Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 242 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 180 C_ROLL_CLIMB 2740 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 242 FIX_MISSING_TIMEOUT 4 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -14430 R_PORT_OVSHOOT 57 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 676.53741 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_GAIN 1.5 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.050000001 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 9 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 1.75 N_NOCOMM 6 C_VBD 3258 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 3 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 1

SURFACE_URGENCY_TRY 5 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 10 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 215 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 250 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -5676.4487 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 1 RAFOS_PEAK_OFFSET 0 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.050000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044209026

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00065043929

T_WATCHDOG 10 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_I 2.5803243e-05

RELAUNCH 1 PITCH_MAX 3896 FG_AHR_10V 0 SEABIRD_T_J 3.1106315e-06

APOGEE_PITCH -5 C_PITCH 2895 FG_AHR_24V 0 SEABIRD_C_G -9.7475271

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1204907

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -73.350418 SEABIRD_C_I -0.00083350006

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001164176 SEABIRD_C_J 0.00013962483

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54281 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 10 TM_LOGSAMPLE 0.0

HD_A 0.0043000001 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3787 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 4.3e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2760 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 10

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3896 SURFACE_URGENCY_TRY 5

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 FERRY_MAX 45 PITCH_MIN 208 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 20 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 4 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001164176 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -73.350418 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0043000001 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 4.3e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 3 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 215

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.050000001 RAFOS_PEAK_OFFSET 0 T_GPS 3

CAPUPLOAD 0 ID 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -5676.4487

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 ROLL_ADJ_DBAND 0.050000001 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 1.5 T_MISSION 250

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 360

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2895 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2740 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2760 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3258 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 57 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 22 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 7 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 0 SEABIRD_C_G -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 242 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0044209026 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 3 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.1106315e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SM_CC 676.53741

D_PITCH 1.75 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 290814,171902,7353.119,-14426.769,5,0.8,26,23.1 SPEED_LIMITS 0.201,0.252

_CALLS 1 TGT_NAME 6

_XMS_NAKs 0 TGT_LATLONG 7435.000,-14230.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 3.23 MHEAD_RNG_PITCHd_Wd 13.4,96546,-22.3,-11.628,-24.76,1933

_SM_ANGLEo -63.6 D_GRID 1000

GPS2 290814,171902,7353.119,-14426.769,5,0.8,26,23.1

Post-dive calculations and measurements:

FREEZE 0.73,-1.439,-1.435,2,3,0 _24V_AH 12.69,73.479

FINISH 0.7,1.021172 _10V_AH 12.97,0.000

SM_CCo 11927,0.00,0.000,0,0,499,676.78 FG_AHR_24Vo 0.000

SM_GC 1.76,9.43,0.08,0.00,0.079,0.193,0.000,202,2769,499,-8.36,-0.71,676.78,0,0,0,0,0,0,14.34,14.28,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 585 MEM 224448

RAFOS_FIX 7324.021484,-14457.928711,260814,121206,2,255,0.38 DATA_FILE_SIZE 26729,767

IRIDIUM_FIX 7312.24,-14431.34,290814,134349 CAP_FILE_SIZE 120825,0

TT8_MAMPS 0.042693,0.042693 CFSIZE 2097872896,2044985344

HUMID 44.60 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.55303 INTR 2,5214.86,0x234482,2,24

TCM_TEMP 12.50 SOUNDSPEED 1447.9

XPDR_PINGS 8 GPS 300814,032854,7356.190,-14418.138,30,0.8,50,23.2

SC_FREEKB 3830240

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 380 111.68 nil 0 0 0.00

Roll_motor 41 192 100.91 nil 0 0 0.00

VBD_pump_during_apogee 566 1972 14168.32 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 11888 18 2715.46

Iridium_during_xfer 0 0 0.00 TMICL 0 0 0.00

Transponder_ping 2 420 10.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 9713 2 291.01

