Parameter values: Sort by alphabetical glider order

ID	234	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	4	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	669	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	1.6
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	450	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	32	C_VBD	2900	MOTHERBOARD	6
D_TGT	840	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	900	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	200	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	3	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOCOMM	9	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	163	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERS	3
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	0	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	19
SURFACE_URGENCY	0	CALL_WAIT	60	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_DIVE	350	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	440	N_GPS	100440	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_ABORT	1440	T_RSLEEP	3	CF8_MAXERRORS	20	GPS_DEVICE	48
T_TURN	225	STROBE	0	AH0_24V	529	RAFOS_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	AH0_10V	0	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	MINV_24V	11	PRESSURE_DEVICE	34
T_LOITER	0	RAFOS_HIT_WINDOW	3600	MINV_10V	11	XPDR_DEVICE	0
T_EPIRB	0	RAFOS_MMODEM	0	MAXI_24V	5	SIM_W	0
USE_BATHY	0	PITCH_MIN	200	MAXI_10V	1.5	SEABIRD_T_G	0.0044194036
USE_ICE	0	PITCH_MAX	3990	FG_AHR_10V	225.80017	SEABIRD_T_H	0.00064707285
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1620	FG_AHR_24V	283.15369	SEABIRD_T_I	2.5773305e-05
D_OFFGRID	990	PITCH_DBAND	0.1	PHONE_SUPPLY	1	SEABIRD_T_J	3.16363e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-151.86571	SEABIRD_C_G	-9.7533598
APOGEE_PITCH	-5	PITCH_GAIN	20	PRESSURE_SLOPE	0.00022809372	SEABIRD_C_H	1.1145387
MAX_BUOY	120	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.0013247415
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00018679495
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
MASS	74686	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	700	ALTIM_PING_DEPTH	0	TM_RECORDABOVE	250.0
KALMAN_USE	2	ROLL_MAX	3350	ALTIM_PING_DELTA	0	TM_PROFILE	2.0
HD_A	0.003	ROLL_DEG	80	ALTIM_FREQUENCY	11	TM_XMITPROFILE	2.0
HD_B	0.0099999998	C_ROLL_DIVE	2670	ALTIM_PULSE	3	TM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2400	ALTIM_SENSITIVITY	2	TM_XMITRAW	0.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_VALID	4	TM_LOGSAMPLE	0.0
ESCAPE_HEADING	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90

AH0_10V	0	D_SURF	2	N_NOSURFACE	0	SIM_W	0
AH0_24V	529	D_TGT	840	PHONE_DEVICE	33	SM_CC	450
ALTIM_BOTTOM_TURN_MARGIN	0	ESCAPE_HEADING	0	PHONE_SUPPLY	1	SPEED_FACTOR	1
ALTIM_FREQUENCY	11	ESCAPE_HEADING_DELTA	10	PITCH_ADJ_DBAND	2	STOP_T	0
ALTIM_PING_DELTA	0	FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	STROBE	0
ALTIM_PING_DEPTH	0	FG_AHR_10V	225.80017	PITCH_CNV	0.0041299998	SURFACE_URGENCY	0
ALTIM_PING_FIT	0	FG_AHR_24V	283.15369	PITCH_DBAND	0.1	SURFACE_URGENCY_FORCE	0
ALTIM_PULSE	3	FILEMGR	0	PITCH_GAIN	20	SURFACE_URGENCY_TRY	0
ALTIM_SENSITIVITY	2	FIX_MISSING_TIMEOUT	0	PITCH_MAX	3990	TGT_AUTO_DEFAULT	0
ALTIM_TOP_MIN_OBSTACLE	0	GLIDE_SLOPE	30	PITCH_MAXERRORS	1	TGT_DEFAULT_LAT	4736
ALTIM_TOP_PING_RANGE	0	GPS_DEVICE	48	PITCH_MIN	200	TGT_DEFAULT_LON	-12218
ALTIM_TOP_TURN_MARGIN	0	HD_A	0.003	PITCH_TIMEOUT	30	TM_LOGSAMPLE	0.0
