OKMC Oct12 * SG167 * Dive index * Mission links * Dive 122 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 30.18 of 150.00 AH used of 24V (79.88% remains)
• Previous NAKs 0, Timeouts 0 • 19.02 of 110.00 AH used of 10V (82.71% remains)
• Surface angle -61.8 deg, depth 1.56 m • Intended pitch -12.3 deg, speed -6.600 cm/s
• No surface pump (final VBD was 486.18, SM_CC=425)
• GPS1 time: 40 s
• GPS2 time: 5 s • Transponder ping count: 24
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 90 VBD -0.37 - - 112 - - - 2309 - -146.6 -69.57 - 2672 - - - - - - - - - - -
94 3.2 -5.5 12 132 roll -0.37 9.77 0.220 2617 256.4 2.08 0.040 934 -661.1 -146.6 -21.17 - 3568 -42.3 - - - - - - - 25.47 26.17 26.44
217 14.4 -6.5 34 224 done -0.42 - - 2616 - 2.08 0.028 2328 670.2 -146.6 - - 3569 - - - - - - - - - 26.20 -
534 46.5 -12.9 75 539 roll -0.46 - - 2615 - 2.15 0.046 3723 648.8 -146.6 - - 3568 - - - - - - - - - 26.22 -
592 52.0 -12.7 79 600 done -0.52 0.12 0.074 2531 -700.0 2.00 0.021 2337 -693.0 -146.6 - - 3569 - - - - - - - - 26.39 26.44 -
898 104.7 -16.1 95 904 roll -0.42 0.22 0.134 2603 327.3 2.05 0.028 913 -694.6 -146.6 - - 3568 - - - - - - - - 26.15 26.46 -
966 111.9 -12.6 98 971 done -0.39 - - 2603 - 2.10 0.033 2332 675.7 -146.6 - - 3569 - - - - - - - - - 26.44 -
1284 135.9 -7.6 114 1290 roll -0.44 - - 2603 - 2.12 0.045 3727 658.0 -146.6 - - 3569 - - - - - - - - - 26.37 -
1323 137.5 -7.4 115 1330 done -0.50 - - 2603 - 2.03 0.018 2283 -711.3 -146.6 - - 3569 - - - - - - - - - 26.63 -
1629 156.5 -5.0 131 1634 roll -0.60 0.12 0.076 2507 -800.0 2.22 0.044 3732 652.7 -146.6 - - 3569 - - - - - - - - 26.73 26.40 -
1663 158.4 -5.8 132 1669 done -0.66 - - 2507 - 1.95 0.018 2315 -726.7 -146.6 - - 3569 - - - - - - - - - 26.67 -
1977 197.1 -12.1 148 1982 roll -0.60 0.12 0.145 2548 341.7 1.92 0.022 949 -711.5 -146.6 - - 3569 - - - - - - - - 26.47 26.59 -
2044 203.1 -10.1 151 2049 done -0.60 - - 2548 - 2.00 0.028 2326 688.5 -146.6 - - 3569 - - - - - - - - - 26.53 -
2363 229.9 -8.8 167 2368 roll -0.62 - - 2548 - 2.12 0.044 3732 663.2 -146.6 - - 3569 - - - - - - - - - 26.41 -
2450 237.4 -8.9 171 2455 done -0.65 - - 2548 - 1.95 0.021 2336 -715.9 -146.6 - - 3569 - - - - - - - - - 26.66 -
2768 263.5 -7.3 187 2769 done -0.68 - - 2548 - - - 2336 - -146.6 - - 3569 - - - - - - - - - - -
3071 281.2 -6.2 202 3076 roll -0.72 0.12 0.080 2463 -708.3 1.98 0.026 950 -700.0 -146.6 - - 3567 - - - - - - - - 26.76 26.57 -
3104 283.7 -7.0 203 3110 done -0.72 0.15 0.142 2505 280.0 2.03 0.031 2326 677.8 -146.6 - - 3567 - - - - - - - - 26.25 26.52 -
