Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 188 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 188 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 11 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2079685 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 566.1524

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2079685

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 11 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 188 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 021828,6346.920,-805.507,38,3.6,57,-9.5 TGT_NAME IFRN1K

_CALLS 5 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.065,-0.110

_SM_DEPTHo 1.59 KALMAN_X -109846.2,515.6,-61.3,162665.1,2331.6

_SM_ANGLEo -59.2 KALMAN_Y 96308.9,256.2,712.7,141046.3,122.9

GPS2 023945,6346.890,-805.094,10,1.9,10,-9.5 MHEAD_RNG_PITCHd_Wd 158.9,5447,-22.2,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027403 XPDR_PINGS 105

SM_CCo 23457,288.35,0.672,3,0,508,566.15 _24V_AH 23.3,32.433

SM_GC 1.60,0.00,0.00,288.35,0.000,0.000,0.672,70,2393,508,-10.76,-0.20,566.15 _10V_AH 10.1,15.727

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 56794,1128

TT8_MAMPS 0.02301 CFSIZE 260165632,248623104

HUMID 2005 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,3,0

TCM_TEMP 19.00 GPS 161207,091758,6345.553,-802.572,24,3.0,43,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 176 109.13 SBE_CT 831 24 464.76

Roll_motor 160 95 356.39 SBE_O2 785 19 347.92

VBD_pump_during_apogee 155 1354 4898.96 WL_BB2F 594 105 1455.52

VBD_pump_during_surface 288 671 4514.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 163 103 391.36 nil 0 0 0.00

Iridium_during_connect 206 160 769.60 nil 0 0 0.00

Iridium_during_xfer 522 223 2716.28

Transponder_ping 34 420 340.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.46

TT8 2081 19 416.25

LPSleep 18526 2 409.78

TT8_Active 703 19 140.74

TT8_Sampling 2573 39 1034.43

TT8_CF8 1147 45 530.72

TT8_Kalman 33 81 27.57

Analog_circuits 1911 12 231.72

GPS_charging 0 0 0.00

Compass 2522 8 203.81

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -1.43 -43.1 0.0 0.0 0 124 0.00 0.00 -97.20 0.000 6 0.000 0.000 71 2406 2992

126 -1.47 -74.1 4.5 -3.1 5 149 11.50 2.58 -3.12 0.000 4 0.176 0.086 2087 3762 3120

378 -1.47 -74.1 42.2 -14.8 16 382 0.00 2.55 0.00 0.000 6 0.000 0.056 2087 2401 3120

705 -1.47 -74.1 84.4 -12.5 32 706 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2401 3121

1015 -1.47 -74.1 123.0 -12.5 47 1016 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2401 3121

1323 -1.47 -74.1 162.1 -12.8 62 1324 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2401 3121

1632 -1.47 -74.1 199.1 -11.3 77 1637 0.00 2.70 0.00 0.000 4 0.000 0.074 2087 975 3122

1699 -1.47 -74.1 207.0 -12.2 80 1703 0.00 2.62 0.00 0.000 6 0.000 0.059 2087 2401 3121

2019 -1.47 -74.1 244.9 -11.8 96 2023 0.00 2.60 0.00 0.000 4 0.000 0.077 2087 3772 3122

2265 -1.47 -74.1 274.9 -12.1 107 2270 0.00 2.55 0.00 0.000 6 0.000 0.059 2087 2395 3122

2590 -1.47 -74.1 312.3 -12.2 123 2595 0.00 2.62 0.00 0.000 4 0.000 0.081 2087 3766 3123

2753 -1.47 -74.1 331.8 -12.9 130 2757 0.00 2.55 0.00 0.000 6 0.000 0.062 2087 2396 3123

3067 -1.47 -74.1 366.4 -10.5 145 3069 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2396 3124

3377 -1.47 -74.1 399.9 -11.3 160 3382 0.00 2.65 0.00 0.000 4 0.000 0.086 2087 3770 3123

3459 -1.47 -74.1 409.8 -11.8 163 3466 0.00 2.55 0.00 0.000 6 0.000 0.063 2087 2400 3123

3775 -1.47 -74.1 442.7 -10.3 179 3776 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2400 3123

