 - - 2221 - - - 1871 - -58.4 - - 2441 - - - - - - - - 14.72 14.73 14.72
285 39.2 -17.5 52 285 done -0.92 - - 2220 - - - 1869 - -58.4 - - 2441 - - - - - - - - 14.73 14.73 14.73
315 44.4 -17.3 58 315 done -0.92 - - 2220 - - - 1870 - -58.4 - - 2441 - - - - - - - - 14.73 14.77 14.73
345 49.5 -17.0 64 345 done -0.92 - - 2220 - - - 1871 - -58.4 - - 2441 - - - - - - - - 14.74 14.74 14.74
375 54.6 -17.0 70 376 done -0.92 - - 2220 - - - 1871 - -58.4 - - 2442 - - - - - - - - 14.75 14.75 14.75
405 59.6 -16.7 76 411 roll -0.92 - - 2221 - 2.50 0.064 471 -560.0 -58.4 - - 2442 - - - - - - - - 14.75 14.53 14.75
455 68.3 -17.3 86 463 done -0.92 0.03 0.482 2218 -100.0 2.40 0.041 1870 582.9 -58.4 - - 2440 - - - - - - - - 14.37 14.55 14.52
491 74.3 -16.8 93 492 done -0.92 - - 2218 - - - 1872 - -58.4 - - 2441 - - - - - - - - 14.76 14.76 14.76
521 79.3 -16.8 99 522 done -0.92 - - 2218 - - - 1871 - -58.4 - - 2441 - - - - - - - - 14.77 14.77 14.76
551 84.3 -16.7 105 552 done -0.92 - - 2218 - - - 1871 - -58.4 - - 2442 - - - - - - - - 14.76 14.76 14.77
581 89.3 -16.8 111 589 roll -0.92 - - 2218 - 2.47 0.062 477 -564.4 -58.4 - - 2442 - - - - - - - - 14.77 14.57 14.77
618 95.8 -17.6 118 625 done -0.92 0.05 0.402 2222 80.0 2.40 0.041 1874 582.1 -58.4 - - 2441 - - - - - - - - 14.42 14.59 14.57
654 102.2 -17.1 124 660 roll -0.92 - - 2208 - 2.47 0.067 3277 568.0 -58.4 - - 2441 - - - - - - - - 14.78 14.54 14.78
689 107.3 -17.0 127 697 done -0.92 0.05 0.399 2216 160.0 2.40 0.047 1877 -583.3 -58.4 - - 2441 - - - - - - - - 14.39 14.56 14.54
754 118.9 -16.6 134 760 roll -0.92 - - 2214 - 2.50 0.064 472 -562.0 -58.4 - - 2440 - - - - - - - - 14.80 14.54 14.80
779 122.3 -16.9 136 787 done -0.92 0.05 0.386 2220 120.0 2.42 0.042 1879 581.4 -58.4 - - 2441 - - - - - - - - 14.41 14.56 14.54
844 133.7 -16.2 143 845 done -0.92 - - 2220 - - - 1878 - -58.4 - - 2444 - - - - - - - - 14.81 14.81 14.81
904 143.6 -16.6 149 905 done -0.92 - - 2220 - - - 1878 - -58.4 - - 2441 - - - - - - - - 14.81 14.81 14.81
964 153.3 -16.1 155 965 done -0.92 - - 2219 - - - 1878 - -58.4 - - 2441 - - - - - - - - 14.82 14.82 14.82
1024 163.0 -16.2 161 1030 roll -0.92 - - 2219 - 2.50 0.063 470 -563.2 -58.4 - - 2441 - - - - - - - - 14.83 14.57 14.83
1059 168.0 -16.6 164 1067 done -0.92 0.05 0.399 2222 60.0 2.40 0.041 1876 585.8 -58.4 - - 2441 - - - - - - - - 14.44 14.59 14.57
1124 179.2 -16.1 171 1125 done -0.92 - - 2222 - - - 1877 - -58.4 - - 2441 - - - - - - - - 14.83 14.83 14.83