APOGEE_PITCH	-5	HD_B	0.0099999998	PITCH_VBD_SHIFT	0.0012300001	TM_NDIVE	1.0
CALL_NDIVES	1	HD_C	1.6e-05	PITCH_W_DBAND	0	TM_PROFILE	2.0
CALL_TRIES	5	HEADING	-1	PITCH_W_GAIN	0	TM_RECORDABOVE	250.0
CALL_WAIT	60	HEAD_ERRBAND	10	PRESSURE_DEVICE	34	TM_XMITPROFILE	2.0
CAPMAXSIZE	100000	ICE_FREEZE_MARGIN	0.30000001	PRESSURE_SLOPE	0.00022809372	TM_XMITRAW	0.0
CAPUPLOAD	0	ID	234	PRESSURE_YINT	-151.86571	T_ABORT	1440
CF8_MAXERRORS	20	INT_PRESSURE_SLOPE	1.9639999e-06	PROTOCOL	9	T_BOOST	0
COMM_SEQ	0	INT_PRESSURE_YINT	1.6	RAFOS_CORR_THRESH	60	T_DIVE	350
COMPASS2_DEVICE	-1	KALMAN_USE	2	RAFOS_DEVICE	-1	T_EPIRB	0
COMPASS_DEVICE	66	LOGGERDEVICE1	7	RAFOS_HIT_WINDOW	3600	T_GPS	5
COMPASS_USE	4	LOGGERDEVICE2	19	RAFOS_MMODEM	0	T_LOITER	0
C_PITCH	1620	LOGGERDEVICE3	-1	RAFOS_PEAK_OFFSET	0	T_MISSION	440
C_ROLL_CLIMB	2400	LOGGERDEVICE4	-1	RELAUNCH	1	T_NO_W	120
C_ROLL_DIVE	2670	LOGGERS	3	RHO	1.0275	T_RSLEEP	3
C_VBD	2900	LOITER_DBDW	0	ROLL_ADJ_DBAND	0	T_TURN	225
DBDW	0	LOITER_D_BOTTOM	0	ROLL_ADJ_GAIN	0	T_TURN_SAMPINT	-5
DEEPGLIDER	0	LOITER_D_TOP	0	ROLL_CNV	0.054945	UNCOM_BLEED	20
DEEPGLIDERMB	0	LOITER_N_DIVE	0	ROLL_DEG	80	UPLOAD_DIVES_MAX	-1
DEVICE1	-1	LOITER_W_DBAND	0	ROLL_MAX	3350	USE_BATHY	0
DEVICE2	-1	MASS	74686	ROLL_MAXERRORS	1	USE_ICE	0
DEVICE3	-1	MAXI_10V	1.5	ROLL_MIN	700	VBD_CNV	-0.24529999
DEVICE4	-1	MAXI_24V	5	ROLL_TIMEOUT	15	VBD_DBAND	2
DEVICE5	-1	MAX_BUOY	120	SC_NDIVE	1.0	VBD_LP_IGNORE	0
DEVICE6	-1	MINV_10V	11	SC_PROFILE	3.0	VBD_MAX	3960
DIVE	669	MINV_24V	11	SC_RECORDABOVE	2000.0	VBD_MAXERRORS	1
D_ABORT	900	MISSION	4	SC_XMITPROFILE	3.0	VBD_MIN	500
D_BOOST	3	MOTHERBOARD	6	SEABIRD_C_G	-9.7533598	VBD_TIMEOUT	720
D_CALL	0	NAV_MODE	2	SEABIRD_C_H	1.1145387	W_ADJ_DBAND	0
D_FINISH	0	NETWORK_DEVICE	-1	SEABIRD_C_I	-0.0013247415	XPDR_DEVICE	0
D_FLARE	3	NOCOMM_ACTION	163	SEABIRD_C_J	0.00018679495	XPDR_INHIBIT	90
D_NO_BLEED	200	N_DIVES	0	SEABIRD_T_G	0.0044194036	XPDR_INT	0
D_OFFGRID	990	N_FILEKB	32	SEABIRD_T_H	0.00064707285	XPDR_REP	0
D_PITCH	0	N_GPS	100440	SEABIRD_T_I	2.5773305e-05	XPDR_VALID	4
D_SAFE	0	N_NOCOMM	9	SEABIRD_T_J	3.16363e-06

Pre-dive calculations and measurements:

GPS1	160321,020839,6156.781,-1757.709,45,1.3,46,-10.0	TGT_LATLONG	6148.000,-1844.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	0.56	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-48.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	160321,022130,6156.753,-1757.120,2,0.8,4,-10.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.139,0.216	MHEAD_RNG_PITCHd_Wd	290.2,44114,-16.2,-8.000,-20.36
TGT_NAME	B4	D_GRID	840

Post-dive calculations and measurements:

FINISH	0.2,1.027402	_24V_AH	13.54,315.920
SM_CCo	20958.92,0.00,0.019,0,1065.8,1162.1,969.5,449.93	_10V_AH	14.76,0.000
SM_GC	0.46,0.00,11.18,0.81,0.019,0.075,0.088,1065.8,1162.1,969.5,187.2,2683.1,0,0,0,30.36,15.35,15.43	FG_AHR_24Vo	283.454
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	225.989
IRIDIUM_FIX	6158.48,-1800.03,150321,203213	MEM	1162304,25,15148,55
TCM_TEMP	0.06	DATA_FILE_SIZE	73662,2492
XPDR_PINGS	2,-1.0,-1.0	CAP_FILE_SIZE	480336,0
SC_FREEKB	3319008	SDSIZE	3918848,3716576
TM_FREEKB	1874976	SDFILEDIR	4067,1
HUMID	54.57	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	7.54	CURRENT	0.310, 96.2,1
INTERNAL_PRESSURE	8.05671	GPS	160321,081201,6156.669,-1754.945,31,0.8,32,-10.0

Energy measurements:

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	680	2637	24294.95	nil	0	0	0.00
Pitch_motor	27	278	104.83	nil	0	0	0.00
Roll_motor	267	231	838.96	nil	0	0	0.00
Iridium	532	256	1850.47	nil	0	0	0.00