4085 -1.47 -74.1 475.6 -10.8 194 4086 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2400 3122

4393 -1.47 -74.1 509.5 -11.0 209 4394 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2400 3121

4703 -1.47 -74.1 542.8 -10.5 224 4707 0.00 2.65 0.00 0.000 4 0.000 0.088 2087 3765 3120

4757 -1.47 -74.1 549.1 -11.5 226 4763 0.00 2.58 0.00 0.000 6 0.000 0.066 2087 2393 3120

5072 -1.47 -74.1 582.5 -10.6 242 5073 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2393 3119

5381 -1.47 -74.1 614.5 -10.4 257 5383 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2392 3117

5691 -1.47 -74.1 646.0 -9.8 272 5692 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2392 3116

6001 -1.47 -74.1 676.2 -9.7 287 6002 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2393 3115

6309 -1.47 -74.1 706.3 -9.3 302 6310 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2392 3114

6619 -1.47 -74.1 735.8 -9.6 317 6623 0.00 2.70 0.00 0.000 4 0.000 0.081 2087 985 3112

6667 -1.47 -74.1 740.8 -10.4 319 6672 0.00 2.67 0.00 0.000 6 0.000 0.071 2087 2405 3112

6988 -1.47 -74.1 772.2 -9.6 335 6993 0.00 2.67 0.00 0.000 4 0.000 0.095 2087 3767 3112

7052 -1.47 -74.1 778.6 -10.4 338 7056 0.00 2.60 0.00 0.000 6 0.000 0.071 2087 2395 3111

7377 -1.47 -74.1 809.7 -9.5 354 7378 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2394 3110

7687 -1.47 -74.1 839.1 -9.4 369 7688 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2394 3110

7996 -1.47 -74.1 870.1 -10.2 384 7997 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2394 3110

8306 -1.47 -74.1 901.3 -10.1 399 8307 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2393 3109

8614 -1.47 -74.1 931.3 -9.6 414 8615 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2393 3108

8924 -1.47 -74.1 959.8 -8.8 429 8928 0.00 2.70 0.00 0.000 4 0.000 0.093 2087 3768 3107

9023 -1.47 -74.1 969.5 -9.8 433 9030 0.00 2.58 0.00 0.000 6 0.000 0.064 2087 2391 3107

9254 end dive: TARGET_DEPTH_EXCEEDED

state 9254 begin apogee

9260 -0.31 0.0 990.6 9.1 445 9325 1.33 0.00 61.92 1.355 6 0.137 0.000 2336 2194 2816

9326 end apogee: CONTROL_FINISHED_OK

state 9326 begin climb

9328 1.47 74.1 992.2 0.0 448 9397 1.90 0.00 64.12 1.331 6 0.081 0.000 2725 2194 2514

9706 1.47 74.1 964.3 8.6 467 9710 0.00 2.75 0.00 0.000 4 0.000 0.084 2726 3610 2512

9805 1.47 74.1 954.9 8.7 471 9811 0.00 2.67 0.00 0.000 6 0.000 0.065 2725 2194 2511

10120 1.47 74.1 929.1 8.3 487 10124 0.00 2.78 0.00 0.000 4 0.000 0.085 2725 3615 2511

10242 1.47 74.1 918.4 8.8 492 10248 0.00 2.67 0.00 0.000 6 0.000 0.066 2725 2196 2511

10557 1.47 74.1 892.3 8.1 508 10561 0.00 2.75 0.00 0.000 4 0.000 0.085 2725 3609 2511

10622 1.47 74.1 886.4 8.8 511 10627 0.00 2.65 0.00 0.000 6 0.000 0.066 2725 2201 2511

10949 1.47 74.1 860.7 7.8 527 10954 0.00 2.72 0.00 0.000 4 0.000 0.086 2725 3609 2510

11011 1.47 74.1 855.3 8.2 530 11015 0.00 2.65 0.00 0.000 6 0.000 0.067 2725 2201 2510

11336 1.47 74.1 829.8 7.7 546 11337 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2200 2510

11646 1.47 74.1 806.6 7.4 561 11650 0.00 2.78 0.00 0.000 4 0.000 0.089 2725 3616 2509

