Parameter values: Sort by alphabetical glider order
ID | 128 | KALMAN_USE | 2 | ROLL_MIN | 200 | AD7714Ch0Gain | 32 |
MISSION | 4 | HD_A | 0.0026803601 | ROLL_MAX | 3700 | COMPASS_USE | 4 |
DIVE | 25 | HD_B | 0.0139002 | ROLL_DEG | 40 | ALTIM_PING_FIT | 0 |
N_DIVES | 0 | HD_C | 9.1750398e-06 | C_ROLL_DIVE | 2250 | ALTIM_TOP_PING_RANGE | 0 |
STOP_T | 0 | HEADING | -1 | C_ROLL_CLIMB | 2350 | ALTIM_BOTTOM_TURN_MARGIN | 15 |
D_SURF | 3 | ESCAPE_HEADING | 0 | HEAD_ERRBAND | 10 | ALTIM_TOP_TURN_MARGIN | 0 |
D_FLARE | 3 | ESCAPE_HEADING_DELTA | 10 | ROLL_CNV | 0.028270001 | ALTIM_TOP_MIN_OBSTACLE | 2 |
D_TGT | 990 | FIX_MISSING_TIMEOUT | 0 | ROLL_TIMEOUT | 15 | ALTIM_PING_DEPTH | 0 |
D_ABORT | 1030 | TGT_DEFAULT_LAT | 3235 | R_PORT_OVSHOOT | 65 | ALTIM_PING_DELTA | 50 |
D_NO_BLEED | 200 | TGT_DEFAULT_LON | -11731 | R_STBD_OVSHOOT | 48 | ALTIM_FREQUENCY | 13 |
D_BOOST | 20 | TGT_AUTO_DEFAULT | 0 | ROLL_AD_RATE | 350 | ALTIM_PULSE | 3 |
T_BOOST | 5 | SM_CC | 450 | ROLL_MAXERRORS | 1 | ALTIM_SENSITIVITY | 2 |
D_FINISH | 0 | N_FILEKB | 8 | ROLL_ADJ_GAIN | 0 | XPDR_VALID | 5 |
D_PITCH | 0 | FILEMGR | 0 | ROLL_ADJ_DBAND | 0 | XPDR_INHIBIT | 90 |
D_SAFE | 0 | CALL_NDIVES | 1 | VBD_MIN | 400 | INT_PRESSURE_SLOPE | 0.0097660003 |
D_CALL | 0 | COMM_SEQ | 0 | VBD_MAX | 3900 | INT_PRESSURE_YINT | -1 |
SURFACE_URGENCY | 0 | PROTOCOL | 9 | C_VBD | 3346 | DEEPGLIDER | 0 |
SURFACE_URGENCY_TRY | 0 | N_NOCOMM | 2 | VBD_DBAND | 2 | MOTHERBOARD | 4 |
SURFACE_URGENCY_FORCE | 0 | NOCOMM_ACTION | 163 | VBD_CNV | -0.245296 | DEVICE1 | 2 |
T_DIVE | 360 | N_NOSURFACE | 0 | VBD_LP_IGNORE | 0 | DEVICE2 | -1 |
T_MISSION | 430 | UPLOAD_DIVES_MAX | -1 | VBD_TIMEOUT | 540 | DEVICE3 | -1 |
T_ABORT | 1440 | CALL_TRIES | 5 | PITCH_VBD_SHIFT | 0.00121 | DEVICE4 | -1 |
T_TURN | 225 | CALL_WAIT | 60 | VBD_PUMP_AD_RATE_SURFACE | 3 | DEVICE5 | -1 |
T_TURN_SAMPINT | -5 | CAPUPLOAD | 0 | VBD_PUMP_AD_RATE_APOGEE | 2 | DEVICE6 | -1 |
T_NO_W | 120 | CAPMAXSIZE | 100000 | VBD_BLEED_AD_RATE | 8 | LOGGERS | 0 |
T_LOITER | 0 | HEAPDBG | 0 | UNCOM_BLEED | 20 | LOGGERDEVICE1 | -1 |
T_EPIRB | 0 | T_GPS | 5 | VBD_MAXERRORS | 1 | LOGGERDEVICE2 | -1 |
EXEC_P | 0 | N_GPS | 100440 | W_ADJ_DBAND | 0 | LOGGERDEVICE3 | -1 |
EXEC_DT | 0 | T_RSLEEP | 1 | DBDW | 0 | LOGGERDEVICE4 | -1 |
EXEC_T | 0 | STROBE | 0 | LOITER_W_DBAND | 0 | COMPASS_DEVICE | 33 |
EXEC_N | 0 | RAFOS_PEAK_OFFSET | 1.5 | LOITER_DBDW | 0 | COMPASS2_DEVICE | -1 |
USE_BATHY | -6 | RAFOS_CORR_THRESH | 60 | LOITER_D_NO_PUMP | 0 | PHONE_DEVICE | 49 |
USE_ICE | 0 | RAFOS_HIT_WINDOW | 3600 | LOITER_N_DIVE | 0 | GPS_DEVICE | 32 |
ICE_FREEZE_MARGIN | 0.30000001 | RAFOS_MMODEM | 0 | PITCH_W_GAIN | 0 | RAFOS_DEVICE | -1 |
D_OFFGRID | 1000 | PITCH_MIN | 250 | PITCH_W_DBAND | 0 | XPDR_DEVICE | 24 |
T_WATCHDOG | 10 | PITCH_MAX | 3750 | CF8_MAXERRORS | 20 | SIM_W | 0 |
RELAUNCH | 1 | C_PITCH | 2760 | AH0_24V | 350 | SEABIRD_T_G | 0.0043553207 |
APOGEE_PITCH | -5 | PITCH_DBAND | 0.1 | AH0_10V | 0 | SEABIRD_T_H | 0.00062594062 |
MAX_BUOY | 200 | PITCH_CNV | 0.003125763 | MINV_24V | 11 | SEABIRD_T_I | 2.3765557e-05 |
COURSE_BIAS | 0 | P_OVSHOOT | 0.039999999 | MINV_10V | 11 | SEABIRD_T_J | 2.606791e-06 |
GLIDE_SLOPE | 30 | P_OVSHOOT_WITHG | 0 | MAXI_24V | 0.60000002 | SEABIRD_C_G | -9.8755465 |
SPEED_FACTOR | 1 | PITCH_GAIN | 40 | MAXI_10V | 0.80000001 | SEABIRD_C_H | 1.1390997 |