Transponder_ping	0	420	2.84	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	7063	11	1230.26	SciCon	20836	22	7044.50
LPSleep	14625	2	604.45	TMICL	2612	22	862.86
Compass	3602	5	265.86	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	0	0.00

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	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
5.89	16386	-116.79	-0.95	0.00	1056.2	1141.5	970.8	185.8	2626.3	0.00	0.00	0	131.78	125.44	0.00	0.00	0.005	0.000	0.000	3349.78	3415.56	3284.00	185.31	2624.81	0	0	0	13.23	30.00	30.00
132.06	18983	-116.79	-0.95	-80.00	3350.1	3416.6	3283.6	185.4	2625.8	3.14	-2.33	24	152.58	0.66	10.70	4.04	0.037	0.279	0.111	3374.31	3451.31	3297.31	1390.00	1203.75	0	0	0	14.83	14.55	14.74
169.99	1028	-116.79	-0.95	0.00	3375.4	3453.6	3297.2	1389.7	1203.6	9.78	-14.17	32	175.76	0.00	0.00	3.84	0.000	0.000	0.061	3375.28	3453.62	3296.94	1390.06	2681.88	0	0	0	30.00	30.00	14.65
355.09	160	-116.79	-1.03	0.00	3375.4	3453.2	3297.6	1389.8	2681.6	23.58	-4.43	69	356.42	0.00	0.00	0.00	0.000	0.000	0.000	3374.53	3453.00	3296.06	1389.69	2681.31	0	0	0	30.00	30.00	30.00
535.20	4517	-116.79	-1.12	80.00	3375.2	3453.1	3297.2	1390.2	2681.5	34.59	-7.63	105	540.67	0.00	0.38	2.03	0.000	0.071	0.133	3376.59	3454.56	3298.62	1334.50	3358.62	0	0	0	30.00	15.51	15.04
575.12	1028	-116.79	-1.12	0.00	3374.8	3452.9	3296.6	1334.7	3358.2	38.30	-9.27	113	580.03	0.00	0.00	1.74	0.000	0.000	0.030	3376.00	3454.19	3297.81	1334.69	2620.44	0	0	0	30.00	30.00	14.64
760.26	292	-116.79	-1.12	80.00	3375.3	3453.7	3296.9	1334.6	2617.6	51.67	-6.72	150	765.62	0.00	0.00	2.19	0.000	0.000	0.126	3375.09	3453.19	3297.00	1334.94	3356.12	0	0	0	30.00	30.00	15.04
865.28	3237	-116.79	-1.07	0.00	3375.0	3452.8	3297.3	1334.6	3356.3	59.48	-7.95	171	870.65	0.00	0.28	1.75	0.000	0.169	0.033	3376.38	3454.44	3298.31	1361.06	2623.69	0	0	0	30.00	15.13	15.40
1050.31	548	-116.79	-1.07	-80.00	3375.1	3453.6	3296.6	1361.2	2621.4	71.43	-7.68	208	1056.08	0.00	0.00	3.94	0.000	0.000	0.098	3376.44	3454.56	3298.31	1361.44	1205.25	0	0	0	30.00	30.00	15.14
1065.33	1188	-116.79	-1.11	0.00	3375.5	3453.7	3297.2	1361.4	1205.2	72.70	-7.92	211	1071.05	0.00	0.00	3.79	0.000	0.000	0.059	3375.84	3454.44	3297.25	1361.69	2682.00	0	0	0	30.00	30.00	15.28
1250.37	32	-116.79	-1.11	0.00	3375.3	3453.6	3297.1	1361.8	2682.1	85.68	-6.99	248	1251.70	0.00	0.00	0.00	0.000	0.000	0.000	3374.31	3453.12	3295.50	1361.62	2682.25	0	0	0	30.00	30.00	30.00
1430.42	548	-116.79	-1.11	-80.00	3375.3	3453.6	3296.9	1361.6	2681.8	98.27	-6.91	284	1436.25	0.00	0.00	4.12	0.000	0.000	0.095	3375.28	3453.75	3296.81	1361.56	1204.81	0	0	0	30.00	30.00	14.36
1450.43	1060	-116.79	-1.11	0.00	3375.9	3454.4	3297.4	1362.3	1204.9	99.78	-7.30	288	1456.19	0.00	0.00	3.82	0.000	0.000	0.060	3375.72	3454.31	3297.12	1361.94	2681.25	0	0	0	30.00	30.00	15.27
1635.46	32	-116.79	-1.11	0.00	3374.8	3453.2	3296.4	1361.9	2681.1	114.18	-7.55	307	1636.79	0.00	0.00	0.00	0.000	0.000	0.000	3375.16	3453.81	3296.50	1361.56	2681.06	0	0	0	30.00	30.00	30.00
1935.56	32	-116.79	-1.11	0.00	3375.2	3453.3	3297.2	1361.7	2681.1	135.97	-7.21	337	1936.89	0.00	0.00	0.00	0.000	0.000	0.000	3375.06	3453.06	3297.06	1361.94	2680.81	0	0	0	30.00	30.00	30.00
2235.62	548	-116.79	-1.11	-80.00	3375.4	3454.4	3296.5	1362.0	2680.9	157.19	-7.15	367	2241.08	0.00	0.00	4.12	0.000	0.000	0.095	3374.97	3453.31	3296.62	1361.62	1204.62	0	0	0	30.00	30.00	15.07
2285.63	1188	-116.79	-1.17	0.00	3375.0	3453.7	3296.4	1361.8	1204.9	160.88	-7.37	377	2291.04	0.00	0.00	3.88	0.000	0.000	0.061	3374.97	3453.75	3296.19	1361.56	2681.25	0	0	0	30.00	30.00	14.39