11752 1.47 74.1 798.0 7.6 566 11756 0.00 2.67 0.00 0.000 6 0.000 0.070 2725 2201 2509

12077 1.47 74.1 774.6 6.9 582 12078 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2201 2509

12387 1.47 74.1 753.7 6.6 597 12391 0.00 2.78 0.00 0.000 4 0.000 0.091 2725 3615 2509

12566 1.47 74.1 740.8 6.7 605 12570 0.00 2.70 0.00 0.000 6 0.000 0.073 2725 2197 2509

12886 1.47 74.1 720.1 6.1 621 12890 0.00 2.78 0.00 0.000 4 0.000 0.093 2725 3609 2509

12979 1.47 74.1 713.6 7.4 625 12984 0.00 2.70 0.00 0.000 6 0.000 0.071 2725 2200 2509

13300 1.47 74.1 692.1 6.8 641 13305 0.00 2.78 0.00 0.000 4 0.000 0.094 2725 3609 2508

13372 1.47 74.1 686.6 7.8 644 13376 0.00 2.67 0.00 0.000 6 0.000 0.071 2725 2199 2509

13687 1.47 74.1 665.2 6.8 659 13691 0.00 2.75 0.00 0.000 4 0.000 0.087 2726 3609 2509

13742 1.47 74.1 661.1 7.5 661 13748 0.00 2.67 0.00 0.000 6 0.000 0.071 2725 2197 2508

14057 1.47 74.1 639.5 6.7 677 14058 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2197 2509

14366 1.47 74.1 618.5 6.6 692 14367 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2196 2508

14675 1.47 74.1 597.5 6.7 707 14676 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2197 2508

14985 1.47 74.1 576.6 6.8 722 14986 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2196 2508

15294 1.47 74.1 556.1 6.3 737 15295 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2196 2508

15603 1.47 74.1 536.3 6.1 752 15608 0.00 2.78 0.00 0.000 4 0.000 0.091 2725 3615 2508

15725 1.47 74.1 528.4 6.6 757 15731 0.00 2.67 0.00 0.000 6 0.000 0.070 2725 2200 2508

16040 1.47 79.1 510.9 5.5 773 16047 0.00 0.00 4.80 0.826 6 0.000 0.000 2725 2200 2495

16350 1.48 85.1 493.7 5.4 788 16359 0.00 0.00 6.93 0.928 6 0.000 0.000 2725 2200 2470

16659 1.48 85.1 473.9 6.8 803 16663 0.00 2.78 0.00 0.000 4 0.000 0.092 2725 3614 2469

16748 1.48 85.1 467.4 7.1 807 16752 0.00 2.70 0.00 0.000 6 0.000 0.073 2724 2199 2470

17068 1.48 85.1 444.3 7.3 823 17069 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2199 2469

17377 1.48 85.1 421.9 7.3 838 17378 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2199 2470

17686 1.48 85.1 401.4 6.2 853 17687 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2199 2470

17996 1.49 94.7 383.7 5.1 868 18007 0.00 0.00 9.43 0.939 6 0.000 0.000 2725 2199 2430

18305 1.49 95.1 366.1 6.0 883 18309 0.00 2.78 0.00 0.000 4 0.000 0.091 2725 3612 2429

18343 1.49 95.1 363.7 6.4 885 18347 0.00 2.70 0.00 0.000 6 0.000 0.074 2725 2199 2429

18669 1.49 95.1 342.1 7.2 901 18673 0.00 2.78 0.00 0.000 4 0.000 0.091 2725 3612 2429

18925 1.49 95.1 321.0 7.4 912 18932 0.00 2.70 0.00 0.000 6 0.000 0.075 2725 2201 2429

19241 1.49 95.1 299.5 6.4 928 19245 0.00 2.72 0.00 0.000 4 0.000 0.085 2725 782 2429

19302 1.49 95.1 295.8 6.4 931 19307 0.00 2.65 0.00 0.000 6 0.000 0.061 2725 2202 2429

19629 1.49 98.1 275.2 5.7 947 19638 0.00 2.72 4.57 0.706 4 0.000 0.077 2725 784 2417

19834 1.49 98.1 260.9 7.1 956 19838 0.00 2.65 0.00 0.000 6 0.000 0.058 2725 2205 2417