RHO | 1.0275 | PITCH_TIMEOUT | 16 | FG_AHR_10V | 0 | SEABIRD_C_I | -0.0019936475 |
MASS | 51713 | PITCH_AD_RATE | 175 | FG_AHR_24V | 0 | SEABIRD_C_J | 0.00023608611 |
MASS_COMP | 0 | PITCH_MAXERRORS | 1 | PHONE_SUPPLY | -2 | ||
NAV_MODE | 2 | PITCH_ADJ_GAIN | 0 | PRESSURE_YINT | -157.40906 | ||
FERRY_MAX | 45 | PITCH_ADJ_DBAND | 0 | PRESSURE_SLOPE | 0.00014074198 |
Pre-dive calculations and measurements:
GPS1 |   190118,172307,-313.7156,5544.0850,33,0.8,35,-4.6,0.7,106.6,10,8.9 | SPEED_LIMITS |   0.159,0.245 |
_CALLS |   1 | TGT_NAME |   N |
_XMS_NAKs |   0 | TGT_LATLONG |   -300.000,5535.000 |
_XMS_TOUTs |   0 | TGT_RADIUS |   2000.000 |
_SM_DEPTHo |   0.58 | MHEAD_RNG_PITCHd_Wd |   323.8,30583,-14.5,-9.167,-20.51,3205 |
_SM_ANGLEo |   -69.1 | D_GRID |   1000 |
GPS2 |   190118,172757,-313.7472,5544.1616,17,0.8,20,-4.6,0.5,64.0,10,9.5 |
Post-dive calculations and measurements:
FINISH |   -0.2,1.022764 | _10V_AH |   13.58,0.000 |
SM_CCo |   18325,0.00,0.000,0,0,1289,504.57 | FG_AHR_24Vo |   0.000 |
SM_GC |   0.75,8.32,0.20,0.00,0.095,0.078,0.000,251,2207,1289,-7.80,0.99,504.57,0,0,0,0,0,0,14.63,14.71,14.71 | FG_AHR_10Vo |   0.000 |
IRIDIUM_FIX |   -311.20,5543.84,190118,123059 | MEM |   304632 |
TT8_MAMPS |   0.019474,0.158039 | DATA_FILE_SIZE |   60042,1377 |
HUMID |   60.59 | CAP_FILE_SIZE |   164019,0 |
INTERNAL_PRESSURE |   8.44372 | CFSIZE |   260034560,256557056 |
TCM_TEMP |   23.00 | ERRORS |   0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0 |
XPDR_PINGS |   0 | CURRENT |   0.167,118.30,1 |
_24V_AH |   13.27,11.207 | GPS |   190118,223516,-312.551,5544.492,34,1.7,45,-4.6,0.9,170.6,6,9.9 |
Energy measurements:
device | secs | mA | J | sensor | secs | mA | J |
Pitch_motor | 21 | 449 | 130.13 | SBE_CT | 633 | 23 | 201.55 |
Roll_motor | 194 | 182 | 468.84 | nil | 0 | 0 | 0.00 |
VBD_pump_during_apogee | 669 | 1848 | 16428.22 | 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 | nil | 0 | 0 | 0.00 |
Iridium_during_xfer | 196 | 136 | 355.61 | nil | 0 | 0 | 0.00 |
Transponder_ping | 0 | 420 | 0.00 | nil | 0 | 0 | 0.00 |
GUMSTIX_24V | 0 | 0 | 0.00 | ||||
GPS | 21 | 20 | 5.97 | ||||
TT8 | 2806 | 9 | 360.92 | ||||
LPSleep | 12679 | 2 | 377.09 | ||||
TT8_Active | 823 | 9 | 105.85 | ||||
TT8_Sampling | 2199 | 28 | 842.10 | ||||
TT8_CF8 | 111 | 34 | 51.75 | ||||
TT8_Kalman | 0 | 0 | 0.00 | ||||
Analog_circuits | 2181 | 16 | 474.01 | ||||
GPS_charging | 0 | 0 | 0.00 | ||||
Compass | 1960 | 17 | 458.70 | ||||
RAFOS | 0 | 0 | 0.00 | ||||
Transponder | 0 | 5 | 0.04 | ||||
Altimeter Analysis:
m=0.0,R=0.0,N=0 | m=0.6,R=0.8,N=2 | ||||||||
depth | range | fit R | obstacle | m | R | fit R | obstacle | m | R |
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 |
5 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||||
state | 5 | begin dive | |||||||||||||||||||||||||||||
7 | -0.60 | -194.6 | 243 | 2274 | 1124 | 1076 | 0.0 | 0.0 | 0 | 99 | 0.00 | 0.00 | -88.88 | 0.003 | 16386 | 0.000 | 0.000 | 243 | 2276 | 3732 | 3717 | 3748 | 0 | 0 | 0 | 0 | 0 | 0 | 14.89 | 28.83 | 14.91 |
101 | -0.60 | -194.6 | 243 | 2275 | 3717 | 3748 | 4.3 | -12.0 | 15 | 123 | 11.77 | 2.33 | -2.58 | 0.035 | 18692 | 0.450 | 0.092 | 2548 | 3641 | 3903 | 3896 | 3911 | 0 | 0 | 0 | 0 | 0 | 0 | 14.47 | 13.85 | 14.72 |
216 | -0.60 | -194.6 | 2547 | 3641 | 3902 | 3913 | 45.2 | -25.4 | 36 | 223 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.054 | 2548 | 2284 | 3908 | 3903 | 3913 | 0 | 0 | 0 | 0 | 0 | 0 | 14.78 | 14.69 | 14.79 |