TT8_Active 642 9 78.96

TT8_Sampling 1557 28 584.78

TT8_CF8 123 35 57.05

TT8_Kalman 0 0 0.00

Analog_circuits 1268 10 164.51

GPS_charging 0 0 0.00

Compass 1152 0 11.22

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.69 -145.9 200 2747 423 574 0.0 0.0 0 31 0.00 0.00 -14.18 0.000 16386 0.000 0.000 199 2747 921 917 926 0 0 0 0 0 0 28.83 28.83 28.83

33 -0.69 -145.9 199 2745 921 926 3.2 0.0 1 144 11.75 2.38 -90.90 0.000 18948 0.381 0.090 2666 1367 3856 3921 3792 0 0 0 0 0 0 14.00 14.23 14.44

298 -0.69 -145.9 2667 1366 3922 3794 64.5 -22.7 55 304 0.00 2.55 0.00 0.000 1030 0.000 0.099 2658 2749 3858 3921 3796 0 0 0 0 0 0 28.83 14.20 28.83

608 -0.69 -145.9 2658 2750 3922 3796 135.3 -21.5 87 609 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2750 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

908 -0.69 -145.9 2658 2750 3922 3796 194.8 -18.9 117 909 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2749 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

1208 -0.69 -145.9 2658 2749 3922 3796 247.0 -16.2 147 1209 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2749 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

1529 -0.69 -145.9 2659 2750 3921 3796 294.5 -14.4 159 1529 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2749 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

1828 -0.69 -145.9 2658 2750 3920 3796 336.0 -13.7 169 1829 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2749 3857 3920 3795 0 0 0 0 0 0 28.83 28.83 28.83

2129 -0.69 -145.9 2658 2750 3922 3795 376.8 -13.5 179 2129 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2749 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

2428 -0.69 -145.9 2658 2750 3921 3796 416.8 -13.2 189 2433 0.00 1.85 0.00 0.000 260 0.000 0.103 2649 3784 3858 3921 3795 0 0 0 0 0 0 28.83 14.48 28.83

2483 -0.69 -145.9 2650 3786 3921 3796 424.7 -14.4 200 2490 0.00 1.67 0.00 0.000 1030 0.000 0.054 2649 2764 3857 3920 3794 0 0 0 0 0 0 28.83 14.58 28.83

2788 -0.69 -145.9 2650 2765 3921 3796 466.1 -13.4 211 2789 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2765 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

3089 -0.69 -145.9 2650 2764 3922 3795 506.5 -13.4 221 3089 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2764 3857 3920 3795 0 0 0 0 0 0 28.83 28.83 28.83

3388 -0.69 -145.9 2650 2765 3921 3796 546.4 -13.3 231 3389 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2764 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

3688 -0.69 -145.9 2650 2765 3921 3796 585.2 -12.8 241 3694 0.00 2.30 0.00 0.000 516 0.000 0.065 2649 1372 3858 3921 3795 0 0 0 0 0 0 28.83 14.58 28.83

3713 -0.69 -145.9 2650 1373 3921 3796 588.3 -13.1 246 3720 0.12 2.45 0.00 0.000 3078 0.269 0.096 2665 2768 3858 3921 3795 0 0 0 0 0 0 14.41 14.54 28.83

4020 -0.69 -145.9 2666 2769 3921 3796 623.1 -11.4 257 4020 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2768 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

4319 -0.69 -145.9 2665 2768 3922 3795 657.3 -11.3 267 4319 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2768 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

4619 -0.69 -145.9 2666 2769 3921 3796 691.1 -11.2 277 4619 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2768 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

4919 -0.69 -145.9 2666 2770 3921 3796 724.4 -11.0 287 4919 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2768 3858 3921 3795 0 0 0 0 0 0 28.83 28.83 28.83

