OKMC Nov12 * SG129 * Dive index * Mission links * Dive 197 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  129 HD_C  9.8541004e-06 ROLL_MIN  215 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  4 HEADING  -1 ROLL_MAX  3935 ALTIM_PING_DEPTH  0
DIVE  197 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  1925 ALTIM_FREQUENCY  13
D_SURF  2 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  1900 ALTIM_PULSE  3
D_FLARE  3 TGT_DEFAULT_LAT  4736 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_CNV  0.028270001 XPDR_VALID  4
D_ABORT  1090 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_NO_BLEED  500 SM_CC  400 R_PORT_OVSHOOT  87 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  4 R_STBD_OVSHOOT  93 INT_PRESSURE_YINT  0
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  350 DEEPGLIDER  0
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
D_SAFE  0 PROTOCOL  1 ROLL_ADJ_DBAND  0 DEVICE1  -1
D_CALL  0 N_NOCOMM  2 VBD_MIN  210 DEVICE2  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 VBD_MAX  3600 DEVICE3  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 C_VBD  2409 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_DBAND  2 DEVICE5  -1
T_DIVE  390 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  410 CALL_WAIT  60 VBD_TIMEOUT  540 LOGGERS  1
T_ABORT  1440 CAPUPLOAD  0 PITCH_VBD_SHIFT  0.00039999999 LOGGERDEVICE1  53
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_SURFACE  6 LOGGERDEVICE2  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_NO_W  120 T_GPS  15 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
T_LOITER  0 N_GPS  20 UNCOM_BLEED  20 COMPASS_DEVICE  97
T_EPIRB  0 T_GPS_ALMANAC  0 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
USE_BATHY  -3 T_GPS_CHARGE  -2897.9351 CF8_MAXERRORS  0 PHONE_DEVICE  48
USE_ICE  0 T_RSLEEP  3 AH0_24V  149.5 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_10V  98.599998 RAFOS_DEVICE  -1
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 MINV_24V  22 XPDR_DEVICE  24
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_10V  9.5 SIM_W  0
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 FG_AHR_10V  0 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_MIN  80 FG_AHR_24V  120.57124 SEABIRD_T_G  0.004337111
MAX_BUOY  180 PITCH_MAX  3800 PHONE_SUPPLY  -2 SEABIRD_T_H  0.00062520173
COURSE_BIAS  0 C_PITCH  2160 PRESSURE_YINT  -51.692307 SEABIRD_T_I  2.3466939e-05
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001153375 SEABIRD_T_J  2.4866913e-06
SPEED_FACTOR  1 PITCH_CNV  0.003125753 AD7714Ch0Gain  128 SEABIRD_C_G  -10.062903
RHO  1.0275 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1231569
MASS  51538 PITCH_GAIN  30 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0017987719
NAV_MODE  2 PITCH_TIMEOUT  15 COMPASS_USE  4 SEABIRD_C_J  0.0002252144