20156 1.49 98.1 239.2 7.7 972 20157 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2205 2417

20464 1.49 98.1 216.4 7.5 987 20469 0.00 2.70 0.00 0.000 4 0.000 0.081 2726 3618 2417

20721 1.49 98.1 197.0 7.0 998 20727 0.00 2.70 0.00 0.000 6 0.000 0.068 2725 2191 2418

21036 1.49 98.1 177.1 6.2 1014 21040 0.00 2.72 0.00 0.000 4 0.000 0.079 2725 3619 2419

21198 1.49 98.7 167.0 5.9 1021 21203 0.00 2.65 0.00 0.000 6 0.000 0.064 2726 2201 2419

21513 1.49 98.7 148.0 6.2 1036 21514 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2201 2420

21824 1.49 98.7 127.2 6.9 1051 21828 0.00 2.67 0.00 0.000 4 0.000 0.075 2725 3612 2421

21878 1.49 98.7 122.8 7.5 1053 21886 0.00 2.65 3.45 0.503 6 0.000 0.061 2725 2203 2414

22195 1.49 98.7 99.9 7.3 1069 22197 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2203 2414

22503 1.49 98.7 77.4 7.4 1084 22508 0.00 2.67 0.00 0.000 4 0.000 0.074 2726 3613 2415

22625 1.49 98.7 67.6 8.0 1089 22632 0.00 2.62 0.00 0.000 6 0.000 0.061 2726 2200 2415

22942 1.49 98.7 43.8 7.9 1105 22947 0.00 2.70 0.00 0.000 4 0.000 0.074 2725 3620 2416

23042 1.49 98.7 34.8 8.5 1109 23049 0.00 2.67 0.00 0.000 6 0.000 0.061 2726 2202 2418

23358 1.49 98.7 7.2 7.3 1125 23363 0.00 2.70 0.00 0.000 4 0.000 0.076 2726 3618 2418