525 | -0.60 | -194.6 | 2548 | 2280 | 3909 | 3914 | 96.4 | -14.4 | 68 | 529 | 0.00 | 2.33 | 0.00 | 0.000 | 516 | 0.000 | 0.055 | 2548 | 833 | 3912 | 3910 | 3914 | 0 | 0 | 0 | 0 | 0 | 0 | 15.00 | 14.78 | 15.02 |
539 | -0.60 | -194.6 | 2547 | 832 | 3910 | 3915 | 98.4 | -13.1 | 71 | 546 | 0.00 | 2.30 | 0.00 | 0.000 | 1030 | 0.000 | 0.060 | 2548 | 2231 | 3912 | 3910 | 3915 | 0 | 0 | 0 | 0 | 0 | 0 | 14.85 | 14.77 | 14.88 |
846 | -0.60 | -194.6 | 2547 | 2232 | 3910 | 3916 | 143.5 | -17.8 | 102 | 847 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2548 | 2232 | 3913 | 3910 | 3916 | 0 | 0 | 0 | 0 | 0 | 0 | 15.04 | 15.07 | 15.07 |
1146 | -0.60 | -194.6 | 2547 | 2232 | 3911 | 3916 | 194.2 | -16.5 | 132 | 1156 | 0.00 | 2.38 | 0.00 | 0.000 | 260 | 0.000 | 0.089 | 2548 | 3659 | 3913 | 3911 | 3916 | 0 | 0 | 0 | 0 | 0 | 0 | 15.08 | 14.83 | 15.09 |
1238 | -0.60 | -194.6 | 2547 | 3659 | 3911 | 3916 | 207.2 | -13.3 | 150 | 1242 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.044 | 2548 | 2234 | 3913 | 3911 | 3916 | 0 | 0 | 0 | 0 | 0 | 0 | 14.95 | 14.89 | 14.96 |
1549 | -0.60 | -194.6 | 2547 | 2227 | 3911 | 3916 | 245.6 | -12.3 | 182 | 1559 | 0.00 | 2.42 | 0.00 | 0.000 | 260 | 0.000 | 0.089 | 2548 | 3666 | 3913 | 3911 | 3916 | 0 | 0 | 0 | 0 | 0 | 0 | 15.10 | 14.85 | 15.12 |
1644 | -0.60 | -194.6 | 2547 | 3666 | 3911 | 3916 | 257.1 | -11.4 | 201 | 1650 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.044 | 2548 | 2241 | 3913 | 3911 | 3916 | 0 | 0 | 0 | 0 | 0 | 0 | 14.97 | 14.91 | 14.98 |
1971 | -0.60 | -194.6 | 2547 | 2236 | 3911 | 3916 | 294.3 | -12.2 | 216 | 1978 | 0.00 | 2.40 | 0.00 | 0.000 | 260 | 0.000 | 0.088 | 2547 | 3660 | 3913 | 3911 | 3916 | 0 | 0 | 0 | 0 | 0 | 0 | 15.13 | 14.88 | 15.15 |
2049 | -0.60 | -194.6 | 2547 | 3660 | 3910 | 3916 | 304.6 | -12.9 | 232 | 2054 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.046 | 2548 | 2249 | 3913 | 3910 | 3916 | 0 | 0 | 0 | 0 | 0 | 0 | 15.00 | 14.94 | 15.01 |
2362 | -0.60 | -194.6 | 2547 | 2243 | 3910 | 3915 | 346.0 | -13.5 | 244 | 2363 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2548 | 2243 | 3913 | 3910 | 3916 | 0 | 0 | 0 | 0 | 0 | 0 | 15.14 | 15.16 | 15.16 |
2662 | -0.60 | -194.6 | 2547 | 2243 | 3909 | 3915 | 383.7 | -11.8 | 254 | 2668 | 0.00 | 2.40 | 0.00 | 0.000 | 260 | 0.000 | 0.089 | 2548 | 3666 | 3912 | 3910 | 3915 | 0 | 0 | 0 | 0 | 0 | 0 | 15.16 | 14.91 | 15.18 |
2724 | -0.60 | -194.6 | 2547 | 3666 | 3909 | 3914 | 391.4 | -11.9 | 267 | 2729 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.045 | 2548 | 2249 | 3912 | 3909 | 3915 | 0 | 0 | 0 | 0 | 0 | 0 | 14.99 | 14.95 | 15.01 |
3052 | -0.60 | -194.6 | 2547 | 2244 | 3909 | 3913 | 428.8 | -11.6 | 282 | 3053 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2548 | 2244 | 3911 | 3909 | 3913 | 0 | 0 | 0 | 0 | 0 | 0 | 15.17 | 15.19 | 15.19 |
3351 | -0.60 | -194.6 | 2547 | 2244 | 3907 | 3910 | 464.0 | -11.9 | 292 | 3355 | 0.00 | 2.40 | 0.00 | 0.000 | 260 | 0.000 | 0.091 | 2548 | 3659 | 3908 | 3907 | 3910 | 0 | 0 | 0 | 0 | 0 | 0 | 15.18 | 14.93 | 15.20 |
3401 | -0.60 | -194.6 | 2547 | 3659 | 3906 | 3909 | 470.2 | -11.9 | 302 | 3406 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.049 | 2548 | 2252 | 3908 | 3906 | 3910 | 0 | 0 | 0 | 0 | 0 | 0 | 15.04 | 14.98 | 15.05 |