3418 319.8 -11.4 219 3423 roll -0.69 - - 2508 - 2.15 0.046 3735 655.3 -146.6 - - 3566 - - - - - - - - - 26.41 -
3476 324.9 -11.8 221 3483 done -0.66 - - 2505 - 1.98 0.018 2314 -717.7 -146.6 - - 3566 - - - - - - - - - 26.70 -
3782 359.5 -10.1 237 3787 roll -0.64 - - 2506 - 2.17 0.045 3732 653.5 -146.6 - - 3566 - - - - - - - - - 26.41 -
3839 363.6 -9.5 239 3848 done -0.62 0.12 0.132 2543 308.3 1.98 0.018 2317 -714.6 -146.6 - - 3565 - - - - - - - - 26.39 26.70 -
4145 385.6 -7.2 255 4151 roll -0.66 - - 2543 - 1.92 0.025 952 -710.9 -146.6 - - 3564 - - - - - - - - - 26.60 -
4224 390.8 -7.9 258 4230 done -0.71 - - 2543 - 2.03 0.028 2337 682.3 -146.6 - - 3564 - - - - - - - - - 26.53 -
4529 415.7 -7.1 274 4531 done -0.76 0.15 0.071 2454 -593.3 - - 2337 - -146.6 - - 3562 - - - - - - - - 26.76 - -
4831 448.1 -10.3 289 4837 roll -0.69 0.17 0.136 2506 305.9 2.12 0.044 3729 656.6 -146.6 - - 3561 - - - - - - - - 26.34 26.40 -
4904 453.6 -8.8 292 4911 done -0.67 - - 2506 - 1.95 0.018 2329 -717.9 -146.6 - - 3561 - - - - - - - - - 26.69 -
5219 480.6 -9.1 308 5224 roll -0.67 - - 2506 - 2.15 0.046 3729 651.2 -146.6 - - 3559 - - - - - - - - - 26.39 -
5303 487.7 -8.5 312 5309 done -0.68 - - 2506 - 1.98 0.019 2313 -715.2 -146.6 - - 3559 - - - - - - - - - 26.70 -
5626 511.6 -7.1 328 5632 roll -0.68 - - 2506 - 1.92 0.026 953 -708.3 -146.6 - - 3558 - - - - - - - - - 26.58 -
5715 517.9 -7.5 332 5720 done -0.70 - - 2505 - 2.03 0.028 2334 680.3 -146.6 - - 3557 - - - - - - - - - 26.51 -
6033 543.1 -8.0 348 6038 roll -0.72 - - 2506 - 2.00 0.025 941 -696.5 -146.6 - - 3556 - - - - - - - - - 26.58 -
6080 546.7 -8.0 350 6086 done -0.74 - - 2506 - 2.05 0.029 2334 679.5 -146.6 - - 3556 - - - - - - - - - 26.50 -
6399 569.0 -6.3 366 6405 roll -0.77 - - 2506 - 2.15 0.047 3736 652.1 -146.6 - - 3554 - - - - - - - - - 26.34 -
6449 571.7 -6.2 368 6454 done -0.80 - - 2506 - 1.98 0.020 2314 -718.2 -146.6 - - 3553 - - - - - - - - - 26.68 -
6768 589.0 -5.6 384 6773 roll -0.83 - - 2506 - 2.22 0.046 3733 639.2 -146.6 - - 3552 - - - - - - - - - 26.33 -
6822 591.7 -5.8 386 6828 done -0.87 0.15 0.070 2424 -546.7 1.98 0.020 2320 -713.6 -146.6 - - 3552 - - - - - - - - 26.57 26.69 -
7138 628.5 -12.1 398 7144 roll -0.79 0.17 0.138 2480 329.4 2.20 0.044 3737 644.1 -146.6 - - 3554 - - - - - - - - 26.30 26.32 -
7212 635.0 -11.0 400 7217 done -0.75 - - 2479 - 1.98 0.020 2330 -710.6 -146.6 - - 3550 - - - - - - - - - 26.69 -
7536 662.9 -8.2 411 7542 roll -0.75 - - 2480 - 2.17 0.046 3732 646.1 -146.6 - - 3548 - - - - - - - - - 26.29 -
7640 670.0 -7.7 414 7646 done -0.75 - - 2480 - 1.98 0.021 2324 -711.1 -146.6 - - 3548 - - - - - - - - - 26.68 -