23419 end climb: SURFACE_DEPTH_REACHED

state 23419 begin surface coast

23435 end surface coast: CONTROL_FINISHED_OK

state 23435 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	188	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	11	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2079685	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	021828,6346.920,-805.507,38,3.6,57,-9.5	TGT_NAME	IFRN1K
_CALLS	5	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.065,-0.110
_SM_DEPTHo	1.59	KALMAN_X	-109846.2,515.6,-61.3,162665.1,2331.6
_SM_ANGLEo	-59.2	KALMAN_Y	96308.9,256.2,712.7,141046.3,122.9
GPS2	023945,6346.890,-805.094,10,1.9,10,-9.5	MHEAD_RNG_PITCHd_Wd	158.9,5447,-22.2,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.9,1.027403	XPDR_PINGS	105
SM_CCo	23457,288.35,0.672,3,0,508,566.15	_24V_AH	23.3,32.433
SM_GC	1.60,0.00,0.00,288.35,0.000,0.000,0.672,70,2393,508,-10.76,-0.20,566.15	_10V_AH	10.1,15.727
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	56794,1128
TT8_MAMPS	0.02301	CFSIZE	260165632,248623104
HUMID	2005	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,3,0
TCM_TEMP	19.00	GPS	161207,091758,6345.553,-802.572,24,3.0,43,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	176	109.13	SBE_CT	831	24	464.76
Roll_motor	160	95	356.39	SBE_O2	785	19	347.92
VBD_pump_during_apogee	155	1354	4898.96	WL_BB2F	594	105	1455.52
VBD_pump_during_surface	288	671	4514.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	163	103	391.36	nil	0	0	0.00
Iridium_during_connect	206	160	769.60	nil	0	0	0.00
Iridium_during_xfer	522	223	2716.28
Transponder_ping	34	420	340.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.46
TT8	2081	19	416.25
LPSleep	18526	2	409.78
TT8_Active	703	19	140.74
TT8_Sampling	2573	39	1034.43
TT8_CF8	1147	45	530.72
TT8_Kalman	33	81	27.57
Analog_circuits	1911	12	231.72
GPS_charging	0	0	0.00
Compass	2522	8	203.81
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-1.43	-43.1	0.0	0.0	0	124	0.00	0.00	-97.20	0.000	6	0.000	0.000	71	2406	2992
126	-1.47	-74.1	4.5	-3.1	5	149	11.50	2.58	-3.12	0.000	4	0.176	0.086	2087	3762	3120
378	-1.47	-74.1	42.2	-14.8	16	382	0.00	2.55	0.00	0.000	6	0.000	0.056	2087	2401	3120
705	-1.47	-74.1	84.4	-12.5	32	706	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2401	3121
1015	-1.47	-74.1	123.0	-12.5	47	1016	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2401	3121
1323	-1.47	-74.1	162.1	-12.8	62	1324	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2401	3121
1632	-1.47	-74.1	199.1	-11.3	77	1637	0.00	2.70	0.00	0.000	4	0.000	0.074	2087	975	3122
1699	-1.47	-74.1	207.0	-12.2	80	1703	0.00	2.62	0.00	0.000	6	0.000	0.059	2087	2401	3121
2019	-1.47	-74.1	244.9	-11.8	96	2023	0.00	2.60	0.00	0.000	4	0.000	0.077	2087	3772	3122
2265	-1.47	-74.1	274.9	-12.1	107	2270	0.00	2.55	0.00	0.000	6	0.000	0.059	2087	2395	3122
2590	-1.47	-74.1	312.3	-12.2	123	2595	0.00	2.62	0.00	0.000	4	0.000	0.081	2087	3766	3123
2753	-1.47	-74.1	331.8	-12.9	130	2757	0.00	2.55	0.00	0.000	6	0.000	0.062	2087	2396	3123
3067	-1.47	-74.1	366.4	-10.5	145	3069	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2396	3124
3377	-1.47	-74.1	399.9	-11.3	160	3382	0.00	2.65	0.00	0.000	4	0.000	0.086	2087	3770	3123
3459	-1.47	-74.1	409.8	-11.8	163	3466	0.00	2.55	0.00	0.000	6	0.000	0.063	2087	2400	3123
3775	-1.47	-74.1	442.7	-10.3	179	3776	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2400	3123
4085	-1.47	-74.1	475.6	-10.8	194	4086	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2400	3122
4393	-1.47	-74.1	509.5	-11.0	209	4394	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2400	3121