FERRY_MAX  45 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0 SC_RECORDABOVE  2000.0
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SC_PROFILE  3.0
HD_A  0.0038360001 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_TURN_MARGIN  0 SC_XMITPROFILE  3.0
HD_B  0.010078 PITCH_ADJ_DBAND  0 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  221212,013930,1751.809,12437.118,40,1.2,40,-2.0 TGT_NAME  S3
_CALLS  1 TGT_LATLONG  1750.000,12435.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.83 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -62.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  221212,014713,1751.777,12437.238,16,1.1,16,-2.0 MHEAD_RNG_PITCHd_Wd  244.8,5138,-27.7,-8.462,-30.00
SPEED_LIMITS  0.147,0.266 D_GRID  4032

Post-dive calculations and measurements:
FINISH  1.1,1.010828 _10V_AH  10.2,28.174
SM_CCo  17402,37.28,0.050,0,0,778,400.08 FG_AHR_24Vo  120.571
SM_GC  2.50,6.18,0.00,37.28,0.040,0.000,0.050,68,1897,778,-6.45,-0.79,400.08,0,0,0,0,0,0,26.24,28.83,26.16 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1742.84,12437.27,211212,202016 MEM  329536
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  30019,829
HUMID  44.99 CAP_FILE_SIZE  207303,0
INTERNAL_PRESSURE  9.36559 CFSIZE  260034560,232038400
TCM_TEMP  25.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.113, 65.8,1
SC_FREEKB  3944736 GPS  221212,063936,1751.181,12437.136,35,1.5,35,-2.0
_24V_AH  23.5,38.486

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1624796.98 nil000.00
Roll_motor14641141.81 nil000.00
VBD_pump_during_apogee329139010763.16 nil000.00
VBD_pump_during_surface374943.56 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon17408114880.42
Iridium_during_xfer288135918.41 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS18316.00
TT8325811374.23
LPSleep108712242.86
TT8_Active5331161.24
TT8_Sampling2902371109.55
TT8_CF833444153.30
TT8_Kalman000.00
Analog_circuits213815342.43
GPS_charging000.00
Compass25068210.67
RAFOS000.00
Transponder050.03

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.94 -49.1 0.0 0.0 0 81 0.00 0.00 -60.33 0.000 2 0.000 0.000 57 1899 1937 0 0 0 0 0 0 28.83 28.83 28.83
84 -0.95 -78.4 3.3 -5.1 10 116 7.45 2.05 -18.50 0.000 4 0.248 0.041 1841 529 2731 0 0 0 0 0 0 25.27 26.10 26.44
343 -0.95 -78.4 101.2 -42.1 36 349 0.00 1.98 0.00 0.000 6 0.000 0.024 1833 1901 2731 0 0 0 0 0 0 28.83 26.27 28.83
661 -0.95 -78.4 204.7 -24.8 52 667 0.00 1.98 0.00 0.000 4 0.000 0.029 1833 527 2731 0 0 0 0 0 0 28.83 26.32 28.83
833 -0.95 -78.4 246.1 -24.4 60 839 0.12 2.00 0.00 0.000 6 0.199 0.022 1851 1937 2732 0 0 0 0 0 0 25.94 26.41 28.83
1146 -0.95 -78.4 314.7 -18.4 76 1152 0.00 2.03 0.00 0.000 4 0.000 0.029 1851 542 2732 0 0 0 0 0 0 28.83 26.37 28.83