1184 189.1 -16.7 177 1190 roll -0.92 - - 2221 - 2.47 0.063 481 -565.2 -58.4 - - 2441 - - - - - - - - 14.83 14.59 14.84
1229 196.3 -18.1 181 1236 done -0.92 0.05 0.396 2225 80.0 2.40 0.042 1879 582.5 -58.4 - - 2441 - - - - - - - - 14.44 14.60 14.57
1295 207.6 -15.7 188 1300 roll -0.92 - - 2224 - 2.45 0.064 474 -573.5 -58.4 - - 2441 - - - - - - - - 14.84 14.62 14.84
1339 214.0 -16.1 192 1346 done -0.92 - - 2214 - 2.40 0.041 1876 584.2 -58.4 - - 2441 - - - - - - - - 14.65 14.61 14.66
1404 224.2 -14.4 199 1410 roll -0.92 0.05 0.501 2213 - 2.47 0.065 3287 571.3 -58.4 - - 2441 - - - - - - - - 14.49 14.59 14.70
1439 228.5 -14.2 202 1447 done -0.92 - - 2213 - 2.40 0.046 1881 -585.8 -58.4 - - 2441 - - - - - - - - 14.65 14.60 14.66
1504 238.8 -14.6 209 1510 roll -0.92 0.05 0.501 2225 240.0 2.50 0.064 476 -562.0 -58.4 - - 2441 - - - - - - - - 14.49 14.60 14.70
1544 244.8 -15.0 213 1550 done -0.92 - - 2214 - 2.40 0.043 1875 582.9 -58.4 - - 2441 - - - - - - - - 14.64 14.61 14.67
1614 254.6 -14.0 220 1615 done -0.92 - - 2214 - - - 1875 - -58.4 - - 2441 - - - - - - - - 14.85 14.85 14.85
1674 262.8 -13.5 226 1675 done -0.92 - - 2214 - - - 1876 - -58.4 - - 2441 - - - - - - - - 14.85 14.85 14.85
1734 270.8 -13.4 232 1735 done -0.92 - - 2214 - - - 1876 - -58.4 - - 2441 - - - - - - - - 14.85 14.85 14.85
1794 278.9 -13.5 238 1800 roll -0.92 - - 2212 - 2.47 0.061 474 -567.6 -58.4 - - 2440 - - - - - - - - 14.85 14.61 14.86
1829 283.1 -14.0 241 1837 done -0.92 0.05 0.382 2216 80.0 2.40 0.041 1877 584.6 -58.4 - - 2440 - - - - - - - - 14.47 14.62 14.62
1894 292.4 -13.0 248 1895 done -0.92 - - 2215 - - - 1877 - -58.4 - - 2440 - - - - - - - - 14.85 14.86 14.85
1954 300.1 -12.9 254 1956 done -0.92 - - 2215 - - - 1877 - -58.4 - - 2440 - - - - - - - - 14.86 14.86 14.86
2074 315.6 -13.0 262 2080 roll -0.92 - - 2211 - 2.47 0.062 475 -567.6 -58.4 - - 2440 - - - - - - - - 14.86 14.62 14.87
2184 330.5 -14.0 269 2190 done -0.92 0.08 0.340 2224 162.5 2.38 0.041 1872 587.0 -58.4 - - 2440 - - - - - - - - 14.50 14.62 14.62
2314 348.5 -13.5 278 2315 done -0.92 - - 2224 - - - 1873 - -58.4 - - 2440 - - - - - - - - 14.87 14.87 14.87
2434 364.0 -12.5 286 2435 done -0.92 - - 2224 - - - 1873 - -58.4 - - 2440 - - - - - - - - 14.88 14.88 14.88
2554 378.7 -12.1 294 2555 done -0.92 - - 2224 - - - 1873 - -58.4 - - 2440 - - - - - - - - 14.88 14.88 14.88