2595.64	4773	-116.79	-1.21	-80.00	3375.2	3453.1	3297.4	1361.6	2681.2	182.20	-6.60	409	2602.24	0.00	0.32	4.11	0.000	0.076	0.094	3374.59	3453.50	3295.69	1314.94	1205.06	0	0	0	30.00	15.36	15.06
2610.68	1060	-116.79	-1.21	0.00	3375.2	3453.9	3296.6	1314.9	1205.0	183.55	-7.11	412	2616.10	0.00	0.00	3.82	0.000	0.000	0.062	3375.50	3453.81	3297.19	1314.81	2681.25	0	0	0	30.00	30.00	15.22
2920.68	644	-116.79	-1.16	-80.00	3375.1	3453.5	3296.6	1314.8	2681.1	211.17	-8.96	444	2926.18	0.00	0.00	4.09	0.000	0.000	0.096	3376.56	3454.94	3298.19	1314.50	1205.56	0	0	0	30.00	30.00	15.03
2950.69	1028	-116.79	-1.16	0.00	3374.4	3452.9	3296.0	1315.0	1206.1	213.97	-8.91	450	2956.16	0.00	0.00	3.82	0.000	0.000	0.063	3376.28	3454.56	3298.00	1314.50	2681.00	0	0	0	30.00	30.00	15.20
3260.69	516	-116.79	-1.16	-80.00	3375.2	3453.8	3296.6	1314.8	2680.9	240.97	-8.40	482	3266.24	0.00	0.00	4.14	0.000	0.000	0.096	3376.56	3454.56	3298.56	1314.31	1206.00	0	0	0	30.00	30.00	14.30
3275.41	1028	-116.79	-1.16	0.00	3375.0	3453.4	3296.6	1314.5	1205.9	242.30	-8.78	485	3281.47	0.00	0.00	3.84	0.000	0.000	0.062	3376.12	3454.31	3297.94	1314.69	2681.38	0	0	0	30.00	30.00	14.46
3580.72	516	-116.79	-1.16	-80.00	3375.1	3453.6	3296.6	1314.6	2681.1	268.30	-8.93	516	3586.25	0.00	0.00	4.11	0.000	0.000	0.097	3376.00	3454.62	3297.38	1314.19	1204.56	0	0	0	30.00	30.00	15.01
3610.72	1028	-116.79	-1.16	0.00	3375.4	3454.4	3296.5	1314.6	1204.9	270.58	-8.72	522	3616.20	0.00	0.00	3.82	0.000	0.000	0.063	3376.00	3454.06	3297.94	1314.69	2682.00	0	0	0	30.00	30.00	15.19
3920.77	2693	-116.79	-1.12	-80.00	3375.2	3453.4	3297.1	1314.8	2682.0	298.29	-8.72	554	3927.38	0.00	0.34	4.14	0.000	0.170	0.096	3374.50	3452.75	3296.25	1348.06	1205.19	0	0	0	30.00	14.90	14.33
3945.80	1028	-116.79	-1.12	0.00	3375.5	3453.6	3297.4	1348.7	1205.0	300.10	-8.44	559	3951.23	0.00	0.00	3.81	0.000	0.000	0.062	3376.09	3454.69	3297.50	1348.44	2681.56	0	0	0	30.00	30.00	15.20
4255.81	32	-116.79	-1.12	0.00	3375.2	3453.6	3296.9	1348.8	2680.8	321.92	-7.54	591	4257.14	0.00	0.00	0.00	0.000	0.000	0.000	3374.28	3452.88	3295.69	1348.81	2681.25	0	0	0	30.00	30.00	30.00
4555.85	548	-116.79	-1.12	-80.00	3375.2	3453.9	3296.6	1349.1	2681.8	343.06	-7.11	621	4561.31	0.00	0.00	4.09	0.000	0.000	0.097	3375.62	3453.88	3297.38	1348.69	1205.00	0	0	0	30.00	30.00	14.99
4585.82	1060	-116.79	-1.12	0.00	3375.2	3453.9	3296.5	1348.9	1205.0	345.15	-7.16	627	4591.28	0.00	0.00	3.82	0.000	0.000	0.063	3375.56	3453.50	3297.62	1348.69	2681.56	0	0	0	30.00	30.00	15.17
4895.83	32	-116.79	-1.12	0.00	3375.2	3453.5	3296.9	1348.9	2681.4	366.67	-6.96	659	4897.16	0.00	0.00	0.00	0.000	0.000	0.000	3374.28	3453.00	3295.56	1348.94	2680.31	0	0	0	30.00	30.00	30.00
5195.91	548	-116.79	-1.12	-80.00	3375.2	3453.2	3297.1	1349.0	2681.1	386.50	-6.79	689	5201.38	0.00	0.00	4.16	0.000	0.000	0.097	3375.31	3453.62	3297.00	1348.88	1206.00	0	0	0	30.00	30.00	14.36
5255.93	1188	-116.79	-1.16	0.00	3375.0	3453.8	3296.3	1349.1	1205.9	390.29	-6.44	701	5261.34	0.00	0.00	3.88	0.000	0.000	0.065	3375.25	3454.38	3296.12	1348.75	2680.88	0	0	0	30.00	30.00	14.41
5565.90	292	-116.79	-1.16	80.00	3375.1	3453.2	3296.9	1348.9	2680.9	411.88	-7.74	733	5570.99	0.00	0.00	2.03	0.000	0.000	0.137	3375.91	3453.75	3298.06	1348.75	3356.31	0	0	0	30.00	30.00	14.92
5650.62	1060	-116.79	-1.16	0.00	3375.0	3453.2	3296.8	1348.8	3356.0	418.58	-7.97	750	5655.53	0.00	0.00	1.71	0.000	0.000	0.031	3375.22	3453.44	3297.00	1348.56	2613.69	0	0	0	30.00	30.00	15.59