7965 691.1 -6.5 425 7971 roll -0.75 - - 2480 - 2.20 0.050 3725 636.8 -146.6 - - 3545 - - - - - - - - - 25.84 -
8043 695.9 -7.0 427 8048 done -0.75 - - 2480 - 1.98 0.021 2322 -708.6 -146.6 - - 3544 - - - - - - - - - 26.66 -
8361 724.8 -9.0 438 8366 roll -0.75 - - 2480 - 2.20 0.047 3734 641.8 -146.6 - - 3542 - - - - - - - - - 26.25 -
8403 727.8 -9.0 439 8408 done -0.75 - - 2480 - 2.00 0.021 2319 -707.5 -146.6 - - 3542 - - - - - - - - - 26.66 -
8726 753.3 -6.9 450 8732 roll -0.75 - - 2480 - 2.22 0.054 3727 634.2 -146.6 - - 3540 - - - - - - - - - 26.22 -
8790 757.8 -6.9 452 8796 done -0.75 - - 2479 - 2.00 0.022 2316 -705.5 -146.6 - - 3539 - - - - - - - - - 26.65 -
9126 783.0 -7.7 463 9132 roll -0.75 - - 2480 - 1.95 0.026 955 -697.9 -146.6 - - 3537 - - - - - - - - - 26.48 -
9174 785.9 -7.8 464 9179 done -0.75 - - 2480 - 2.05 0.031 2333 672.2 -146.6 - - 3536 - - - - - - - - - 26.40 -
9492 811.7 -7.6 475 9497 roll -0.75 - - 2486 - 2.03 0.027 947 -682.8 -146.6 - - 3534 - - - - - - - - - 26.46 -
9514 811.7 -7.6 475 9519 done -0.75 - - 2480 - 2.05 0.030 2324 671.7 -146.6 - - 3534 - - - - - - - - - 26.39 -
9827 836.6 -7.2 486 9832 roll -0.76 - - 2480 - 2.17 0.047 3730 647.9 -146.6 - - 3532 - - - - - - - - - 26.17 -
9870 839.0 -7.3 487 9875 done -0.78 - - 2480 - 2.00 0.023 2319 -705.5 -146.6 - - 3532 - - - - - - - - - 26.62 -
10195 863.1 -7.3 498 10201 roll -0.80 - - 2480 - 2.20 0.048 3725 639.1 -146.6 - - 3531 - - - - - - - - - 26.15 -
10243 865.8 -7.4 499 10249 done -0.83 - - 2480 - 2.00 0.024 2325 -700.0 -146.6 - - 3530 - - - - - - - - - 26.60 -
10564 890.0 -7.1 510 10569 roll -0.85 - - 2480 - 2.20 0.047 3725 636.4 -146.6 - - 3528 - - - - - - - - - 26.13 -
10621 892.5 -7.1 511 10628 done -0.87 - - 2480 - 2.03 0.024 2313 -695.6 -146.6 - - 3528 - - - - - - - - - 26.60 -
10929 914.7 -6.7 522 10935 roll -0.90 - - 2479 - 2.25 0.048 3735 632.0 -146.6 - - 3527 - - - - - - - - - 26.11 -
10994 919.4 -6.9 524 11000 done -0.93 0.12 0.083 2420 -491.7 2.03 0.030 2324 -695.1 -146.6 - - 3527 - - - - - - - - 26.27 26.29 -
11328 951.4 -9.7 535 11335 roll -0.88 0.12 0.152 2459 325.0 2.22 0.047 3723 630.2 -146.6 - - 3524 - - - - - - - - 26.38 26.08 -
11412 956.4 -8.6 537 11418 done -0.85 - - 2459 - 2.00 0.024 2320 -701.5 -146.6 - - 3524 - - - - - - - - - 26.57 -
11727 979.2 -6.7 548 11733 roll -0.85 - - 2459 - 2.22 0.049 3731 635.6 -146.6 - - 3523 - - - - - - - - - 26.06 -
11821 985.5 -6.6 551 11826 done -0.85 - - 2459 - 2.03 0.031 2336 -687.2 -146.6 - - 3523 - - - - - - - - - 25.87 -
11911 end dive: TARGET_DEPTH_EXCEEDED
11911 begin apogee