5157 end dive: TARGET_DEPTH_EXCEEDED

state 5157 begin apogee

5161 -0.13 0.0 2666 2769 3922 3796 750.9 -11.0 295 5290 0.68 0.00 126.38 1.972 10246 0.220 0.000 2849 2768 3256 3276 3237 0 0 0 0 0 0 14.41 28.83 13.13

5291 end apogee: CONTROL_FINISHED_OK

state 5291 begin climb

5292 0.69 145.9 2850 2767 3271 3233 754.2 0.0 299 5424 0.88 0.00 125.20 1.828 10758 0.117 0.000 3111 2769 2655 2663 2648 0 0 0 0 0 0 13.80 28.83 12.69

5728 0.69 145.9 3111 2769 2664 2639 707.8 13.5 319 5734 0.00 2.47 0.00 0.000 516 0.000 0.064 3122 1353 2653 2663 2644 0 0 0 0 0 0 28.83 14.04 28.83

5748 0.69 145.9 3118 1353 2664 2644 705.3 13.0 323 5754 0.00 2.53 0.00 0.000 1030 0.000 0.090 3122 2745 2653 2663 2644 0 0 0 0 0 0 28.83 14.04 28.83

6058 0.69 145.9 3123 2746 2664 2644 662.5 13.7 335 6059 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2742 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

6358 0.69 145.9 3123 2746 2664 2645 621.3 13.7 345 6359 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2745 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

6658 0.69 145.9 3123 2746 2664 2643 580.4 13.6 355 6659 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2745 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

6959 0.69 145.9 3123 2746 2664 2644 539.3 13.6 365 6959 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2745 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

7258 0.69 145.9 3123 2745 2664 2643 499.6 13.1 375 7259 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2746 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

7558 0.69 145.9 3123 2746 2664 2644 460.2 13.1 385 7564 0.00 1.85 0.00 0.000 260 0.000 0.098 3122 3780 2653 2664 2643 0 0 0 0 0 0 28.83 14.45 28.83

7598 0.69 145.9 3122 3780 2664 2643 454.3 15.2 393 7604 0.00 1.70 0.00 0.000 1030 0.000 0.050 3129 2739 2652 2663 2642 0 0 0 0 0 0 28.83 14.57 28.83

7920 0.69 145.9 3130 2739 2664 2643 411.6 13.2 407 7920 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2738 2652 2663 2642 0 0 0 0 0 0 28.83 28.83 28.83

8218 0.69 145.9 3129 2738 2665 2642 372.3 12.9 417 8219 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2738 2652 2663 2642 0 0 0 0 0 0 28.83 28.83 28.83

8518 0.69 145.9 3129 2738 2664 2642 333.8 12.8 427 8519 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2738 2652 2663 2642 0 0 0 0 0 0 28.83 28.83 28.83

8818 0.69 145.9 3130 2739 2664 2643 296.4 12.4 437 8819 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2738 2653 2663 2643 0 0 0 0 0 0 28.83 28.83 28.83

9118 0.70 159.8 3130 2739 2664 2644 262.7 10.9 447 9138 0.00 2.38 12.18 1.322 8708 0.000 0.065 3139 1351 2599 2606 2593 0 0 0 0 0 0 28.83 14.57 13.96

9179 0.72 191.8 3140 1351 2606 2593 256.7 9.9 459 9210 0.00 2.42 26.23 1.277 9222 0.000 0.092 3139 2741 2473 2476 2470 0 0 0 0 0 0 28.83 14.48 13.83

9510 0.74 211.8 3140 2741 2477 2464 218.8 10.6 493 9530 0.00 0.00 17.50 1.259 8710 0.000 0.000 3139 2741 2389 2392 2386 0 0 0 0 0 0 28.83 28.83 13.78

9829 0.77 261.0 3140 2741 2394 2381 187.1 9.0 526 9871 0.00 0.00 41.03 1.203 8198 0.000 0.000 3139 2741 2195 2196 2195 0 0 0 0 0 0 28.83 28.83 13.66