5955.97	0	-116.79	-1.16	0.00	3374.8	3453.3	3296.2	1348.9	2612.1	444.39	-9.24	781	5957.30	0.00	0.00	0.00	0.000	0.000	0.000	3374.22	3452.81	3295.62	1348.88	2612.25	0	0	0	30.00	30.00	30.00
6256.06	0	-116.79	-1.16	0.00	3375.0	3453.8	3296.2	1348.5	2612.4	469.96	-8.58	811	6257.39	0.00	0.00	0.00	0.000	0.000	0.000	3374.34	3452.88	3295.81	1348.75	2612.44	0	0	0	30.00	30.00	30.00
6556.12	516	-116.79	-1.16	-80.00	3374.7	3453.0	3296.4	1348.8	2612.4	494.41	-8.69	841	6561.56	0.00	0.00	4.00	0.000	0.000	0.108	3375.62	3454.56	3296.69	1348.69	1205.69	0	0	0	30.00	30.00	14.91
6580.79	1156	-116.79	-1.21	0.00	3374.7	3452.6	3296.8	1348.9	1205.9	496.23	-8.54	846	6586.84	0.00	0.00	3.87	0.000	0.000	0.069	3375.47	3453.75	3297.19	1348.88	2679.88	0	0	0	30.00	30.00	15.10
6886.13	32	-116.79	-1.21	0.00	3374.8	3452.9	3296.6	1349.1	2679.7	519.20	-7.24	877	6887.46	0.00	0.00	0.00	0.000	0.000	0.000	3374.25	3453.19	3295.31	1348.88	2680.25	0	0	0	30.00	30.00	30.00
7186.23	548	-116.79	-1.21	-80.00	3374.7	3453.1	3296.4	1348.9	2679.9	541.19	-7.18	907	7191.71	0.00	0.00	4.16	0.000	0.000	0.103	3376.19	3454.75	3297.62	1348.69	1204.62	0	0	0	30.00	30.00	14.90
7240.97	5285	-116.79	-1.25	0.00	3374.8	3452.6	3296.9	1349.1	1205.0	545.31	-7.95	918	7247.05	0.00	0.31	3.86	0.000	0.080	0.071	3375.25	3453.62	3296.88	1303.31	2680.62	0	0	0	30.00	14.86	15.07
7546.25	644	-116.79	-1.21	-80.00	3375.0	3453.4	3296.6	1303.5	2680.1	573.14	-9.05	949	7551.78	0.00	0.00	4.21	0.000	0.000	0.107	3375.75	3453.62	3297.88	1303.50	1206.81	0	0	0	30.00	30.00	14.88
7560.95	1028	-116.79	-1.21	0.00	3374.7	3453.2	3296.2	1303.1	1207.1	574.03	-8.33	952	7567.01	0.00	0.00	3.89	0.000	0.000	0.073	3375.81	3454.44	3297.19	1303.06	2679.56	0	0	0	30.00	30.00	15.05
7866.29	2177	-116.79	-1.17	0.00	3374.7	3453.5	3295.8	1303.6	2679.2	600.58	-8.80	983	7867.76	0.00	0.34	0.00	0.000	0.171	0.000	3375.12	3453.50	3296.75	1336.75	2680.00	0	0	0	30.00	14.80	30.00
8166.35	32	-116.79	-1.17	0.00	3374.3	3452.8	3295.9	1337.0	2679.4	620.41	-6.34	1013	8167.68	0.00	0.00	0.00	0.000	0.000	0.000	3373.44	3452.69	3294.19	1337.00	2679.75	0	0	0	30.00	30.00	30.00
8466.43	516	-116.79	-1.17	-80.00	3374.0	3452.8	3295.2	1337.2	2680.2	641.84	-8.54	1043	8471.93	0.00	0.00	4.28	0.000	0.000	0.111	3374.72	3453.38	3296.06	1337.00	1206.94	0	0	0	30.00	30.00	14.30
8496.39	1028	-116.79	-1.17	0.00	3374.5	3453.1	3295.9	1337.2	1206.8	644.19	-8.44	1049	8501.88	0.00	0.00	3.97	0.000	0.000	0.077	3375.72	3454.62	3296.81	1336.88	2679.00	0	0	0	30.00	30.00	14.37
8806.46	548	-116.79	-1.17	-80.00	3373.9	3452.9	3295.0	1337.6	2678.7	667.05	-7.69	1081	8811.99	0.00	0.00	4.24	0.000	0.000	0.112	3375.59	3454.06	3297.12	1336.94	1206.31	0	0	0	30.00	30.00	14.86
8826.46	1060	-116.79	-1.17	0.00	3373.6	3453.1	3294.1	1337.4	1205.8	668.60	-7.74	1085	8831.94	0.00	0.00	3.95	0.000	0.000	0.077	3374.69	3453.69	3295.69	1337.62	2680.00	0	0	0	30.00	30.00	14.39
9136.50	0	-116.79	-1.17	0.00	3373.8	3453.2	3294.5	1337.4	2679.9	692.53	-8.21	1117	9137.83	0.00	0.00	0.00	0.000	0.000	0.000	3373.22	3453.12	3293.31	1337.06	2679.62	0	0	0	30.00	30.00	30.00
9436.59	0	-116.79	-1.17	0.00	3373.7	3453.3	3294.0	1337.1	2679.7	716.27	-8.15	1147	9437.92	0.00	0.00	0.00	0.000	0.000	0.000	3372.91	3452.75	3293.06	1337.25	2680.19	0	0	0	30.00	30.00	30.00
9736.65	516	-116.79	-1.17	-80.00	3373.1	3453.1	3293.2	1337.1	2679.6	740.63	-8.04	1177	9743.15	0.00	0.00	4.29	0.000	0.000	0.118	3374.34	3454.44	3294.25	1336.88	1207.19	0	0	0	30.00	30.00	14.83