4703	-1.47	-74.1	542.8	-10.5	224	4707	0.00	2.65	0.00	0.000	4	0.000	0.088	2087	3765	3120
4757	-1.47	-74.1	549.1	-11.5	226	4763	0.00	2.58	0.00	0.000	6	0.000	0.066	2087	2393	3120
5072	-1.47	-74.1	582.5	-10.6	242	5073	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2393	3119
5381	-1.47	-74.1	614.5	-10.4	257	5383	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2392	3117
5691	-1.47	-74.1	646.0	-9.8	272	5692	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2392	3116
6001	-1.47	-74.1	676.2	-9.7	287	6002	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2393	3115
6309	-1.47	-74.1	706.3	-9.3	302	6310	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2392	3114
6619	-1.47	-74.1	735.8	-9.6	317	6623	0.00	2.70	0.00	0.000	4	0.000	0.081	2087	985	3112
6667	-1.47	-74.1	740.8	-10.4	319	6672	0.00	2.67	0.00	0.000	6	0.000	0.071	2087	2405	3112
6988	-1.47	-74.1	772.2	-9.6	335	6993	0.00	2.67	0.00	0.000	4	0.000	0.095	2087	3767	3112
7052	-1.47	-74.1	778.6	-10.4	338	7056	0.00	2.60	0.00	0.000	6	0.000	0.071	2087	2395	3111
7377	-1.47	-74.1	809.7	-9.5	354	7378	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2394	3110
7687	-1.47	-74.1	839.1	-9.4	369	7688	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2394	3110
7996	-1.47	-74.1	870.1	-10.2	384	7997	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2394	3110
8306	-1.47	-74.1	901.3	-10.1	399	8307	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2393	3109
8614	-1.47	-74.1	931.3	-9.6	414	8615	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	2393	3108
8924	-1.47	-74.1	959.8	-8.8	429	8928	0.00	2.70	0.00	0.000	4	0.000	0.093	2087	3768	3107
9023	-1.47	-74.1	969.5	-9.8	433	9030	0.00	2.58	0.00	0.000	6	0.000	0.064	2087	2391	3107
9254	end dive: TARGET_DEPTH_EXCEEDED
state	9254	begin apogee
9260	-0.31	0.0	990.6	9.1	445	9325	1.33	0.00	61.92	1.355	6	0.137	0.000	2336	2194	2816
9326	end apogee: CONTROL_FINISHED_OK
state	9326	begin climb
9328	1.47	74.1	992.2	0.0	448	9397	1.90	0.00	64.12	1.331	6	0.081	0.000	2725	2194	2514
9706	1.47	74.1	964.3	8.6	467	9710	0.00	2.75	0.00	0.000	4	0.000	0.084	2726	3610	2512
9805	1.47	74.1	954.9	8.7	471	9811	0.00	2.67	0.00	0.000	6	0.000	0.065	2725	2194	2511
10120	1.47	74.1	929.1	8.3	487	10124	0.00	2.78	0.00	0.000	4	0.000	0.085	2725	3615	2511
10242	1.47	74.1	918.4	8.8	492	10248	0.00	2.67	0.00	0.000	6	0.000	0.066	2725	2196	2511
10557	1.47	74.1	892.3	8.1	508	10561	0.00	2.75	0.00	0.000	4	0.000	0.085	2725	3609	2511
10622	1.47	74.1	886.4	8.8	511	10627	0.00	2.65	0.00	0.000	6	0.000	0.066	2725	2201	2511
10949	1.47	74.1	860.7	7.8	527	10954	0.00	2.72	0.00	0.000	4	0.000	0.086	2725	3609	2510
11011	1.47	74.1	855.3	8.2	530	11015	0.00	2.65	0.00	0.000	6	0.000	0.067	2725	2201	2510
11336	1.47	74.1	829.8	7.7	546	11337	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2200	2510
11646	1.47	74.1	806.6	7.4	561	11650	0.00	2.78	0.00	0.000	4	0.000	0.089	2725	3616	2509
11752	1.47	74.1	798.0	7.6	566	11756	0.00	2.67	0.00	0.000	6	0.000	0.070	2725	2201	2509
12077	1.47	74.1	774.6	6.9	582	12078	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2201	2509
12387	1.47	74.1	753.7	6.6	597	12391	0.00	2.78	0.00	0.000	4	0.000	0.091	2725	3615	2509
12566	1.47	74.1	740.8	6.7	605	12570	0.00	2.70	0.00	0.000	6	0.000	0.073	2725	2197	2509
12886	1.47	74.1	720.1	6.1	621	12890	0.00	2.78	0.00	0.000	4	0.000	0.093	2725	3609	2509
12979	1.47	74.1	713.6	7.4	625	12984	0.00	2.70	0.00	0.000	6	0.000	0.071	2725	2200	2509
13300	1.47	74.1	692.1	6.8	641	13305	0.00	2.78	0.00	0.000	4	0.000	0.094	2725	3609	2508
13372	1.47	74.1	686.6	7.8	644	13376	0.00	2.67	0.00	0.000	6	0.000	0.071	2725	2199	2509
13687	1.47	74.1	665.2	6.8	659	13691	0.00	2.75	0.00	0.000	4	0.000	0.087	2726	3609	2509