10170 0.79 284.4 3140 2742 2192 2181 150.8 10.4 560 10191 0.00 0.00 20.30 1.188 8198 0.000 0.000 3139 2741 2098 2102 2094 0 0 0 0 0 0 28.83 28.83 13.72

10490 0.81 318.4 3139 2742 2099 2082 118.0 9.8 592 10521 0.00 2.45 26.38 1.149 8708 0.000 0.066 3149 1356 1953 1953 1953 0 0 0 0 0 0 28.83 14.24 13.72

10575 0.83 351.2 3150 1356 1949 1951 109.5 9.9 609 10606 0.00 2.45 25.42 1.143 9222 0.000 0.092 3149 2732 1822 1820 1824 0 0 0 0 0 0 28.83 14.23 13.64

10911 0.86 383.6 3150 2732 1820 1810 73.4 9.9 646 10927 0.00 0.00 13.55 0.406 8710 0.000 0.000 3149 2732 1694 1698 1690 0 0 0 0 0 0 28.83 28.83 13.97

11232 0.94 500.2 3150 2731 1708 1686 47.1 5.4 679 11293 0.12 2.42 52.30 0.327 10756 0.123 0.067 3219 1355 1218 1230 1207 0 0 0 0 0 0 14.33 14.21 14.02

11367 0.98 562.1 3219 1356 1232 1202 36.2 8.3 706 11404 0.00 2.47 27.90 0.295 9222 0.000 0.093 3218 2714 966 969 963 0 0 0 0 0 0 28.83 14.15 14.02

11703 1.06 672.9 3219 2714 968 956 10.3 5.7 743 11761 0.00 2.40 50.47 0.223 8708 0.000 0.067 3221 1358 511 464 559 0 0 0 0 0 0 28.83 14.20 14.10

11806 1.13 767.8 3221 1355 465 559 3.9 6.6 762 11813 0.12 2.42 1.30 0.258 11270 0.133 0.090 3272 2718 498 449 547 0 0 0 0 0 0 14.26 14.21 14.07

11829 end climb: SURFACE_DEPTH_REACHED

state 11829 begin surface coast

11851 end surface coast: FINISH_DEPTH_REACHED

state 11851 begin surface

ID	196	ESCAPE_HEADING	180	C_ROLL_CLIMB	2740	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	242	FIX_MISSING_TIMEOUT	4	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-14430	R_PORT_OVSHOOT	57	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	676.53741	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_GAIN	1.5	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.050000001	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	9	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	1.75	N_NOCOMM	6	C_VBD	3258	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	3	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	1
SURFACE_URGENCY_TRY	5	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	10	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	215	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	250	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-5676.4487	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	1	RAFOS_PEAK_OFFSET	0	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.050000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044209026
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00065043929
T_WATCHDOG	10	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_I	2.5803243e-05
RELAUNCH	1	PITCH_MAX	3896	FG_AHR_10V	0	SEABIRD_T_J	3.1106315e-06
APOGEE_PITCH	-5	C_PITCH	2895	FG_AHR_24V	0	SEABIRD_C_G	-9.7475271
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1204907
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-73.350418	SEABIRD_C_I	-0.00083350006
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001164176	SEABIRD_C_J	0.00013962483
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54281	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	10	TM_LOGSAMPLE	0.0
HD_A	0.0043000001	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3787	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	4.3e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2760	ALTIM_PING_DELTA	20

GPS1	290814,171902,7353.119,-14426.769,5,0.8,26,23.1	SPEED_LIMITS	0.201,0.252
_CALLS	1	TGT_NAME	6
_XMS_NAKs	0	TGT_LATLONG	7435.000,-14230.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	3.23	MHEAD_RNG_PITCHd_Wd	13.4,96546,-22.3,-11.628,-24.76,1933
_SM_ANGLEo	-63.6	D_GRID	1000
GPS2	290814,171902,7353.119,-14426.769,5,0.8,26,23.1