1311 -0.95 -78.4 346.3 -19.6 84 1317 0.00 1.98 0.00 0.000 6 0.000 0.021 1843 1935 2732 0 0 0 0 0 0 28.83 26.45 28.83
1634 -0.95 -78.4 403.7 -15.9 100 1639 0.00 2.00 0.00 0.000 4 0.000 0.030 1843 546 2731 0 0 0 0 0 0 28.83 26.39 28.83
1868 -0.95 -78.4 441.3 -17.1 111 1873 0.00 1.95 0.00 0.000 6 0.000 0.022 1833 1924 2729 0 0 0 0 0 0 28.83 26.46 28.83
2180 -0.95 -78.4 495.6 -16.9 127 2186 0.00 2.00 0.00 0.000 4 0.000 0.031 1833 542 2727 0 0 0 0 0 0 28.83 26.38 28.83
2414 -0.95 -78.4 535.6 -17.9 138 2421 0.12 1.98 0.00 0.000 6 0.196 0.023 1852 1924 2727 0 0 0 0 0 0 25.98 26.43 28.83
2729 -0.95 -78.4 585.9 -14.7 154 2734 0.00 2.03 0.00 0.000 4 0.000 0.031 1852 546 2725 0 0 0 0 0 0 28.83 26.36 28.83
2786 -0.95 -78.4 592.4 -14.4 156 2794 0.00 1.98 0.00 0.000 6 0.000 0.024 1844 1933 2724 0 0 0 0 0 0 28.83 26.44 28.83
3102 -0.95 -78.4 637.5 -13.3 168 3108 0.00 2.05 0.00 0.000 4 0.000 0.031 1844 539 2721 0 0 0 0 0 0 28.83 26.36 28.83
3215 -0.95 -78.4 650.9 -14.2 171 3220 0.00 1.98 0.00 0.000 6 0.000 0.023 1834 1925 2720 0 0 0 0 0 0 28.83 26.44 28.83
3527 -0.95 -78.4 697.1 -14.3 182 3533 0.00 2.03 0.00 0.000 4 0.000 0.032 1834 549 2717 0 0 0 0 0 0 28.83 26.34 28.83
3711 -0.95 -78.4 723.7 -14.6 188 3716 0.00 1.98 0.00 0.000 6 0.000 0.024 1823 1922 2716 0 0 0 0 0 0 28.83 26.42 28.83
4045 -0.95 -78.4 771.1 -14.2 199 4050 0.12 2.05 0.00 0.000 4 0.198 0.031 1858 542 2715 0 0 0 0 0 0 26.06 26.32 28.83
4142 -0.95 -78.4 784.4 -14.1 202 4147 0.00 2.00 0.00 0.000 6 0.000 0.024 1850 1935 2712 0 0 0 0 0 0 28.83 26.41 28.83
4471 -0.95 -78.4 829.4 -13.3 213 4476 0.00 2.03 0.00 0.000 4 0.000 0.034 1854 552 2710 0 0 0 0 0 0 28.83 26.31 28.83
4564 -0.95 -78.4 842.7 -14.0 216 4569 0.00 1.98 0.00 0.000 6 0.000 0.024 1840 1924 2709 0 0 0 0 0 0 28.83 26.41 28.83
4898 -0.95 -78.4 887.2 -13.4 227 4899 0.00 0.00 0.00 0.000 6 0.000 0.000 1840 1925 2706 0 0 0 0 0 0 28.83 28.83 28.83
5196 -0.95 -78.4 925.9 -12.3 237 5202 0.00 2.03 0.00 0.000 4 0.000 0.034 1840 546 2705 0 0 0 0 0 0 28.83 26.28 28.83
5373 -0.95 -78.4 946.3 -13.3 242 5380 0.00 2.00 0.00 0.000 6 0.000 0.025 1830 1927 2703 0 0 0 0 0 0 28.83 26.38 28.83
5680 -0.95 -78.4 985.4 -11.8 253 5686 0.00 2.05 0.00 0.000 4 0.000 0.034 1829 553 2701 0 0 0 0 0 0 28.83 26.27 28.83
5741 end dive: TARGET_DEPTH_EXCEEDED
state 5741 begin apogee
5748 -0.17 0.0 993.1 -11.8 255 5818 0.95 0.00 60.40 1.390 6 0.165 0.000 2102 1905 2409 0 0 0 0 0 0 25.29 28.83 23.87
5819 end apogee: CONTROL_FINISHED_OK
state 5819 begin climb
5821 0.95 78.4 995.4 0.0 257 5898 1.05 2.20 68.55 1.356 4 0.090 0.035 2465 3282 2090 0 0 0 0 0 0 25.22 24.64 23.46
5956 0.95 78.4 984.6 9.6 262 5961 0.00 2.08 0.00 0.000 6 0.000 0.026 2473 1919 2085 0 0 0 0 0 0 28.83 25.37 28.83
6289 0.95 78.4 948.0 10.8 273 6295 0.00 2.10 0.00 0.000 4 0.000 0.036 2472 3298 2080 0 0 0 0 0 0 28.83 26.08 28.83