13742	1.47	74.1	661.1	7.5	661	13748	0.00	2.67	0.00	0.000	6	0.000	0.071	2725	2197	2508
14057	1.47	74.1	639.5	6.7	677	14058	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2197	2509
14366	1.47	74.1	618.5	6.6	692	14367	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2196	2508
14675	1.47	74.1	597.5	6.7	707	14676	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2197	2508
14985	1.47	74.1	576.6	6.8	722	14986	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2196	2508
15294	1.47	74.1	556.1	6.3	737	15295	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2196	2508
15603	1.47	74.1	536.3	6.1	752	15608	0.00	2.78	0.00	0.000	4	0.000	0.091	2725	3615	2508
15725	1.47	74.1	528.4	6.6	757	15731	0.00	2.67	0.00	0.000	6	0.000	0.070	2725	2200	2508
16040	1.47	79.1	510.9	5.5	773	16047	0.00	0.00	4.80	0.826	6	0.000	0.000	2725	2200	2495
16350	1.48	85.1	493.7	5.4	788	16359	0.00	0.00	6.93	0.928	6	0.000	0.000	2725	2200	2470
16659	1.48	85.1	473.9	6.8	803	16663	0.00	2.78	0.00	0.000	4	0.000	0.092	2725	3614	2469
16748	1.48	85.1	467.4	7.1	807	16752	0.00	2.70	0.00	0.000	6	0.000	0.073	2724	2199	2470
17068	1.48	85.1	444.3	7.3	823	17069	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2199	2469
17377	1.48	85.1	421.9	7.3	838	17378	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2199	2470
17686	1.48	85.1	401.4	6.2	853	17687	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2199	2470
17996	1.49	94.7	383.7	5.1	868	18007	0.00	0.00	9.43	0.939	6	0.000	0.000	2725	2199	2430
18305	1.49	95.1	366.1	6.0	883	18309	0.00	2.78	0.00	0.000	4	0.000	0.091	2725	3612	2429
18343	1.49	95.1	363.7	6.4	885	18347	0.00	2.70	0.00	0.000	6	0.000	0.074	2725	2199	2429
18669	1.49	95.1	342.1	7.2	901	18673	0.00	2.78	0.00	0.000	4	0.000	0.091	2725	3612	2429
18925	1.49	95.1	321.0	7.4	912	18932	0.00	2.70	0.00	0.000	6	0.000	0.075	2725	2201	2429
19241	1.49	95.1	299.5	6.4	928	19245	0.00	2.72	0.00	0.000	4	0.000	0.085	2725	782	2429
19302	1.49	95.1	295.8	6.4	931	19307	0.00	2.65	0.00	0.000	6	0.000	0.061	2725	2202	2429
19629	1.49	98.1	275.2	5.7	947	19638	0.00	2.72	4.57	0.706	4	0.000	0.077	2725	784	2417
19834	1.49	98.1	260.9	7.1	956	19838	0.00	2.65	0.00	0.000	6	0.000	0.058	2725	2205	2417
20156	1.49	98.1	239.2	7.7	972	20157	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2205	2417
20464	1.49	98.1	216.4	7.5	987	20469	0.00	2.70	0.00	0.000	4	0.000	0.081	2726	3618	2417
20721	1.49	98.1	197.0	7.0	998	20727	0.00	2.70	0.00	0.000	6	0.000	0.068	2725	2191	2418
21036	1.49	98.1	177.1	6.2	1014	21040	0.00	2.72	0.00	0.000	4	0.000	0.079	2725	3619	2419
21198	1.49	98.7	167.0	5.9	1021	21203	0.00	2.65	0.00	0.000	6	0.000	0.064	2726	2201	2419
21513	1.49	98.7	148.0	6.2	1036	21514	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2201	2420
21824	1.49	98.7	127.2	6.9	1051	21828	0.00	2.67	0.00	0.000	4	0.000	0.075	2725	3612	2421
21878	1.49	98.7	122.8	7.5	1053	21886	0.00	2.65	3.45	0.503	6	0.000	0.061	2725	2203	2414
22195	1.49	98.7	99.9	7.3	1069	22197	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2203	2414
22503	1.49	98.7	77.4	7.4	1084	22508	0.00	2.67	0.00	0.000	4	0.000	0.074	2726	3613	2415
22625	1.49	98.7	67.6	8.0	1089	22632	0.00	2.62	0.00	0.000	6	0.000	0.061	2726	2200	2415
22942	1.49	98.7	43.8	7.9	1105	22947	0.00	2.70	0.00	0.000	4	0.000	0.074	2725	3620	2416
23042	1.49	98.7	34.8	8.5	1109	23049	0.00	2.67	0.00	0.000	6	0.000	0.061	2726	2202	2418
23358	1.49	98.7	7.2	7.3	1125	23363	0.00	2.70	0.00	0.000	4	0.000	0.076	2726	3618	2418
23419	end climb: SURFACE_DEPTH_REACHED
state	23419	begin surface coast
23435	end surface coast: CONTROL_FINISHED_OK
state	23435	begin surface