11917 991.3 -6.3 554 12049 done -0.20 0.62 0.103 2670 340.3 - - 2333 - - 124.35 1.356 2963 -4.5 0.354 - - - - - - 25.72 - 23.57
12051 end apogee: CONTROL_FINISHED_OK
12051 begin climb
12053 994.3 - 558 12200 roll 0.37 0.50 0.040 2876 412.0 2.40 0.047 3700 569.6 146.6 135.23 1.320 2363 -4.4 0.360 - - - - - - 24.91 23.91 22.84
12228 987.2 6.5 564 12234 done 0.21 0.30 0.136 2802 -246.7 2.20 0.028 2323 -625.9 148.8 - - 2357 - - - - - - - - 24.39 24.61 -
12555 963.9 6.2 575 12573 roll 0.17 - - 2802 - 2.22 0.046 3696 618.5 161.0 12.73 1.268 2305 -4.1 0.334 - - - - - - - 25.60 24.45
12620 959.6 6.4 577 12627 done 0.13 - - 2802 - 2.15 0.028 2285 -656.3 166.3 1.25 0.252 2290 -12.0 4.916 - - - - - - - 25.86 24.96
12951 938.6 6.6 588 12956 roll 0.09 - - 2802 - 2.25 0.047 3705 631.1 166.3 - - 2294 - - - - - - - - - 26.06 -
13023 933.7 7.2 590 13029 done 0.05 0.15 0.142 2760 -280.0 2.10 0.028 2290 -673.8 166.3 - - 2294 - - - - - - - - 25.97 26.27 -
13350 915.5 5.3 601 13408 roll 0.09 - - 2760 - 2.38 0.048 3689 587.8 209.3 46.90 1.273 2106 -4.0 0.310 - - - - - - - 25.21 24.15
13427 912.1 5.6 603 13471 done 0.13 - - 2758 - 2.12 0.028 2298 -656.1 242.8 32.47 1.260 1972 -4.1 0.321 - - - - - - - 25.56 23.97
13771 891.5 5.3 615 13818 done 0.21 0.15 0.071 2835 513.3 - - 2298 - 287.0 44.10 1.242 1796 -4.0 0.308 - - - - - - 26.16 - 24.08
14103 865.4 7.9 626 14108 roll 0.21 - - 2835 - 2.25 0.049 3702 624.0 287.0 - - 1781 - - - - - - - - - 25.96 -
14150 862.1 8.2 627 14156 done 0.19 0.12 0.148 2802 -275.0 2.10 0.028 2297 -669.0 287.0 - - 1779 - - - - - - - - 25.90 26.14 -
14471 838.2 7.4 638 14477 roll 0.22 - - 2802 - 2.10 0.034 895 -667.6 287.0 - - 1778 - - - - - - - - - 26.24 -
14524 835.5 7.4 639 14530 done 0.25 - - 2802 - 2.12 0.030 2313 668.9 287.0 - - 1778 - - - - - - - - - 26.27 -
14840 811.0 7.2 650 14845 roll 0.28 - - 2802 - 2.17 0.049 3706 641.9 287.0 - - 1777 - - - - - - - - - 26.22 -
14898 808.2 7.3 651 14905 done 0.31 0.12 0.081 2867 541.7 2.10 0.028 2285 -676.7 287.0 - - 1777 - - - - - - - - 26.34 26.41 -
15205 777.1 9.4 662 15212 roll 0.27 0.12 0.133 2826 -341.7 2.05 0.034 919 -666.3 287.0 - - 1776 - - - - - - - - 26.32 26.34 -
15270 772.2 8.2 664 15277 done 0.25 - - 2826 - 2.08 0.031 2299 663.5 287.0 - - 1776 - - - - - - - - - 26.37 -
15606 748.4 7.2 675 15612 roll 0.25 - - 2825 - 2.17 0.047 3704 647.5 287.0 - - 1775 - - - - - - - - - 26.25 -
15655 745.5 7.4 676 15660 done 0.25 - - 2826 - 2.05 0.027 2305 -682.4 287.0 - - 1775 - - - - - - - - - 26.48 -
15974 718.5 8.3 687 15979 roll 0.25 - - 2828 - 2.08 0.034 909 -671.2 287.0 - - 1774 - - - - - - - - - 26.37 -