FREEZE	0.73,-1.439,-1.435,2,3,0	_24V_AH	12.69,73.479
FINISH	0.7,1.021172	_10V_AH	12.97,0.000
SM_CCo	11927,0.00,0.000,0,0,499,676.78	FG_AHR_24Vo	0.000
SM_GC	1.76,9.43,0.08,0.00,0.079,0.193,0.000,202,2769,499,-8.36,-0.71,676.78,0,0,0,0,0,0,14.34,14.28,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	585	MEM	224448
RAFOS_FIX	7324.021484,-14457.928711,260814,121206,2,255,0.38	DATA_FILE_SIZE	26729,767
IRIDIUM_FIX	7312.24,-14431.34,290814,134349	CAP_FILE_SIZE	120825,0
TT8_MAMPS	0.042693,0.042693	CFSIZE	2097872896,2044985344
HUMID	44.60	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.55303	INTR	2,5214.86,0x234482,2,24
TCM_TEMP	12.50	SOUNDSPEED	1447.9
XPDR_PINGS	8	GPS	300814,032854,7356.190,-14418.138,30,0.8,50,23.2
SC_FREEKB	3830240

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	380	111.68	nil	0	0	0.00
Roll_motor	41	192	100.91	nil	0	0	0.00
VBD_pump_during_apogee	566	1972	14168.32	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	11888	18	2715.46
Iridium_during_xfer	0	0	0.00	TMICL	0	0	0.00
Transponder_ping	2	420	10.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	9713	2	291.01
TT8_Active	642	9	78.96
TT8_Sampling	1557	28	584.78
TT8_CF8	123	35	57.05
TT8_Kalman	0	0	0.00
Analog_circuits	1268	10	164.51
GPS_charging	0	0	0.00
Compass	1152	0	11.22
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.69	-145.9	200	2747	423	574	0.0	0.0	0	31	0.00	0.00	-14.18	0.000	16386	0.000	0.000	199	2747	921	917	926	0	0	0	0	0	0	28.83	28.83	28.83
33	-0.69	-145.9	199	2745	921	926	3.2	0.0	1	144	11.75	2.38	-90.90	0.000	18948	0.381	0.090	2666	1367	3856	3921	3792	0	0	0	0	0	0	14.00	14.23	14.44
298	-0.69	-145.9	2667	1366	3922	3794	64.5	-22.7	55	304	0.00	2.55	0.00	0.000	1030	0.000	0.099	2658	2749	3858	3921	3796	0	0	0	0	0	0	28.83	14.20	28.83
608	-0.69	-145.9	2658	2750	3922	3796	135.3	-21.5	87	609	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2750	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
908	-0.69	-145.9	2658	2750	3922	3796	194.8	-18.9	117	909	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2749	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
1208	-0.69	-145.9	2658	2749	3922	3796	247.0	-16.2	147	1209	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2749	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
1529	-0.69	-145.9	2659	2750	3921	3796	294.5	-14.4	159	1529	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2749	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
1828	-0.69	-145.9	2658	2750	3920	3796	336.0	-13.7	169	1829	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2749	3857	3920	3795	0	0	0	0	0	0	28.83	28.83	28.83
2129	-0.69	-145.9	2658	2750	3922	3795	376.8	-13.5	179	2129	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2749	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
2428	-0.69	-145.9	2658	2750	3921	3796	416.8	-13.2	189	2433	0.00	1.85	0.00	0.000	260	0.000	0.103	2649	3784	3858	3921	3795	0	0	0	0	0	0	28.83	14.48	28.83
