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Try honours were even at one a-piece at half time, though Leicester turned around 3 points ahead thanks to a Johne Murphy penalty before half time.
The second half saw no further tries, and though Dave Walder and Danny Cipriani ensured Wasps remained level right up to the 77th minute, a Wasps infringement allowed Goode to slot the winning penalty
Wasps made two changes to their announced line up before kick off, having lost Pat Barnard and Dominic Waldouck to a sickness bug this morning, Michael Holford moving up from the bench to replace Barnard and Rob Hoadley coming in in place of Waldouck.
Despite the last minute changes, Wasps got off to the perfect start when Dave Walder dropped a goal in the second minutes, but Andy Goode evened the scores with a penalty for Tigers before five minutes were up.
Tigers' Ollie Smith was first to cross the whitewash though, scoring after Mark Van Gisbergen spilled a high Andy Goode garryowen but Wasps drew level after an impressive counter attack by Chris Bishay, finished off by Tom Voyce in the fifteenth minute. Bishay had set off on the counter attack after collecting another Goode bomb, and neat foot work saw him past the first Leicester defenders before he stepped on the gas. With Tigers full back Johne Murphy closing in though, Bishay got away a good pass to Voyce, who had a clear path to the line though couldn't get around behind the posts. Dave Walder missed the wide conversion to leave the scores at 8-8.
With Leicester competing hard at the breakdown, and Wasps making some frustrating mistakes in attack - poor passing and handling their main weaknesses - referee Sean Davey was kept busy as penalties were plentiful. Andy Goode's second effort, after 23 minutes, came off the post but he made no such mistake with his third, just before the half hour. However, shortly after this Goode was taking an enforced rest, as Davey went to his pocket when the Tigers fly half killed the ball with Wasps threatening his line.
Wasps launched this, their best attack of the half, from a long line out throw to George Skivington at the back. Skivington popped the ball to Tom Voyce, who found a gap to take Wasps into the twenty two and James Haskell took the attack on again. With the ball spun wide, Wasps drove over in the corner, but the ball was held up. Awarded an attacking scrum Wasps surged forward again, Goode infringed and whilst he made his way to the sin bin, Mark Van Gisbergen knocked over the straightforward penalty that drew Wasps level once more at 11 all.
From the restart however, Wasps infringed, allowing full back Murphy to nudge Tigers ahead but this could have been short lived as on their own restart reception, Leicester obstructed. Unfortunately, van Gisbergen pushed his kick wide and Wasps went in for the break 11-14 behind.
The second half saw little in the way of try scoring opportunities. Wasps looked the more creative of the two sides but mistakes denied them any momentum in attack and instead of tries, both sides traded penalties: Walder was successful at the start of the half to level things up again, but Goode nudged Leicester ahead before replacement Danny Cipriani pushed his kick wide with his first action of the game after 52 minutes.
The introduction of Dan Leo, however, gave Wasps more bite in their ball carrying, and it was his line break that allowed Chris Bishay to attack and referee Davey to make a difficult call. Given the ball going forward, thanks to Leo's efforts, Bishay chipped through and chased. The ball sat up nicely for him as it bounced over the try line, but Tigers' winger Matt Smith, covering across, slapped the ball out of play over the dead ball line.
Davey's decision to give a penalty gave rise to discussion over the merits of a penalty try decision, but Wasps took what they were given and kicked for the posts, and this time Cipriani was on target.
With ten minutes remaining and the scores level, the pressure was on not to infringe. Sadly however, in the face of a last gasp Tigers attack, Wasps succumbed, and Goode slotted the points that won the game for the Tigers.
Reviewing the game, Director of Rugby Ian McGeechan said:
'This is a frustrating loss for us. At the moment we are making too many careless errors which is keeping our opponents in the game. We feel we've played three games now and not been the worse side in any of them, but if it doesn't show on the scoreboard that's irrelevant
'This was always likely to be a close and competitive game, decided by one score, so we are disappointed with some of the penalties we conceded.
Discussing the decision to award a penalty against Tigers following Chris Bishay's second half attack, McGeechan said, 'It was an interesting call. Would Chris Bishay have scored if Smith hadn't flapped the ball away? He obviously thinks he would have done, but I haven't seen the play back yet so I can't offer any further opinion at the moment.
Looking forward, McGeechan said, 'They are little things we've got to put right. We don't think we've been outplayed by anyone to date this season, but we are giving our opponents too many easy scores and we've got to put that right. We've got to make ourselves difficult to beat - and at the moment those little indiscretions are having a big impact on our results.'
Head Coach Shaun Edwards added: 'I am disappointed. Leicester didn't really create anything and I thought our defence was excellent after being pretty poor last week, but we gave away careless penalties and we lost again.'
Referee: Sean Davey
MOTM: James Haskell