The lowest frequencies used for radio communication are limited by the increasing size of transmitting antennas required. The size of antenna required to radiate radio power efficiently increases in proportion to wavelength or inversely with frequency. Below about 10 kHz (a wavelength of 30 km), elevated wire antennas kilometers in diameter are required, so very few radio systems use frequencies below this. A second limit is the decreasing bandwidth available at low frequencies, which limits the data rate that can be transmitted. Below about 30 kHz, audio modulation is impractical and only slow baud rate data communication is used. The lowest frequencies that have been used for radio communication are around 80 Hz, in ELF submarine communications systems built by a few nations' navies to communicate with their submerged submarines hundreds of meters underwater. These employ huge ground dipole antennas 20–60 km long excited by megawatts of transmitter power, and transmit data at an extremely slow rate of about 1 bit per minute (17 mbit/s, or about 5 minutes per character).