2483	-0.69	-145.9	2650	3786	3921	3796	424.7	-14.4	200	2490	0.00	1.67	0.00	0.000	1030	0.000	0.054	2649	2764	3857	3920	3794	0	0	0	0	0	0	28.83	14.58	28.83
2788	-0.69	-145.9	2650	2765	3921	3796	466.1	-13.4	211	2789	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2765	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
3089	-0.69	-145.9	2650	2764	3922	3795	506.5	-13.4	221	3089	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2764	3857	3920	3795	0	0	0	0	0	0	28.83	28.83	28.83
3388	-0.69	-145.9	2650	2765	3921	3796	546.4	-13.3	231	3389	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2764	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
3688	-0.69	-145.9	2650	2765	3921	3796	585.2	-12.8	241	3694	0.00	2.30	0.00	0.000	516	0.000	0.065	2649	1372	3858	3921	3795	0	0	0	0	0	0	28.83	14.58	28.83
3713	-0.69	-145.9	2650	1373	3921	3796	588.3	-13.1	246	3720	0.12	2.45	0.00	0.000	3078	0.269	0.096	2665	2768	3858	3921	3795	0	0	0	0	0	0	14.41	14.54	28.83
4020	-0.69	-145.9	2666	2769	3921	3796	623.1	-11.4	257	4020	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2768	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
4319	-0.69	-145.9	2665	2768	3922	3795	657.3	-11.3	267	4319	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2768	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
4619	-0.69	-145.9	2666	2769	3921	3796	691.1	-11.2	277	4619	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2768	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
4919	-0.69	-145.9	2666	2770	3921	3796	724.4	-11.0	287	4919	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2768	3858	3921	3795	0	0	0	0	0	0	28.83	28.83	28.83
5157	end dive: TARGET_DEPTH_EXCEEDED
state	5157	begin apogee
5161	-0.13	0.0	2666	2769	3922	3796	750.9	-11.0	295	5290	0.68	0.00	126.38	1.972	10246	0.220	0.000	2849	2768	3256	3276	3237	0	0	0	0	0	0	14.41	28.83	13.13
5291	end apogee: CONTROL_FINISHED_OK
state	5291	begin climb
5292	0.69	145.9	2850	2767	3271	3233	754.2	0.0	299	5424	0.88	0.00	125.20	1.828	10758	0.117	0.000	3111	2769	2655	2663	2648	0	0	0	0	0	0	13.80	28.83	12.69
5728	0.69	145.9	3111	2769	2664	2639	707.8	13.5	319	5734	0.00	2.47	0.00	0.000	516	0.000	0.064	3122	1353	2653	2663	2644	0	0	0	0	0	0	28.83	14.04	28.83
5748	0.69	145.9	3118	1353	2664	2644	705.3	13.0	323	5754	0.00	2.53	0.00	0.000	1030	0.000	0.090	3122	2745	2653	2663	2644	0	0	0	0	0	0	28.83	14.04	28.83
6058	0.69	145.9	3123	2746	2664	2644	662.5	13.7	335	6059	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	2742	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
6358	0.69	145.9	3123	2746	2664	2645	621.3	13.7	345	6359	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	2745	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
6658	0.69	145.9	3123	2746	2664	2643	580.4	13.6	355	6659	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	2745	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
6959	0.69	145.9	3123	2746	2664	2644	539.3	13.6	365	6959	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	2745	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