2674 393.2 -12.1 302 2675 done -0.92 - - 2224 - - - 1872 - -58.4 - - 2440 - - - - - - - - 14.88 14.89 14.88
2794 407.0 -11.3 310 2795 done -0.92 - - 2224 - - - 1873 - -58.4 - - 2440 - - - - - - - - 14.88 14.89 14.89
2914 420.4 -11.0 318 2920 roll -0.92 - - 2223 - 2.47 0.061 474 -566.4 -58.4 - - 2439 - - - - - - - - 14.89 14.66 14.89
2954 423.9 -11.3 320 2961 done -0.92 0.03 0.467 2219 -133.3 2.40 0.039 1884 587.5 -58.4 - - 2440 - - - - - - - - 14.47 14.66 14.63
3079 438.6 -10.8 329 3080 done -0.92 - - 2219 - - - 1884 - -58.4 - - 2440 - - - - - - - - 14.88 14.89 14.89
3199 451.6 -10.8 337 3205 roll -0.92 - - 2216 - 2.47 0.061 476 -570.0 -58.4 - - 2440 - - - - - - - - 14.89 14.66 14.89
3279 460.1 -11.3 342 3285 done -0.92 0.05 0.381 2219 60.0 2.38 0.039 1878 589.1 -58.4 - - 2439 - - - - - - - - 14.50 14.66 14.64
3409 474.3 -10.5 351 3410 done -0.92 - - 2219 - - - 1878 - -58.4 - - 2440 - - - - - - - - 14.88 14.89 14.89
3530 487.3 -11.0 359 3530 done -0.92 - - 2219 - - - 1878 - -58.4 - - 2440 - - - - - - - - 14.90 14.90 14.90
3648 end dive: TARGET_DEPTH_EXCEEDED
3648 begin apogee
3651 500.4 -11.0 367 3700 done -0.15 0.73 0.279 2472 346.6 - - 1878 - - 46.30 2.088 2197 -5.2 0.234 - - - - - - 14.56 14.25 13.39
3701 end apogee: CONTROL_FINISHED_OK
3701 begin climb
3702 502.2 - 370 3759 roll 0.92 0.88 0.179 2805 378.4 2.60 0.060 3294 544.6 58.4 48.10 2.164 1956 -5.0 0.216 - - - - - - 14.16 13.91 13.18
3793 495.7 8.7 376 3819 done 0.95 - - 2816 - 2.47 0.042 1892 -567.6 82.4 20.27 2.053 1857 -4.9 0.219 - - - - - - 14.14 14.15 13.22
3943 476.9 13.4 386 3949 roll 0.95 - - 2827 - 2.53 0.062 506 -547.8 82.4 - - 1861 - - - - - - - - 14.44 14.24 14.44
3983 472.8 13.5 388 3990 done 0.95 - - 2828 - 2.45 0.035 1908 572.2 82.4 - - 1861 - - - - - - - - 14.34 14.31 14.35
4108 454.5 13.6 397 4114 roll 0.95 - - 2828 - 2.47 0.062 3297 562.3 82.4 - - 1861 - - - - - - - - 14.58 14.38 14.59
4143 450.2 14.2 399 4149 done 0.95 - - 2839 - 2.42 0.044 1896 -578.9 82.4 - - 1861 - - - - - - - - 14.46 14.42 14.48
4273 431.3 14.0 408 4279 roll 0.95 - - 2850 - 2.50 0.061 499 -558.8 82.4 - - 1861 - - - - - - - - 14.66 14.46 14.66
4298 429.2 14.0 409 4306 done 0.95 0.08 0.344 2831 -237.5 2.40 0.034 1903 585.0 82.4 - - 1860 - - - - - - - - 14.33 14.49 14.47
4423 410.7 13.5 418 4429 roll 0.95 - - 2831 - 2.45 0.059 3295 568.2 82.4 - - 1861 - - - - - - - - 14.71 14.51 14.71
4443 408.6 13.4 419 4449 done 0.95 - - 2842 - 2.40 0.041 1893 -584.2 82.4 - - 1861 - - - - - - - - 14.57 14.54 14.60