6497 0.95 78.4 926.5 11.5 279 6504 0.00 2.05 0.00 0.000 6 0.000 0.027 2481 1893 2078 0 0 0 0 0 0 28.83 26.26 28.83
6804 0.95 78.4 890.8 10.6 290 6805 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 1893 2076 0 0 0 0 0 0 28.83 28.83 28.83
7103 0.95 78.4 859.3 10.7 300 7109 0.00 2.08 0.00 0.000 4 0.000 0.034 2481 3293 2075 0 0 0 0 0 0 28.83 26.27 28.83
7336 0.95 78.4 835.5 11.0 307 7342 0.00 2.03 0.00 0.000 6 0.000 0.026 2490 1896 2075 0 0 0 0 0 0 28.83 26.38 28.83
7649 0.95 78.4 802.2 9.9 318 7654 0.00 2.10 0.00 0.000 4 0.000 0.034 2489 3296 2072 0 0 0 0 0 0 28.83 26.27 28.83
7882 0.95 78.4 781.0 9.9 325 7888 0.12 2.03 0.00 0.000 6 0.213 0.026 2470 1896 2072 0 0 0 0 0 0 25.85 26.39 28.83
8198 0.95 78.4 749.5 9.6 336 8199 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1901 2071 0 0 0 0 0 0 28.83 28.83 28.83
8495 0.95 78.4 723.2 8.7 346 8501 0.00 2.12 0.00 0.000 4 0.000 0.034 2470 3310 2070 0 0 0 0 0 0 28.83 26.25 28.83
8663 0.95 78.4 708.0 9.9 351 8669 0.00 2.05 0.00 0.000 6 0.000 0.026 2479 1892 2070 0 0 0 0 0 0 28.83 26.39 28.83
8981 0.95 78.4 678.3 8.9 362 8987 0.00 2.10 0.00 0.000 4 0.000 0.034 2480 3295 2069 0 0 0 0 0 0 28.83 26.24 28.83
9033 0.95 78.4 675.5 8.8 363 9038 0.00 2.03 0.00 0.000 6 0.000 0.027 2487 1893 2070 0 0 0 0 0 0 28.83 26.37 28.83
9346 0.95 78.4 646.7 8.6 374 9351 0.00 2.10 0.00 0.000 4 0.000 0.034 2486 3288 2069 0 0 0 0 0 0 28.83 26.22 28.83
9473 0.95 78.4 634.5 9.9 378 9480 0.12 2.00 0.00 0.000 6 0.203 0.026 2466 1905 2068 0 0 0 0 0 0 25.83 26.36 28.83
9804 0.96 87.5 608.1 7.4 389 9815 0.00 2.05 5.05 0.882 4 0.000 0.034 2476 508 2053 0 0 0 0 0 0 28.83 26.30 24.33
9838 0.96 98.4 605.6 7.2 390 9858 0.00 2.03 11.43 1.076 6 0.000 0.022 2472 1921 2007 0 0 0 0 0 0 28.83 26.36 24.58
10171 0.96 99.9 578.9 8.3 405 10176 0.00 2.00 0.00 0.000 4 0.000 0.035 2472 3279 2005 0 0 0 0 0 0 28.83 26.14 28.83
10404 0.96 99.9 558.4 9.3 416 10409 0.00 2.03 0.00 0.000 6 0.000 0.026 2481 1889 2004 0 0 0 0 0 0 28.83 26.31 28.83
10717 0.96 100.1 529.8 8.4 432 10723 0.00 2.08 0.00 0.000 4 0.000 0.034 2481 3274 2004 0 0 0 0 0 0 28.83 26.22 28.83
10850 0.96 100.1 518.9 9.0 438 10855 0.00 2.00 0.00 0.000 6 0.000 0.025 2490 1891 2004 0 0 0 0 0 0 28.83 26.36 28.83
11162 0.96 105.4 492.7 7.9 454 11177 0.00 2.08 7.18 0.936 4 0.000 0.036 2500 514 1978 0 0 0 0 0 0 28.83 26.27 24.70
11219 0.97 108.2 489.3 8.1 456 11230 0.00 2.00 4.45 0.775 6 0.000 0.021 2499 1920 1966 0 0 0 0 0 0 28.83 26.29 24.55
11548 0.97 108.2 460.0 8.6 473 11553 0.00 2.00 0.00 0.000 4 0.000 0.034 2499 3268 1965 0 0 0 0 0 0 28.83 26.20 28.83
11666 0.97 108.2 450.9 9.0 478 11674 0.15 2.00 0.00 0.000 6 0.189 0.026 2471 1890 1964 0 0 0 0 0 0 25.77 26.32 28.83
11971 0.97 118.1 426.2 7.3 494 11991 0.00 2.15 9.48 0.943 4 0.000 0.034 2470 3276 1927 0 0 0 0 0 0 28.83 26.18 24.81