3713 | -0.60 | -194.6 | 2548 | 2246 | 3906 | 3908 | 509.8 | -13.1 | 314 | 3717 | 0.00 | 2.40 | 0.00 | 0.000 | 260 | 0.000 | 0.091 | 2548 | 3665 | 3906 | 3905 | 3907 | 0 | 0 | 0 | 0 | 0 | 0 | 15.19 | 14.93 | 15.21 |
3757 | -0.60 | -194.6 | 2547 | 3665 | 3904 | 3907 | 516.2 | -13.5 | 323 | 3761 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.047 | 2548 | 2242 | 3905 | 3904 | 3907 | 0 | 0 | 0 | 0 | 0 | 0 | 15.04 | 14.99 | 15.06 |
4074 | -0.60 | -194.6 | 2547 | 2237 | 3904 | 3906 | 557.1 | -12.8 | 336 | 4078 | 0.00 | 2.42 | 0.00 | 0.000 | 260 | 0.000 | 0.091 | 2548 | 3669 | 3904 | 3903 | 3905 | 0 | 0 | 0 | 0 | 0 | 0 | 15.19 | 14.93 | 15.21 |
4124 | -0.60 | -194.6 | 2547 | 3669 | 3902 | 3905 | 563.4 | -12.2 | 346 | 4131 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.047 | 2548 | 2246 | 3903 | 3902 | 3905 | 0 | 0 | 0 | 0 | 0 | 0 | 15.05 | 14.99 | 15.06 |
4430 | -0.60 | -194.6 | 2547 | 2241 | 3902 | 3903 | 599.5 | -11.8 | 357 | 4435 | 0.00 | 2.40 | 0.00 | 0.000 | 260 | 0.000 | 0.092 | 2548 | 3659 | 3901 | 3901 | 3902 | 0 | 0 | 0 | 0 | 0 | 0 | 15.19 | 14.94 | 15.21 |
4464 | -0.60 | -194.6 | 2547 | 3659 | 3901 | 3902 | 603.7 | -11.7 | 364 | 4469 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.050 | 2548 | 2257 | 3901 | 3901 | 3902 | 0 | 0 | 0 | 0 | 0 | 0 | 15.02 | 14.98 | 15.03 |
4792 | -0.60 | -194.6 | 2547 | 2252 | 3901 | 3901 | 640.9 | -11.4 | 379 | 4796 | 0.00 | 2.40 | 0.00 | 0.000 | 260 | 0.000 | 0.093 | 2548 | 3666 | 3900 | 3900 | 3901 | 0 | 0 | 0 | 0 | 0 | 0 | 15.19 | 14.94 | 15.21 |
4836 | -0.60 | -194.6 | 2547 | 3666 | 3901 | 3901 | 646.3 | -11.9 | 388 | 4841 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.048 | 2548 | 2247 | 3900 | 3900 | 3900 | 0 | 0 | 0 | 0 | 0 | 0 | 15.04 | 14.99 | 15.07 |
5153 | -0.60 | -194.6 | 2547 | 2242 | 3900 | 3899 | 682.8 | -11.4 | 401 | 5157 | 0.00 | 2.42 | 0.00 | 0.000 | 260 | 0.000 | 0.094 | 2547 | 3668 | 3899 | 3900 | 3899 | 0 | 0 | 0 | 0 | 0 | 0 | 15.19 | 14.94 | 15.21 |
5219 | -0.60 | -194.6 | 2547 | 3668 | 3899 | 3898 | 690.5 | -11.8 | 414 | 5223 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.049 | 2547 | 2251 | 3898 | 3899 | 3898 | 0 | 0 | 0 | 0 | 0 | 0 | 15.05 | 15.00 | 15.07 |
5545 | -0.60 | -194.6 | 2547 | 2246 | 3899 | 3897 | 726.5 | -10.9 | 429 | 5550 | 0.00 | 2.40 | 0.00 | 0.000 | 260 | 0.000 | 0.093 | 2548 | 3660 | 3898 | 3899 | 3897 | 0 | 0 | 0 | 0 | 0 | 0 | 15.20 | 14.94 | 15.21 |
5591 | -0.60 | -194.6 | 2547 | 3659 | 3898 | 3897 | 731.7 | -11.4 | 438 | 5595 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.051 | 2548 | 2251 | 3897 | 3898 | 3897 | 0 | 0 | 0 | 0 | 0 | 0 | 15.05 | 14.99 | 15.07 |
5906 | -0.60 | -194.6 | 2547 | 2246 | 3898 | 3896 | 764.9 | -10.4 | 451 | 5911 | 0.00 | 2.40 | 0.00 | 0.000 | 260 | 0.000 | 0.093 | 2548 | 3658 | 3897 | 3898 | 3896 | 0 | 0 | 0 | 0 | 0 | 0 | 15.19 | 14.94 | 15.21 |
5965 | -0.60 | -194.6 | 2547 | 3658 | 3898 | 3896 | 771.3 | -10.3 | 463 | 5970 | 0.00 | 2.30 | 0.00 | 0.000 | 1030 | 0.000 | 0.051 | 2548 | 2248 | 3896 | 3897 | 3896 | 0 | 0 | 0 | 0 | 0 | 0 | 15.02 | 14.98 | 15.04 |
6293 | -0.60 | -194.6 | 2547 | 2243 | 3897 | 3893 | 804.6 | -10.0 | 478 | 6294 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2548 | 2243 | 3895 | 3897 | 3893 | 0 | 0 | 0 | 0 | 0 | 0 | 15.19 | 15.22 | 15.21 |