7258	0.69	145.9	3123	2745	2664	2643	499.6	13.1	375	7259	0.00	0.00	0.00	0.000	6	0.000	0.000	3122	2746	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
7558	0.69	145.9	3123	2746	2664	2644	460.2	13.1	385	7564	0.00	1.85	0.00	0.000	260	0.000	0.098	3122	3780	2653	2664	2643	0	0	0	0	0	0	28.83	14.45	28.83
7598	0.69	145.9	3122	3780	2664	2643	454.3	15.2	393	7604	0.00	1.70	0.00	0.000	1030	0.000	0.050	3129	2739	2652	2663	2642	0	0	0	0	0	0	28.83	14.57	28.83
7920	0.69	145.9	3130	2739	2664	2643	411.6	13.2	407	7920	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2738	2652	2663	2642	0	0	0	0	0	0	28.83	28.83	28.83
8218	0.69	145.9	3129	2738	2665	2642	372.3	12.9	417	8219	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2738	2652	2663	2642	0	0	0	0	0	0	28.83	28.83	28.83
8518	0.69	145.9	3129	2738	2664	2642	333.8	12.8	427	8519	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2738	2652	2663	2642	0	0	0	0	0	0	28.83	28.83	28.83
8818	0.69	145.9	3130	2739	2664	2643	296.4	12.4	437	8819	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2738	2653	2663	2643	0	0	0	0	0	0	28.83	28.83	28.83
9118	0.70	159.8	3130	2739	2664	2644	262.7	10.9	447	9138	0.00	2.38	12.18	1.322	8708	0.000	0.065	3139	1351	2599	2606	2593	0	0	0	0	0	0	28.83	14.57	13.96
9179	0.72	191.8	3140	1351	2606	2593	256.7	9.9	459	9210	0.00	2.42	26.23	1.277	9222	0.000	0.092	3139	2741	2473	2476	2470	0	0	0	0	0	0	28.83	14.48	13.83
9510	0.74	211.8	3140	2741	2477	2464	218.8	10.6	493	9530	0.00	0.00	17.50	1.259	8710	0.000	0.000	3139	2741	2389	2392	2386	0	0	0	0	0	0	28.83	28.83	13.78
9829	0.77	261.0	3140	2741	2394	2381	187.1	9.0	526	9871	0.00	0.00	41.03	1.203	8198	0.000	0.000	3139	2741	2195	2196	2195	0	0	0	0	0	0	28.83	28.83	13.66
10170	0.79	284.4	3140	2742	2192	2181	150.8	10.4	560	10191	0.00	0.00	20.30	1.188	8198	0.000	0.000	3139	2741	2098	2102	2094	0	0	0	0	0	0	28.83	28.83	13.72
10490	0.81	318.4	3139	2742	2099	2082	118.0	9.8	592	10521	0.00	2.45	26.38	1.149	8708	0.000	0.066	3149	1356	1953	1953	1953	0	0	0	0	0	0	28.83	14.24	13.72
10575	0.83	351.2	3150	1356	1949	1951	109.5	9.9	609	10606	0.00	2.45	25.42	1.143	9222	0.000	0.092	3149	2732	1822	1820	1824	0	0	0	0	0	0	28.83	14.23	13.64
10911	0.86	383.6	3150	2732	1820	1810	73.4	9.9	646	10927	0.00	0.00	13.55	0.406	8710	0.000	0.000	3149	2732	1694	1698	1690	0	0	0	0	0	0	28.83	28.83	13.97
11232	0.94	500.2	3150	2731	1708	1686	47.1	5.4	679	11293	0.12	2.42	52.30	0.327	10756	0.123	0.067	3219	1355	1218	1230	1207	0	0	0	0	0	0	14.33	14.21	14.02
11367	0.98	562.1	3219	1356	1232	1202	36.2	8.3	706	11404	0.00	2.47	27.90	0.295	9222	0.000	0.093	3218	2714	966	969	963	0	0	0	0	0	0	28.83	14.15	14.02
11703	1.06	672.9	3219	2714	968	956	10.3	5.7	743	11761	0.00	2.40	50.47	0.223	8708	0.000	0.067	3221	1358	511	464	559	0	0	0	0	0	0	28.83	14.20	14.10
11806	1.13	767.8	3221	1355	465	559	3.9	6.6	762	11813	0.12	2.42	1.30	0.258	11270	0.133	0.090	3272	2718	498	449	547	0	0	0	0	0	0	14.26	14.21	14.07
11829	end climb: SURFACE_DEPTH_REACHED
state	11829	begin surface coast
11851	end surface coast: FINISH_DEPTH_REACHED
state	11851	begin surface