12050 0.97 127.1 421.5 7.4 497 12066 0.00 2.03 9.30 0.927 6 0.000 0.025 2480 1884 1889 0 0 0 0 0 0 28.83 26.23 24.68
12378 0.97 127.1 394.0 8.9 514 12385 0.00 2.03 0.00 0.000 4 0.000 0.036 2486 507 1886 0 0 0 0 0 0 28.83 26.15 28.83
12567 0.97 127.1 376.5 10.0 523 12572 0.00 2.00 0.00 0.000 6 0.000 0.022 2486 1894 1885 0 0 0 0 0 0 28.83 26.32 28.83
12885 0.97 127.1 349.5 8.5 539 12890 0.00 2.03 0.00 0.000 4 0.000 0.034 2485 3282 1885 0 0 0 0 0 0 28.83 26.22 28.83
13052 0.97 127.1 334.8 9.4 547 13058 0.00 2.00 0.00 0.000 6 0.000 0.025 2494 1894 1886 0 0 0 0 0 0 28.83 26.36 28.83
13371 0.98 140.3 311.1 6.9 563 13391 0.00 2.10 12.02 0.872 4 0.000 0.036 2503 506 1836 0 0 0 0 0 0 28.83 26.18 24.91
13618 0.98 143.2 291.1 8.1 575 13629 0.00 1.98 3.80 0.599 6 0.000 0.021 2503 1914 1825 0 0 0 0 0 0 28.83 26.29 24.64
13938 0.98 152.6 264.3 7.4 591 13958 0.00 2.12 9.90 0.803 4 0.000 0.032 2513 516 1784 0 0 0 0 0 0 28.83 26.17 24.91
14082 0.98 152.6 252.6 8.5 598 14088 0.12 1.98 0.00 0.000 6 0.169 0.021 2481 1913 1783 0 0 0 0 0 0 25.86 26.25 28.83
14406 0.99 159.5 227.7 7.7 614 14417 0.00 2.05 6.93 0.715 4 0.000 0.032 2485 3266 1758 0 0 0 0 0 0 28.83 26.22 24.89
14555 0.99 172.4 217.2 7.0 621 14572 0.00 1.98 12.35 0.773 6 0.000 0.024 2491 1888 1706 0 0 0 0 0 0 28.83 26.30 24.92
14872 0.99 180.2 192.2 7.6 637 14886 0.00 2.05 8.02 0.702 4 0.000 0.034 2497 504 1673 0 0 0 0 0 0 28.83 26.15 24.90
15099 0.99 181.0 173.5 8.4 648 15105 0.00 1.98 0.00 0.000 6 0.000 0.020 2497 1872 1670 0 0 0 0 0 0 28.83 26.32 28.83
15418 1.00 205.1 150.2 5.7 664 15447 0.00 2.12 20.88 0.737 4 0.000 0.031 2497 3279 1573 0 0 0 0 0 0 28.83 26.01 24.98
15480 1.01 228.5 146.4 5.8 667 15508 0.00 2.00 20.10 0.722 6 0.000 0.022 2506 1891 1476 0 0 0 0 0 0 28.83 26.10 24.75
15821 1.02 249.3 123.5 6.1 684 15846 0.00 2.08 17.25 0.692 4 0.000 0.033 2517 520 1391 0 0 0 0 0 0 28.83 25.96 24.94
15899 1.03 258.8 118.4 7.4 687 15916 0.00 2.00 9.05 0.634 6 0.000 0.019 2516 1900 1352 0 0 0 0 0 0 28.83 26.11 24.82
16229 1.03 279.8 88.8 6.0 704 16254 0.00 2.05 17.70 0.660 4 0.000 0.031 2517 3288 1268 0 0 0 0 0 0 28.83 25.99 25.00
16441 1.03 280.1 72.2 8.4 714 16446 0.00 2.00 0.00 0.000 6 0.000 0.022 2501 1890 1266 0 0 0 0 0 0 28.83 26.23 28.83
16754 1.03 280.1 44.5 9.1 733 16759 0.12 2.00 0.00 0.000 4 0.171 0.030 2494 517 1266 0 0 0 0 0 0 26.09 26.28 28.83
16781 1.03 280.1 42.7 8.5 735 16787 0.00 1.95 0.00 0.000 6 0.000 0.019 2494 1904 1266 0 0 0 0 0 0 28.83 26.41 28.83
17087 1.05 311.2 21.4 4.9 772 17108 0.00 2.08 15.68 0.565 4 0.000 0.031 2494 3279 1139 0 0 0 0 0 0 28.83 26.19 25.21
17135 1.05 311.2 17.7 9.2 780 17143 0.00 1.98 0.00 0.000 6 0.000 0.022 2494 1897 1137 0 0 0 0 0 0 28.83 26.25 28.83
17355 end climb: SURFACE_DEPTH_REACHED
state 17355 begin surface coast
17386 end surface coast: CONTROL_FINISHED_OK
state 17386 begin surface