6592 | -0.60 | -194.6 | 2547 | 2243 | 3897 | 3892 | 833.2 | -9.3 | 488 | 6596 | 0.00 | 2.42 | 0.00 | 0.000 | 260 | 0.000 | 0.095 | 2547 | 3668 | 3895 | 3898 | 3892 | 0 | 0 | 0 | 0 | 0 | 0 | 15.20 | 14.95 | 15.22 |
6631 | -0.60 | -194.6 | 2547 | 3668 | 3897 | 3892 | 837.1 | -9.7 | 496 | 6636 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.050 | 2547 | 2249 | 3894 | 3897 | 3892 | 0 | 0 | 0 | 0 | 0 | 0 | 15.06 | 15.00 | 15.07 |
6954 | -0.60 | -194.6 | 2547 | 2244 | 3897 | 3890 | 865.1 | -8.6 | 510 | 6961 | 0.00 | 2.42 | 0.00 | 0.000 | 292 | 0.000 | 0.094 | 2548 | 3669 | 3892 | 3896 | 3889 | 0 | 0 | 0 | 0 | 0 | 0 | 15.19 | 14.94 | 15.21 |
7046 | -0.60 | -194.6 | 2547 | 3669 | 3896 | 3889 | 873.6 | -9.2 | 529 | 7052 | 0.00 | 2.30 | 0.00 | 0.000 | 1030 | 0.000 | 0.048 | 2548 | 2252 | 3892 | 3896 | 3889 | 0 | 0 | 0 | 0 | 0 | 0 | 15.02 | 14.98 | 15.04 |
7373 | -0.60 | -194.6 | 2547 | 2247 | 3895 | 3887 | 904.3 | -9.8 | 544 | 7378 | 0.00 | 2.42 | 0.00 | 0.000 | 260 | 0.000 | 0.096 | 2548 | 3668 | 3891 | 3896 | 3887 | 0 | 0 | 0 | 0 | 0 | 0 | 15.19 | 14.94 | 15.21 |
7453 | -0.60 | -194.6 | 2547 | 3668 | 3895 | 3886 | 912.9 | -10.4 | 560 | 7460 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.050 | 2548 | 2240 | 3891 | 3895 | 3887 | 0 | 0 | 0 | 0 | 0 | 0 | 15.05 | 15.00 | 15.07 |
7759 | -0.60 | -194.6 | 2547 | 2239 | 3894 | 3885 | 946.1 | -11.2 | 571 | 7764 | 0.00 | 2.42 | 0.00 | 0.000 | 260 | 0.000 | 0.096 | 2548 | 3656 | 3889 | 3894 | 3885 | 0 | 0 | 0 | 0 | 0 | 0 | 15.19 | 14.93 | 15.21 |
7824 | -0.60 | -194.6 | 2547 | 3657 | 3893 | 3883 | 953.6 | -11.3 | 584 | 7828 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.054 | 2548 | 2254 | 3889 | 3893 | 3885 | 0 | 0 | 0 | 0 | 0 | 0 | 15.05 | 14.98 | 15.07 |
8146 | -0.60 | -194.6 | 2547 | 2250 | 3892 | 3882 | 988.3 | -10.7 | 598 | 8152 | 0.00 | 2.42 | 0.00 | 0.000 | 260 | 0.000 | 0.097 | 2547 | 3665 | 3887 | 3892 | 3882 | 0 | 0 | 0 | 0 | 0 | 0 | 15.19 | 14.93 | 15.21 |
8163 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||||
state | 8163 | begin apogee | |||||||||||||||||||||||||||||
8168 | -0.12 | 0.0 | 2548 | 2347 | 3892 | 3882 | 990.5 | -10.8 | 602 | 8318 | 0.57 | 0.00 | 145.45 | 1.845 | 10246 | 0.232 | 0.000 | 2712 | 2343 | 3345 | 3367 | 3323 | 0 | 0 | 0 | 0 | 0 | 0 | 14.87 | 14.09 | 13.38 |
8319 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||||
state | 8319 | begin climb | |||||||||||||||||||||||||||||
8320 | 0.60 | 194.6 | 2712 | 2343 | 3361 | 3318 | 996.5 | 0.0 | 607 | 8535 | 0.80 | 2.55 | 203.70 | 1.848 | 10500 | 0.161 | 0.096 | 2947 | 3693 | 2544 | 2592 | 2496 | 0 | 0 | 1 | 0 | 0 | 0 | 14.06 | 13.93 | 13.27 |
8596 | 0.60 | 194.6 | 2946 | 3693 | 2580 | 2493 | 980.9 | 10.4 | 648 | 8600 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.054 | 2947 | 2361 | 2536 | 2580 | 2492 | 0 | 0 | 0 | 0 | 0 | 0 | 14.33 | 14.26 | 14.35 |
8917 | 0.60 | 194.6 | 2946 | 2360 | 2573 | 2488 | 950.5 | 9.5 | 662 | 8918 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2947 | 2360 | 2530 | 2573 | 2487 | 0 | 0 | 0 | 0 | 0 | 0 | 14.82 | 14.84 | 14.84 |
9217 | 0.60 | 194.6 | 2946 | 2360 | 2570 | 2487 | 921.6 | 9.7 | 672 | 9221 | 0.00 | 2.33 | 0.00 | 0.000 | 260 | 0.000 | 0.090 | 2946 | 3701 | 2528 | 2570 | 2487 | 0 | 0 | 0 | 0 | 0 | 0 | 14.94 | 14.69 | 14.96 |
9241 | 0.60 | 194.6 | 2947 | 3701 | 2569 | 2486 | 918.9 | 10.5 | 677 | 9248 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.056 | 2947 | 2346 | 2527 | 2569 | 2486 | 0 | 0 | 0 | 0 | 0 | 0 | 14.81 | 14.73 | 14.83 |