4573 390.6 13.5 428 4574 done 0.95 - - 2841 - - - 1893 - 82.4 - - 1861 - - - - - - - - 14.74 14.75 14.75
4693 374.5 13.2 436 4694 done 0.95 - - 2841 - - - 1893 - 82.4 - - 1861 - - - - - - - - 14.78 14.78 14.78
4813 358.4 13.5 444 4814 done 0.95 - - 2841 - - - 1893 - 82.4 - - 1861 - - - - - - - - 14.80 14.80 14.80
4933 342.6 12.9 452 4934 done 0.95 - - 2841 - - - 1893 - 82.4 - - 1861 - - - - - - - - 14.82 14.82 14.82
5053 326.8 13.0 460 5059 roll 0.95 - - 2841 - 2.45 0.059 3290 570.2 82.4 - - 1861 - - - - - - - - 14.83 14.63 14.83
5083 322.6 13.5 462 5089 done 0.95 0.05 0.371 2835 -120.0 2.35 0.043 1903 -590.2 82.4 - - 1861 - - - - - - - - 14.50 14.65 14.63
5218 305.2 13.0 471 5219 done 0.95 - - 2835 - - - 1902 - 82.4 - - 1861 - - - - - - - - 14.84 14.85 14.85
5343 288.6 13.4 482 5349 roll 0.95 - - 2835 - 2.42 0.057 3297 576.4 82.4 - - 1861 - - - - - - - - 14.85 14.65 14.85
5363 285.8 13.9 484 5369 done 0.95 0.05 0.363 2829 -120.0 2.38 0.041 1892 -590.3 82.4 - - 1861 - - - - - - - - 14.52 14.67 14.66
5433 276.5 13.3 491 5439 roll 0.95 - - 2840 - 2.45 0.063 504 -566.5 82.4 - - 1861 - - - - - - - - 14.85 14.65 14.85
5478 271.1 13.5 495 5485 done 0.95 - - 2842 - 2.35 0.034 1902 594.9 82.4 - - 1861 - - - - - - - - 14.71 14.67 14.73
5543 261.3 13.8 502 5549 roll 0.95 - - 2852 - 2.47 0.060 497 -568.8 82.4 - - 1861 - - - - - - - - 14.85 14.66 14.85
5588 255.8 13.6 506 5596 done 0.95 0.05 0.363 2837 -300.0 2.38 0.034 1901 589.9 82.4 - - 1861 - - - - - - - - 14.51 14.67 14.64
5653 246.4 13.4 513 5654 done 0.95 - - 2837 - - - 1901 - 82.4 - - 1861 - - - - - - - - 14.85 14.86 14.86
5713 238.3 13.7 519 5714 done 0.95 - - 2837 - - - 1902 - 82.4 - - 1861 - - - - - - - - 14.85 14.86 14.85
5773 230.1 13.5 525 5774 done 0.95 - - 2836 - - - 1900 - 82.4 - - 1861 - - - - - - - - 14.85 14.86 14.85
5833 222.3 13.0 531 5834 done 0.95 - - 2836 - - - 1901 - 82.4 - - 1861 - - - - - - - - 14.86 14.86 14.87
5893 214.1 13.8 537 5894 done 0.95 - - 2837 - - - 1902 - 82.4 - - 1861 - - - - - - - - 14.85 14.86 14.87
5953 205.7 13.9 543 5954 done 0.95 - - 2837 - - - 1899 - 82.4 - - 1861 - - - - - - - - 14.87 14.87 14.87
6014 198.1 12.5 549 6019 roll 0.95 - - 2837 - 2.42 0.062 3296 577.3 82.4 - - 1861 - - - - - - - - 14.87 14.66 14.87
6063 191.8 12.4 554 6069 done 0.95 0.05 0.376 2830 -140.0 2.35 0.041 1899 -594.5 82.4 - - 1862 - - - - - - - - 14.51 14.69 14.66