9781.60	1028	-116.79	-1.17	0.00	3373.5	3453.8	3293.2	1337.5	1206.8	744.53	-9.02	1186	9787.09	0.00	0.00	3.97	0.000	0.000	0.084	3373.84	3453.94	3293.75	1337.31	2677.50	0	0	0	30.00	30.00	14.98
10091.65	0	-116.79	-1.17	0.00	3373.2	3453.7	3292.7	1337.6	2677.2	768.61	-8.26	1218	10092.98	0.00	0.00	0.00	0.000	0.000	0.000	3372.19	3452.81	3291.56	1337.19	2678.12	0	0	0	30.00	30.00	30.00
10391.75	32	-116.79	-1.17	0.00	3372.1	3452.6	3291.7	1337.6	2678.0	789.87	-7.18	1248	10393.08	0.00	0.00	0.00	0.000	0.000	0.000	3371.72	3453.00	3290.44	1337.38	2679.00	0	0	0	30.00	30.00	30.00
10691.77	548	-116.79	-1.17	-80.00	3372.2	3453.2	3291.2	1337.1	2678.3	809.76	-6.63	1278	10698.29	0.00	0.00	4.35	0.000	0.000	0.123	3372.94	3453.50	3292.38	1336.38	1207.25	0	0	0	30.00	30.00	14.82
10716.73	1060	-116.79	-1.17	0.00	3372.6	3454.2	3291.0	1337.6	1206.6	811.25	-6.70	1283	10722.23	0.00	0.00	4.03	0.000	0.000	0.087	3373.47	3454.69	3292.25	1336.94	2677.62	0	0	0	30.00	30.00	14.36
11026.75	32	-116.79	-1.17	0.00	3372.2	3453.2	3291.2	1337.8	2678.1	831.54	-6.83	1315	11028.08	0.00	0.00	0.00	0.000	0.000	0.000	3370.69	3452.50	3288.88	1337.25	2677.44	0	0	0	30.00	30.00	30.00
11157	end dive: TARGET_DEPTH_EXCEEDED
state	11157	begin apogee
11158.50	10243	0.00	-0.25	0.00	3372.4	3453.4	3291.4	1337.4	2374.2	840.02	-6.74	1328	11269.23	105.40	1.71	0.10	2.029	0.143	0.231	2898.84	2986.12	2811.56	1561.19	2415.88	0	0	0	10.61	14.94	14.69
11271	end apogee: CONTROL_FINISHED_OK
state	11271	begin climb
11271.60	10759	116.79	0.95	-80.00	2898.6	2985.6	2811.6	1561.6	2415.7	841.52	0.00	1339	11391.30	110.53	2.05	4.51	1.967	0.078	0.123	2419.56	2501.81	2337.31	1857.69	937.12	0	0	0	10.95	15.00	14.39
11398.76	9382	195.71	0.99	0.00	2420.0	2501.4	2338.6	1857.4	936.9	837.21	4.31	1361	11481.09	76.12	0.00	3.92	1.903	0.000	0.057	2100.97	2191.88	2010.06	1857.75	2414.25	0	0	0	10.88	30.00	14.44
11778.75	16646	195.71	0.99	80.00	2092.0	2181.2	2002.9	1857.8	2414.3	802.64	10.38	1407	11784.04	0.00	0.00	2.74	0.000	0.000	0.138	2092.00	2181.38	2002.62	1858.06	3355.31	0	0	0	30.00	30.00	15.26
11823.47	17542	195.71	0.95	0.00	2090.2	2179.6	2000.9	1858.3	3354.5	798.70	9.51	1416	11829.20	0.00	0.00	2.38	0.000	0.000	0.040	2092.41	2181.69	2003.12	1858.44	2370.81	0	0	0	30.00	30.00	15.54
12128.78	16386	195.71	0.95	0.00	2090.3	2179.5	2001.1	1857.8	2371.3	769.95	9.40	1447	12130.11	0.00	0.00	0.00	0.000	0.000	0.000	2089.12	2178.81	1999.44	1858.25	2371.12	0	0	0	30.00	30.00	30.00
12428.83	16386	195.71	0.95	0.00	2088.9	2177.9	1999.8	1858.2	2371.1	742.17	8.98	1477	12430.17	0.00	0.00	0.00	0.000	0.000	0.000	2087.34	2176.69	1998.00	1858.25	2371.25	0	0	0	30.00	30.00	30.00
12728.88	16646	195.71	0.95	80.00	2087.8	2176.9	1998.8	1858.0	2371.1	714.28	8.94	1507	12734.12	0.00	0.00	2.86	0.000	0.000	0.131	2087.53	2176.06	1999.00	1857.62	3358.00	0	0	0	30.00	30.00	15.19
12768.83	17542	195.71	0.90	0.00	2086.9	2176.2	1997.6	1858.1	3357.2	710.39	9.74	1515	12773.98	0.00	0.00	2.38	0.000	0.000	0.039	2087.88	2177.69	1998.06	1857.56	2372.25	0	0	0	30.00	30.00	15.60
13078.85	16386	195.71	0.90	0.00	2086.8	2176.1	1997.4	1857.6	2372.5	681.49	8.72	1547	13080.18	0.00	0.00	0.00	0.000	0.000	0.000	2085.97	2175.38	1996.56	1857.88	2372.25	0	0	0	30.00	30.00	30.00
13378.90	16646	195.71	0.90	80.00	2086.2	2175.6	1996.7	1858.2	2371.9	655.64	8.32	1577	13384.16	0.00	0.00	2.90	0.000	0.000	0.126	2087.62	2177.31	1997.94	1857.19	3356.81	0	0	0	30.00	30.00	14.55
13418.86	17414	195.71	0.90	0.00	2085.9	2175.1	1996.6	1857.9	3358.8	652.07	8.93	1585	13424.02	0.00	0.00	2.38	0.000	0.000	0.037	2086.78	2175.62	1997.94	1858.19	2368.75	0	0	0	30.00	30.00	15.57