9547 | 0.60 | 194.6 | 2946 | 2344 | 2568 | 2486 | 889.7 | 9.5 | 688 | 9551 | 0.00 | 2.33 | 0.00 | 0.000 | 260 | 0.000 | 0.090 | 2947 | 3693 | 2527 | 2568 | 2486 | 0 | 0 | 0 | 0 | 0 | 0 | 15.01 | 14.76 | 15.04 |
9571 | 0.60 | 194.6 | 2946 | 3693 | 2567 | 2486 | 887.1 | 10.3 | 693 | 9579 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.054 | 2947 | 2338 | 2526 | 2567 | 2486 | 0 | 0 | 0 | 0 | 0 | 0 | 14.87 | 14.81 | 14.89 |
9878 | 0.60 | 194.6 | 2946 | 2337 | 2566 | 2485 | 858.4 | 9.4 | 704 | 9883 | 0.00 | 2.35 | 0.00 | 0.000 | 260 | 0.000 | 0.090 | 2947 | 3695 | 2525 | 2566 | 2485 | 0 | 0 | 0 | 0 | 0 | 0 | 15.05 | 14.81 | 15.07 |
9898 | 0.60 | 194.6 | 2947 | 3695 | 2566 | 2485 | 856.2 | 10.4 | 708 | 9902 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.054 | 2947 | 2342 | 2525 | 2565 | 2485 | 0 | 0 | 0 | 0 | 0 | 0 | 14.91 | 14.84 | 14.93 |
10209 | 0.60 | 194.6 | 2946 | 2341 | 2565 | 2485 | 826.7 | 9.5 | 720 | 10214 | 0.00 | 2.30 | 0.00 | 0.000 | 516 | 0.000 | 0.070 | 2947 | 945 | 2525 | 2565 | 2485 | 0 | 0 | 0 | 0 | 0 | 0 | 15.09 | 14.85 | 15.11 |
10228 | 0.60 | 194.6 | 2947 | 944 | 2563 | 2485 | 824.8 | 9.2 | 724 | 10233 | 0.00 | 2.35 | 0.00 | 0.000 | 1030 | 0.000 | 0.065 | 2946 | 2363 | 2523 | 2563 | 2484 | 0 | 0 | 0 | 0 | 0 | 0 | 14.93 | 14.85 | 14.96 |
10541 | 0.60 | 194.6 | 2946 | 2363 | 2562 | 2484 | 795.9 | 9.3 | 736 | 10542 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2947 | 2362 | 2523 | 2562 | 2484 | 0 | 0 | 0 | 0 | 0 | 0 | 15.10 | 15.13 | 15.12 |
10840 | 0.60 | 194.6 | 2947 | 2362 | 2562 | 2484 | 767.8 | 9.3 | 746 | 10845 | 0.00 | 2.25 | 0.00 | 0.000 | 260 | 0.000 | 0.092 | 2946 | 3699 | 2522 | 2561 | 2484 | 0 | 0 | 0 | 0 | 0 | 0 | 15.12 | 14.87 | 15.14 |
10875 | 0.60 | 194.6 | 2946 | 3699 | 2560 | 2483 | 764.1 | 10.5 | 753 | 10880 | 0.00 | 2.20 | 0.00 | 0.000 | 1030 | 0.000 | 0.054 | 2947 | 2348 | 2521 | 2560 | 2483 | 0 | 0 | 0 | 0 | 0 | 0 | 14.98 | 14.91 | 15.00 |
11202 | 0.62 | 210.3 | 2946 | 2347 | 2560 | 2483 | 735.2 | 8.7 | 768 | 11216 | 0.00 | 0.00 | 11.85 | 1.688 | 8230 | 0.000 | 0.000 | 2947 | 2347 | 2488 | 2528 | 2448 | 0 | 0 | 0 | 0 | 0 | 0 | 15.14 | 14.82 | 14.19 |
11502 | 0.64 | 232.8 | 2946 | 2346 | 2517 | 2439 | 709.4 | 8.4 | 778 | 11536 | 0.00 | 2.40 | 26.92 | 1.580 | 8484 | 0.000 | 0.090 | 2947 | 3689 | 2391 | 2435 | 2348 | 0 | 0 | 0 | 0 | 0 | 0 | 15.07 | 14.60 | 14.04 |
11556 | 0.64 | 232.8 | 2946 | 3689 | 2431 | 2348 | 704.5 | 9.5 | 789 | 11563 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.055 | 2947 | 2350 | 2389 | 2432 | 2347 | 0 | 0 | 0 | 0 | 0 | 0 | 14.73 | 14.66 | 14.73 |
11863 | 0.65 | 238.4 | 2946 | 2351 | 2428 | 2344 | 677.5 | 9.0 | 800 | 11869 | 0.00 | 0.00 | 3.90 | 1.282 | 8230 | 0.000 | 0.000 | 2947 | 2351 | 2373 | 2416 | 2330 | 0 | 0 | 0 | 0 | 0 | 0 | 14.97 | 14.73 | 13.89 |
12163 | 0.66 | 243.5 | 2947 | 2351 | 2417 | 2330 | 650.4 | 9.0 | 810 | 12176 | 0.00 | 2.35 | 7.90 | 1.594 | 8484 | 0.000 | 0.091 | 2947 | 3700 | 2349 | 2393 | 2306 | 0 | 0 | 0 | 0 | 0 | 0 | 15.02 | 14.71 | 14.12 |
12201 | 0.66 | 243.5 | 2946 | 3700 | 2391 | 2306 | 646.5 | 10.3 | 818 | 12207 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.055 | 2947 | 2350 | 2348 | 2391 | 2306 | 0 | 0 | 0 | 0 | 0 | 0 | 14.81 | 14.75 | 14.83 |