16016 715.6 8.4 688 16022 done 0.25 - - 2826 - 2.10 0.031 2315 669.5 287.0 - - 1775 - - - - - - - - - 26.39 -
16343 689.0 7.6 699 16349 roll 0.25 - - 2825 - 2.17 0.048 3707 641.5 287.0 - - 1774 - - - - - - - - - 26.18 -
16366 689.0 7.6 699 16372 done 0.25 - - 2826 - 2.08 0.027 2291 -680.8 287.0 - - 1774 - - - - - - - - - 26.50 -
16680 666.3 6.0 710 16704 roll 0.26 - - 2826 - 2.10 0.033 910 -657.6 306.9 18.52 1.161 1709 -3.5 0.217 - - - - - - - 26.06 24.89
16736 664.5 5.7 711 16772 done 0.27 - - 2826 - 2.10 0.030 2300 661.9 336.6 29.77 1.133 1592 -3.9 0.248 - - - - - - - 26.08 24.37
17072 641.5 7.3 723 17079 roll 0.30 - - 2826 - 2.20 0.047 3705 638.6 336.6 - - 1582 - - - - - - - - - 25.96 -
17131 638.5 7.8 724 17138 done 0.33 - - 2826 - 2.10 0.027 2292 -672.9 336.6 - - 1581 - - - - - - - - - 26.17 -
17439 612.0 7.6 735 17441 done 0.37 0.10 0.096 2885 590.0 - - 2290 - 336.6 - - 1581 - - - - - - - - 26.41 - -
17749 580.5 10.5 748 17755 roll 0.34 0.12 0.125 2842 -358.3 2.22 0.045 3695 632.9 336.6 - - 1580 - - - - - - - - 26.29 26.18 -
17777 577.8 10.3 749 17783 done 0.31 - - 2842 - 2.05 0.028 2313 -674.1 336.6 - - 1580 - - - - - - - - - 26.38 -
18097 553.9 7.2 765 18098 done 0.34 - - 2842 - - - 2305 - 336.6 - - 1579 - - - - - - - - - - -
18399 532.6 7.1 780 18404 roll 0.36 - - 2842 - 2.12 0.034 890 -667.5 336.6 - - 1579 - - - - - - - - - 26.34 -
18446 529.4 7.0 782 18452 done 0.40 - - 2842 - 2.10 0.028 2305 673.8 336.6 - - 1579 - - - - - - - - - 26.38 -
18765 506.3 7.1 798 18772 roll 0.43 0.12 0.080 2919 641.7 2.15 0.044 3696 647.0 336.6 - - 1579 - - - - - - - - 26.62 26.25 -
18794 503.7 8.0 799 18800 done 0.43 0.15 0.146 2879 -266.7 2.05 0.027 2294 -683.9 336.6 - - 1579 - - - - - - - - 26.10 26.46 -
19113 472.8 9.5 815 19118 roll 0.41 - - 2882 - 2.08 0.034 907 -666.8 336.6 - - 1578 - - - - - - - - - 26.36 -
19206 464.2 10.1 819 19211 done 0.41 - - 2882 - 2.08 0.028 2300 669.7 336.6 - - 1579 - - - - - - - - - 26.41 -
19519 429.4 10.3 835 19524 roll 0.41 - - 2881 - 2.15 0.045 3706 654.0 336.6 - - 1578 - - - - - - - - - 26.25 -
19598 422.1 11.5 838 19604 done 0.39 - - 2882 - 2.05 0.026 2293 -689.3 336.6 - - 1580 - - - - - - - - - 26.51 -
19903 391.8 8.7 854 19904 done 0.39 - - 2882 - - - 2293 - 336.6 - - 1578 - - - - - - - - - - -
20205 370.1 7.0 869 20211 roll 0.39 - - 2882 - 2.05 0.033 903 -678.0 336.6 - - 1578 - - - - - - - - - 26.39 -
20272 365.0 7.6 872 20277 done 0.39 - - 2882 - 2.08 0.028 2312 677.4 336.6 - - 1578 - - - - - - - - - 26.43 -
20590 338.3 8.4 888 20591 done 0.39 - - 2882 - - - 2312 - 336.6 - - 1578 - - - - - - - - - - -