13728.90	16386	195.71	0.90	0.00	2085.5	2174.6	1996.4	1858.6	2368.0	624.71	8.72	1617	13730.23	0.00	0.00	0.00	0.000	0.000	0.000	2086.06	2175.31	1996.81	1857.44	2367.81	0	0	0	30.00	30.00	30.00
14029.00	8486	220.26	0.93	80.00	2085.7	2174.8	1996.6	1858.5	2368.8	601.00	6.85	1647	14055.74	22.18	0.00	2.85	1.669	0.000	0.127	2001.69	2092.75	1910.62	1858.44	3357.12	0	0	0	11.28	30.00	15.17
14118.68	1028	220.26	0.93	0.00	1997.8	2086.9	1908.8	1858.5	3357.1	593.53	8.53	1665	14124.42	0.00	0.00	2.38	0.000	0.000	0.037	1999.09	2088.38	1909.81	1858.31	2367.12	0	0	0	30.00	30.00	15.57
14424.04	8486	236.56	0.95	80.00	1997.0	2086.4	1907.6	1858.1	2366.8	572.35	7.24	1696	14445.98	17.22	0.00	2.85	1.584	0.000	0.125	1935.03	2027.06	1843.00	1858.12	3358.81	0	0	0	11.39	30.00	15.16
14479.04	9254	248.57	0.97	0.00	1933.0	2024.7	1841.4	1858.9	3358.6	568.06	7.44	1707	14499.15	13.76	0.00	2.38	1.492	0.000	0.036	1887.41	1980.56	1794.25	1857.69	2364.69	0	0	0	11.43	30.00	15.56
14799.10	8486	263.99	0.99	80.00	1882.3	1975.9	1788.7	1859.0	2365.8	545.10	7.28	1741	14820.00	16.55	0.00	2.85	1.534	0.000	0.124	1823.28	1918.75	1727.81	1859.31	3356.12	0	0	0	11.32	30.00	15.15
14869.09	1060	264.17	0.99	0.00	1820.2	1915.1	1725.4	1858.8	3356.4	539.46	7.99	1755	14874.25	0.00	0.00	2.38	0.000	0.000	0.036	1820.62	1915.56	1725.69	1858.44	2365.06	0	0	0	30.00	30.00	15.56
15179.14	260	264.17	0.99	80.00	1819.2	1913.8	1724.6	1858.4	2365.1	514.97	8.18	1787	15184.44	0.00	0.00	2.88	0.000	0.000	0.120	1819.78	1914.06	1725.50	1858.25	3356.69	0	0	0	30.00	30.00	14.67
15203.85	9254	267.55	0.99	0.00	1818.6	1913.1	1724.1	1858.6	3358.1	513.04	7.84	1792	15214.48	5.18	0.00	2.37	0.936	0.000	0.036	1809.62	1905.12	1714.12	1858.12	2365.69	0	0	0	11.39	30.00	15.62
15519.20	8486	272.26	1.00	80.00	1807.8	1902.4	1713.2	1858.6	2365.8	487.39	7.78	1825	15530.95	7.28	0.00	2.81	1.177	0.000	0.122	1788.34	1884.00	1692.69	1859.06	3356.50	0	0	0	11.47	30.00	15.25
15574.20	1028	272.26	1.00	0.00	1788.2	1883.2	1693.2	1858.9	3356.3	482.12	9.31	1836	15579.37	0.00	0.00	2.38	0.000	0.000	0.036	1788.66	1884.19	1693.12	1858.69	2365.00	0	0	0	30.00	30.00	15.65
15884.28	260	272.26	1.00	80.00	1787.6	1883.1	1692.1	1858.6	2364.9	453.99	8.99	1868	15889.57	0.00	0.00	2.86	0.000	0.000	0.117	1789.25	1884.38	1694.12	1857.56	3357.38	0	0	0	30.00	30.00	14.64
15918.97	1028	272.26	1.00	0.00	1786.9	1881.5	1692.4	1858.4	3356.4	450.56	10.61	1875	15924.72	0.00	0.00	2.38	0.000	0.000	0.036	1787.47	1882.31	1692.62	1858.94	2366.75	0	0	0	30.00	30.00	15.60
16224.32	260	272.26	1.00	80.00	1786.8	1881.8	1691.9	1858.2	2365.9	420.16	10.42	1906	16229.62	0.00	0.00	2.83	0.000	0.000	0.118	1788.84	1883.06	1694.62	1858.31	3356.62	0	0	0	30.00	30.00	15.18
16259.02	1028	272.26	1.00	0.00	1786.6	1881.2	1692.0	1858.6	3357.9	416.17	11.96	1913	16264.77	0.00	0.00	2.40	0.000	0.000	0.035	1787.34	1881.81	1692.88	1858.69	2367.62	0	0	0	30.00	30.00	14.69
16564.37	0	272.26	1.00	0.00	1786.9	1881.1	1692.6	1858.5	2366.7	385.22	8.75	1944	16565.70	0.00	0.00	0.00	0.000	0.000	0.000	1785.78	1880.50	1691.06	1858.62	2366.12	0	0	0	30.00	30.00	30.00
16864.47	260	272.26	1.00	80.00	1786.6	1881.1	1692.1	1858.6	2366.0	358.95	8.82	1974	16869.73	0.00	0.00	2.84	0.000	0.000	0.117	1787.06	1881.69	1692.44	1858.62	3358.38	0	0	0	30.00	30.00	15.12
16924.42	1028	272.26	1.00	0.00	1786.6	1881.4	1691.8	1858.5	3358.0	353.06	9.81	1986	16929.59	0.00	0.00	2.36	0.000	0.000	0.035	1786.28	1880.88	1691.69	1858.12	2366.44	0	0	0	30.00	30.00	15.58