12523 | 0.66 | 245.9 | 2946 | 2349 | 2389 | 2306 | 617.4 | 9.1 | 832 | 12528 | 0.00 | 2.33 | 0.00 | 0.000 | 548 | 0.000 | 0.070 | 2947 | 938 | 2347 | 2389 | 2305 | 0 | 0 | 0 | 0 | 0 | 0 | 15.02 | 14.78 | 15.04 |
12563 | 0.66 | 248.5 | 2946 | 938 | 2388 | 2305 | 613.7 | 9.1 | 840 | 12573 | 0.00 | 2.35 | 4.38 | 1.354 | 9254 | 0.000 | 0.063 | 2947 | 2356 | 2332 | 2374 | 2290 | 0 | 0 | 0 | 0 | 0 | 0 | 14.88 | 14.80 | 13.95 |
12885 | 0.66 | 249.2 | 2946 | 2355 | 2375 | 2290 | 584.0 | 9.1 | 854 | 12889 | 0.00 | 2.25 | 0.00 | 0.000 | 292 | 0.000 | 0.090 | 2947 | 3690 | 2332 | 2375 | 2290 | 0 | 0 | 0 | 0 | 0 | 0 | 15.04 | 14.80 | 15.06 |
12919 | 0.66 | 249.2 | 2946 | 3690 | 2375 | 2291 | 580.4 | 10.6 | 861 | 12924 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.053 | 2946 | 2352 | 2333 | 2375 | 2291 | 0 | 0 | 0 | 0 | 0 | 0 | 14.87 | 14.83 | 14.89 |
13246 | 0.68 | 260.5 | 2946 | 2350 | 2375 | 2290 | 551.6 | 8.8 | 876 | 13269 | 0.00 | 2.38 | 16.60 | 1.470 | 8740 | 0.000 | 0.070 | 2947 | 949 | 2279 | 2322 | 2236 | 0 | 0 | 0 | 0 | 0 | 0 | 15.08 | 14.71 | 14.16 |
13285 | 0.72 | 295.4 | 2946 | 950 | 2320 | 2236 | 548.0 | 8.0 | 884 | 13338 | 0.15 | 2.35 | 43.85 | 1.395 | 11302 | 0.133 | 0.063 | 3000 | 2357 | 2136 | 2180 | 2093 | 0 | 0 | 0 | 0 | 0 | 0 | 14.74 | 14.73 | 13.92 |
13637 | 0.72 | 295.4 | 2999 | 2357 | 2172 | 2090 | 500.9 | 13.9 | 904 | 13641 | 0.00 | 2.28 | 0.00 | 0.000 | 260 | 0.000 | 0.089 | 3000 | 3691 | 2131 | 2172 | 2091 | 0 | 0 | 0 | 0 | 0 | 0 | 14.89 | 14.64 | 14.90 |
13667 | 0.72 | 295.4 | 2999 | 3691 | 2171 | 2091 | 496.3 | 14.9 | 910 | 13672 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.055 | 3000 | 2356 | 2130 | 2171 | 2090 | 0 | 0 | 0 | 0 | 0 | 0 | 14.75 | 14.67 | 14.77 |
13999 | 0.72 | 295.4 | 3000 | 2355 | 2169 | 2090 | 450.9 | 13.9 | 926 | 14004 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.072 | 3000 | 940 | 2129 | 2170 | 2089 | 0 | 0 | 0 | 0 | 0 | 0 | 14.99 | 14.75 | 15.01 |
14069 | 0.72 | 295.4 | 3000 | 940 | 2167 | 2089 | 441.5 | 12.9 | 940 | 14073 | 0.00 | 2.35 | 0.00 | 0.000 | 1030 | 0.000 | 0.060 | 3000 | 2359 | 2128 | 2167 | 2089 | 0 | 0 | 0 | 0 | 0 | 0 | 14.85 | 14.77 | 14.87 |
14390 | 0.72 | 295.4 | 3000 | 2359 | 2167 | 2089 | 399.9 | 12.7 | 954 | 14395 | 0.00 | 2.25 | 0.00 | 0.000 | 260 | 0.000 | 0.087 | 3000 | 3695 | 2128 | 2167 | 2089 | 0 | 0 | 0 | 0 | 0 | 0 | 15.04 | 14.79 | 15.07 |
14430 | 0.72 | 295.4 | 2999 | 3695 | 2167 | 2089 | 394.3 | 13.6 | 962 | 14435 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.055 | 3000 | 2335 | 2128 | 2167 | 2089 | 0 | 0 | 0 | 0 | 0 | 0 | 14.90 | 14.81 | 14.92 |
14752 | 0.72 | 295.4 | 3000 | 2333 | 2167 | 2089 | 354.1 | 12.0 | 976 | 14756 | 0.00 | 2.30 | 0.00 | 0.000 | 516 | 0.000 | 0.072 | 3000 | 943 | 2128 | 2167 | 2089 | 0 | 0 | 0 | 0 | 0 | 0 | 15.07 | 14.83 | 15.09 |
14827 | 0.72 | 295.4 | 3000 | 943 | 2166 | 2089 | 346.1 | 10.1 | 991 | 14831 | 0.00 | 2.33 | 0.00 | 0.000 | 1030 | 0.000 | 0.060 | 3000 | 2349 | 2127 | 2166 | 2089 | 0 | 0 | 0 | 0 | 0 | 0 | 14.93 | 14.85 | 14.95 |
15143 | 0.72 | 295.4 | 2999 | 2350 | 2165 | 2088 | 313.6 | 10.0 | 1004 | 15147 | 0.00 | 2.25 | 0.00 | 0.000 | 260 | 0.000 | 0.087 | 3000 | 3695 | 2127 | 2166 | 2088 | 0 | 0 | 0 | 0 | 0 | 0 | 15.10 | 14.85 | 15.11 |
15178 | 0.72 | 295.4 | 3000 | 3697 | 2165 | 2088 | 309.9 | 10.5 | 1011 | 15183 | 0.00 | 2.17 | 0.00 | 0.000 | 1030 | 0.000 | 0.054 | 3000 | 2361 | 2126 | 2165 | 2088 | 0 | 0 | 0 | 0 | 0 | 0 | 14.95 | 14.89 | 14.97 |