20892 316.4 6.7 903 20897 roll 0.39 - - 2882 - 2.12 0.044 3702 655.7 336.6 - - 1578 - - - - - - - - - 26.26 -
20924 314.7 6.8 904 20930 done 0.39 - - 2882 - 2.03 0.023 2291 -695.1 336.6 - - 1578 - - - - - - - - - 26.55 -
21239 290.3 7.8 920 21244 roll 0.39 - - 2882 - 2.03 0.031 916 -677.3 336.6 - - 1578 - - - - - - - - - 26.42 -
21283 287.0 7.7 922 21288 done 0.41 - - 2882 - 2.03 0.026 2301 682.3 336.6 - - 1579 - - - - - - - - - 26.45 -
21606 262.5 7.5 938 21612 roll 0.41 - - 2882 - 2.08 0.028 906 -670.7 336.6 - - 1580 - - - - - - - - - 26.44 -
21624 262.5 7.5 938 21631 done 0.41 - - 2882 - 2.05 0.026 2310 684.9 336.6 - - 1579 - - - - - - - - - 26.46 -
21930 237.4 8.0 954 21936 roll 0.42 - - 2882 - 2.12 0.044 3694 652.8 336.6 - - 1580 - - - - - - - - - 26.27 -
21954 235.3 8.2 955 21959 done 0.42 - - 2882 - 2.00 0.022 2288 -703.0 336.6 - - 1580 - - - - - - - - - 26.58 -
22277 209.9 7.6 971 22282 roll 0.44 - - 2882 - 1.98 0.029 923 -689.4 336.6 - - 1582 - - - - - - - - - 26.44 -
22304 208.3 7.5 972 22309 done 0.47 - - 2882 - 2.03 0.026 2312 684.2 336.6 - - 1581 - - - - - - - - - 26.46 -
22622 184.6 7.7 988 22624 done 0.49 - - 2882 - - - 2312 - 336.6 - - 1581 - - - - - - - - - - -
22924 161.5 8.0 1003 22925 done 0.52 - - 2883 - - - 2312 - 336.6 - - 1582 - - - - - - - - - - -
23224 144.7 3.8 1018 23308 roll 0.60 0.15 0.067 2977 626.7 2.17 0.041 3700 639.6 428.8 77.00 0.601 1213 -4.8 0.124 - - - - - - 26.73 25.65 24.95
23334 134.8 10.3 1023 23340 done 0.54 0.22 0.116 2915 -281.8 2.05 0.022 2311 -677.6 428.8 - - 1209 - - - - - - - - 25.60 25.85 -
23649 113.0 5.8 1039 23664 roll 0.61 - - 2915 - 2.05 0.027 908 -684.4 454.4 9.65 0.362 1117 -9.5 0.320 - - - - - - - 26.16 25.29
23734 108.2 5.6 1043 23756 done 0.70 0.15 0.067 3009 626.7 2.05 0.024 2308 682.9 487.7 14.95 0.360 979 -9.2 0.298 - - - - - - 26.17 26.19 25.29
24052 69.9 12.8 1059 24058 roll 0.66 0.15 0.119 2957 -346.7 2.12 0.041 3699 656.1 487.7 - - 986 - - - - - - - - 26.19 26.15 -
24091 67.0 12.6 1060 24097 done 0.64 - - 2958 - 2.03 0.021 2288 -695.1 487.7 - - 985 - - - - - - - - - 26.37 -
24397 40.0 8.1 1082 24403 roll 0.68 - - 2961 - 1.98 0.028 918 -691.9 487.7 - - 986 - - - - - - - - - 26.37 -
24451 35.8 7.7 1087 24456 done 0.74 - - 2961 - 2.00 0.025 2297 689.5 487.7 - - 986 - - - - - - - - - 26.39 -
24762 11.4 8.4 1134 24768 done 0.78 - - 2961 - - - 2297 - 487.7 - - 986 - - - - - - - - - - -
24865 end climb: SURFACE_DEPTH_REACHED
24865 begin surface coast
24902 end surface coast: CONTROL_FINISHED_OK
24902 begin surface
SM 1.63 - - - - -8.10 7.07 0.022 112 -403.0 - - 2302 - 486.18 - - 986 - - - - - - - -