6133 183.9 11.1 561 6134 done 0.95 - - 2830 - - - 1899 - 82.5 - - 1861 - - - - - - - - 14.86 14.87 14.87
6193 177.4 10.8 567 6206 roll 0.95 - - 2841 - 2.45 0.061 504 -569.4 85.2 4.12 1.546 1849 -2.9 0.062 - - - - - - 14.86 14.64 13.83
6225 174.1 10.6 570 6238 done 0.96 - - 2842 - 2.35 0.035 1899 593.6 90.6 5.65 1.571 1826 -4.1 0.084 - - - - - - 14.69 14.64 13.81
6295 166.6 10.6 577 6308 roll 0.96 - - 2842 - 2.40 0.062 3300 583.8 95.3 5.38 1.547 1806 -3.7 0.075 - - - - - - 14.78 14.55 13.78
6317 164.4 10.6 579 6330 done 0.97 0.05 0.366 2837 -100.0 2.38 0.041 1905 -586.1 100.5 5.60 1.622 1786 -3.6 0.067 - - - - - - 14.39 14.58 13.74
6387 156.2 12.0 586 6392 roll 0.97 - - 2848 - 2.45 0.060 499 -573.9 100.5 - - 1786 - - - - - - - - 14.72 14.52 14.72
6406 153.9 11.8 588 6412 done 0.97 - - 2850 - 2.38 0.035 1898 587.8 100.5 - - 1786 - - - - - - - - 14.56 14.51 14.57
6477 145.9 11.5 595 6477 done 0.97 - - 2850 - - - 1898 - 100.5 - - 1787 - - - - - - - - 14.76 14.75 14.75
6537 138.9 11.6 601 6537 done 0.97 - - 2850 - - - 1898 - 100.5 - - 1787 - - - - - - - - 14.77 14.77 14.77
6596 131.8 12.0 607 6602 roll 0.97 - - 2850 - 2.45 0.066 3292 569.0 100.5 - - 1787 - - - - - - - - 14.78 14.60 14.79
6616 129.3 12.2 609 6622 done 0.97 0.08 0.347 2837 -162.5 2.35 0.042 1906 -589.8 100.5 - - 1787 - - - - - - - - 14.42 14.56 14.56
6687 121.3 11.0 616 6687 done 0.97 - - 2837 - - - 1906 - 101.1 - - 1787 - - - - - - - - 14.79 14.81 14.80
6747 114.8 10.8 622 6752 done 0.97 - - 2837 - - - 1905 - 103.9 4.43 1.427 1774 -2.9 0.044 - - - - - - 14.81 14.59 13.80
6807 108.2 11.0 628 6812 roll 0.98 - - 2847 - 2.50 0.061 498 -562.8 104.8 - - 1773 - - - - - - - - 14.78 14.57 14.78
6846 103.7 11.3 632 6852 done 0.98 - - 2850 - 2.38 0.036 1900 589.1 104.8 - - 1773 - - - - - - - - 14.62 14.57 14.63
6912 96.1 11.7 641 6912 done 0.98 - - 2849 - - - 1901 - 104.8 - - 1774 - - - - - - - - 14.80 14.81 14.81
6941 92.7 11.4 647 6948 roll 0.98 - - 2850 - 2.45 0.065 3297 569.8 104.8 - - 1773 - - - - - - - - 14.80 14.57 14.80
6987 87.0 12.2 656 6996 done 0.98 0.05 0.373 2843 -140.0 2.38 0.040 1901 -586.6 104.8 - - 1774 - - - - - - - - 14.45 14.59 14.58
7024 82.7 11.2 663 7025 done 0.98 - - 2845 - - - 1901 - 104.8 - - 1773 - - - - - - - - 14.79 14.80 14.79
7055 79.4 11.0 669 7055 done 0.98 - - 2845 - - - 1901 - 105.6 - - 1774 - - - - - - - - 14.80 14.80 14.79
7085 76.1 10.9 675 7098 roll 0.98 - - 2845 - 2.47 0.061 3297 565.2 108.1 4.95 1.475 1754 -4.0 0.039 - - - - - - 14.80 14.57 13.81