15504 | 0.72 | 295.4 | 3000 | 2360 | 2166 | 2088 | 276.6 | 10.9 | 1026 | 15509 | 0.00 | 2.33 | 0.00 | 0.000 | 516 | 0.000 | 0.068 | 3000 | 939 | 2126 | 2165 | 2088 | 0 | 0 | 0 | 0 | 0 | 0 | 15.11 | 14.88 | 15.14 |
15569 | 0.72 | 295.4 | 3000 | 939 | 2164 | 2088 | 269.2 | 10.9 | 1039 | 15574 | 0.00 | 2.33 | 0.00 | 0.000 | 1030 | 0.000 | 0.060 | 3000 | 2359 | 2126 | 2164 | 2088 | 0 | 0 | 0 | 0 | 0 | 0 | 14.97 | 14.88 | 14.99 |
15876 | 0.72 | 295.4 | 3000 | 2359 | 2164 | 2088 | 234.2 | 11.4 | 1062 | 15881 | 0.00 | 2.22 | 0.00 | 0.000 | 260 | 0.000 | 0.088 | 3000 | 3692 | 2126 | 2164 | 2088 | 0 | 0 | 0 | 0 | 0 | 0 | 15.12 | 14.88 | 15.14 |
15918 | 0.72 | 295.4 | 3000 | 3692 | 2164 | 2088 | 229.0 | 12.8 | 1070 | 15923 | 0.00 | 2.20 | 0.00 | 0.000 | 1030 | 0.000 | 0.054 | 3000 | 2341 | 2126 | 2164 | 2088 | 0 | 0 | 0 | 0 | 0 | 0 | 14.98 | 14.90 | 15.00 |
16229 | 0.72 | 295.4 | 3000 | 2340 | 2164 | 2088 | 192.8 | 12.1 | 1102 | 16234 | 0.00 | 2.30 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 3000 | 931 | 2125 | 2164 | 2087 | 0 | 0 | 0 | 0 | 0 | 0 | 15.12 | 14.89 | 15.14 |
16295 | 0.72 | 295.4 | 3000 | 931 | 2163 | 2087 | 185.1 | 11.1 | 1115 | 16302 | 0.00 | 2.33 | 0.00 | 0.000 | 1030 | 0.000 | 0.060 | 3000 | 2352 | 2125 | 2163 | 2087 | 0 | 0 | 0 | 0 | 0 | 0 | 14.97 | 14.90 | 15.00 |
16601 | 0.72 | 295.4 | 3000 | 2352 | 2163 | 2087 | 145.4 | 12.0 | 1146 | 16606 | 0.00 | 2.22 | 0.00 | 0.000 | 260 | 0.000 | 0.086 | 3000 | 3692 | 2125 | 2163 | 2088 | 0 | 0 | 0 | 0 | 0 | 0 | 15.13 | 14.88 | 15.14 |
16626 | 0.72 | 295.4 | 3000 | 3692 | 2162 | 2087 | 142.2 | 12.1 | 1151 | 16633 | 0.00 | 2.17 | 0.00 | 0.000 | 1030 | 0.000 | 0.051 | 3000 | 2342 | 2125 | 2163 | 2087 | 0 | 0 | 0 | 0 | 0 | 0 | 14.98 | 14.92 | 15.00 |
16933 | 0.72 | 295.4 | 3000 | 2340 | 2162 | 2087 | 111.9 | 9.5 | 1182 | 16938 | 0.00 | 2.28 | 0.00 | 0.000 | 516 | 0.000 | 0.063 | 3000 | 943 | 2125 | 2163 | 2088 | 0 | 0 | 0 | 0 | 0 | 0 | 15.12 | 14.89 | 15.14 |
16988 | 0.72 | 295.4 | 3000 | 943 | 2163 | 2087 | 106.2 | 10.3 | 1193 | 16995 | 0.00 | 2.30 | 0.00 | 0.000 | 1030 | 0.000 | 0.058 | 3000 | 2350 | 2125 | 2162 | 2088 | 0 | 0 | 0 | 0 | 0 | 0 | 14.97 | 14.90 | 15.00 |
17295 | 0.75 | 317.2 | 3000 | 2350 | 2163 | 2087 | 73.9 | 8.5 | 1224 | 17325 | 0.00 | 2.28 | 20.38 | 0.980 | 8484 | 0.000 | 0.083 | 3000 | 3700 | 2046 | 2087 | 2006 | 0 | 0 | 0 | 0 | 0 | 0 | 15.13 | 14.73 | 14.38 |
17357 | 0.76 | 332.9 | 3000 | 3700 | 2087 | 2006 | 68.7 | 8.7 | 1236 | 17381 | 0.00 | 2.20 | 17.12 | 0.962 | 9254 | 0.000 | 0.050 | 3000 | 2340 | 1983 | 2024 | 1942 | 0 | 0 | 0 | 0 | 0 | 0 | 14.88 | 14.82 | 14.31 |
17688 | 0.97 | 499.8 | 3000 | 2340 | 2017 | 1940 | 51.8 | 3.8 | 1272 | 17867 | 0.17 | 2.35 | 167.77 | 0.861 | 10788 | 0.133 | 0.060 | 3072 | 938 | 1300 | 1358 | 1243 | 0 | 0 | 0 | 0 | 0 | 0 | 14.79 | 14.27 | 13.92 |
17928 | 0.97 | 499.8 | 3072 | 938 | 1348 | 1240 | 31.2 | 9.7 | 1314 | 17936 | 0.00 | 2.38 | 0.00 | 0.000 | 1030 | 0.000 | 0.051 | 3073 | 2362 | 1294 | 1348 | 1240 | 0 | 0 | 0 | 0 | 0 | 0 | 14.50 | 14.42 | 14.52 |
18212 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||||
state | 18212 | begin surface coast | |||||||||||||||||||||||||||||
18250 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||||
state | 18250 | begin surface |