7122 71.8 11.9 682 7129 done 0.98 - - 2854 - 2.38 0.041 1902 -586.1 108.1 - - 1755 - - - - - - - - 14.61 14.57 14.65
7158 67.6 11.4 689 7159 done 0.98 - - 2855 - - - 1902 - 108.1 - - 1755 - - - - - - - - 14.77 14.76 14.77
7188 64.2 11.5 695 7194 done 0.98 - - 2854 - - - 1902 - 108.1 - - 1756 - - - - - - - - 14.77 14.78 14.78
7223 60.1 11.7 702 7224 done 0.98 - - 2854 - - - 1901 - 108.1 - - 1756 - - - - - - - - 14.78 14.78 14.78
7253 56.6 11.6 708 7254 done 0.98 - - 2854 - - - 1902 - 108.1 - - 1755 - - - - - - - - 14.78 14.78 14.78
7283 53.2 11.4 714 7284 done 0.98 - - 2854 - - - 1902 - 108.1 - - 1755 - - - - - - - - 14.78 14.78 14.79
7313 49.8 11.3 720 7314 done 0.98 - - 2854 - - - 1902 - 108.1 - - 1755 - - - - - - - - 14.79 14.80 14.80
7343 46.4 11.4 726 7344 done 0.98 - - 2854 - - - 1902 - 108.1 - - 1756 - - - - - - - - 14.80 14.79 14.79
7373 43.0 11.3 732 7374 done 0.98 0.03 0.626 2844 -333.3 - - 1901 - 108.1 - - 1756 - - - - - - - - 14.45 14.64 14.62
7403 39.7 10.8 738 7411 done 0.98 - - 2844 - - - 1901 - 111.3 3.95 1.333 1742 -3.5 0.020 - - - - - - 14.80 14.60 13.81
7440 35.7 11.0 745 7447 roll 0.98 - - 2855 - 2.50 0.063 492 -563.6 111.9 - - 1743 - - - - - - - - 14.77 14.58 14.77
7466 32.8 10.8 750 7478 done 0.99 - - 2855 - 2.40 0.038 1895 584.6 115.0 4.53 1.390 1726 -3.8 0.016 - - - - - - 14.61 14.57 13.79
7507 27.5 12.9 758 7514 roll 0.99 - - 2855 - 2.47 0.066 3299 568.4 115.0 - - 1727 - - - - - - - - 14.75 14.52 14.76
7538 23.2 13.0 764 7546 done 0.99 0.05 0.383 2850 -100.0 2.40 0.043 1895 -585.0 115.0 - - 1727 - - - - - - - - 14.40 14.57 14.55
7575 18.6 12.2 771 7576 done 0.99 - - 2850 - - - 1895 - 115.0 - - 1727 - - - - - - - - 14.76 14.76 14.77
7605 14.9 12.3 777 7606 done 0.99 - - 2850 - - - 1895 - 115.0 - - 1727 - - - - - - - - 14.76 14.76 14.76
7635 11.0 13.0 783 7642 roll 0.99 - - 2859 - 2.47 0.063 498 -565.6 115.0 - - 1728 - - - - - - - - 14.77 14.57 14.77
7656 8.6 11.4 787 7663 done 0.99 0.05 0.351 2844 -300.0 2.40 0.041 1898 583.3 115.0 - - 1727 - - - - - - - - 14.40 14.54 14.53
7692 3.8 13.3 794 7693 done 0.99 - - 2844 - - - 1899 - 115.0 - - 1727 - - - - - - - - 14.77 14.78 14.78
7701 end climb: SURFACE_DEPTH_REACHED
7701 begin surface coast
7721 end surface coast: CONTROL_FINISHED_OK
7721 begin surface
SM 1.09 - - - - -6.85 6.25 0.095 266 42.6 - - 1900 - 190.10 46.25 0.318 1422 30.7 -0.011 - - - - - -