17234.49	260	272.26	1.00	80.00	1786.6	1881.0	1692.1	1858.7	2366.2	326.45	8.22	2018	17239.79	0.00	0.00	2.87	0.000	0.000	0.115	1787.59	1882.06	1693.12	1858.81	3357.06	0	0	0	30.00	30.00	14.42
17274.49	1028	272.26	1.00	0.00	1786.3	1880.8	1691.8	1858.9	3357.3	322.73	9.29	2026	17279.65	0.00	0.00	2.37	0.000	0.000	0.034	1787.09	1881.75	1692.44	1859.06	2363.75	0	0	0	30.00	30.00	15.59
17584.54	260	272.26	1.00	80.00	1786.4	1880.9	1691.9	1858.9	2364.4	298.46	8.56	2058	17589.86	0.00	0.00	2.87	0.000	0.000	0.115	1787.22	1881.44	1693.00	1858.69	3357.38	0	0	0	30.00	30.00	15.07
17619.25	1028	272.26	1.00	0.00	1786.3	1880.7	1692.0	1858.9	3356.1	295.79	8.26	2065	17625.00	0.00	0.00	2.38	0.000	0.000	0.035	1786.25	1880.88	1691.62	1859.44	2364.81	0	0	0	30.00	30.00	15.54
17924.62	32	273.36	1.00	0.00	1786.1	1880.3	1691.9	1859.7	2364.8	271.71	7.95	2096	17925.95	0.00	0.00	0.00	0.000	0.000	0.000	1785.75	1880.44	1691.06	1858.88	2365.12	0	0	0	30.00	30.00	30.00
18224.70	260	273.36	1.00	80.00	1786.3	1880.8	1691.9	1859.1	2364.4	247.02	8.41	2126	18230.75	0.00	0.00	2.91	0.000	0.000	0.116	1786.53	1880.69	1692.38	1859.00	3357.62	0	0	0	30.00	30.00	14.35
18269.37	1028	273.36	1.00	0.00	1786.5	1880.6	1692.4	1859.3	3357.4	242.91	9.16	2135	18275.90	0.00	0.00	2.44	0.000	0.000	0.035	1788.19	1882.12	1694.25	1857.94	2365.88	0	0	0	30.00	30.00	14.55
18574.69	0	273.36	1.00	0.00	1786.3	1880.6	1692.0	1858.9	2364.5	216.29	8.71	2166	18577.57	0.00	0.00	0.00	0.000	0.000	0.000	1785.28	1879.81	1690.75	1859.06	2364.81	0	0	0	30.00	30.00	30.00
18874.76	260	273.36	1.00	80.00	1786.4	1881.1	1691.8	1858.9	2364.9	190.48	8.71	2196	18880.79	0.00	0.00	2.87	0.000	0.000	0.116	1786.38	1881.00	1691.75	1859.38	3359.25	0	0	0	30.00	30.00	15.07
18924.71	1028	273.36	1.00	0.00	1786.4	1880.8	1691.9	1859.5	3359.0	185.44	10.37	2206	18930.66	0.00	0.00	2.41	0.000	0.000	0.035	1787.09	1881.94	1692.25	1859.94	2364.56	0	0	0	30.00	30.00	15.43
19234.76	0	273.36	1.00	0.00	1786.4	1880.9	1691.9	1859.5	2364.4	157.30	9.06	2238	19237.63	0.00	0.00	0.00	0.000	0.000	0.000	1785.72	1880.62	1690.81	1858.75	2364.38	0	0	0	30.00	30.00	30.00
19534.96	388	273.36	1.04	80.00	1786.3	1880.8	1691.8	1859.8	2364.4	129.62	8.87	2268	19540.84	0.00	0.00	2.88	0.000	0.000	0.115	1786.84	1881.25	1692.44	1859.12	3358.75	0	0	0	30.00	30.00	15.06
19584.76	1028	273.36	1.04	0.00	1786.3	1880.7	1691.9	1859.6	3358.9	124.29	10.74	2278	19590.78	0.00	0.00	2.42	0.000	0.000	0.036	1787.91	1882.06	1693.75	1858.81	2365.69	0	0	0	30.00	30.00	15.43
19889.81	128	273.36	1.08	0.00	1786.4	1880.8	1692.1	1859.5	2364.0	93.84	10.38	2315	19894.88	0.00	0.00	0.00	0.000	0.000	0.000	1786.78	1881.31	1692.25	1859.44	2364.06	0	0	0	30.00	30.00	30.00
20074.83	10535	288.10	1.10	80.00	1786.5	1880.8	1692.2	1859.6	2364.1	77.38	7.31	2352	20101.69	20.40	0.18	2.83	1.082	0.099	0.118	1725.66	1821.94	1629.38	1895.31	3359.12	0	0	0	11.44	15.36	15.17
20159.82	1028	288.10	1.10	0.00	1722.8	1818.4	1627.1	1895.4	3358.5	68.73	10.77	2369	20166.06	0.00	0.00	2.42	0.000	0.000	0.035	1723.75	1819.56	1627.94	1895.56	2364.12	0	0	0	30.00	30.00	15.32
20344.90	516	288.10	1.10	-80.00	1722.3	1818.5	1626.2	1895.1	2361.9	46.44	11.20	2406	20352.44	0.00	0.00	4.09	0.000	0.000	0.111	1721.00	1817.06	1624.94	1895.06	935.88	0	0	0	30.00	30.00	15.18
20369.85	1028	288.10	1.10	0.00	1721.6	1817.2	1626.0	1895.1	935.9	43.55	11.63	2411	20376.38	0.00	0.00	3.75	0.000	0.000	0.050	1722.50	1817.88	1627.12	1895.25	2417.38	0	0	0	30.00	30.00	15.29
20554.93	260	288.10	1.10	80.00	1721.6	1817.1	1626.0	1895.5	2417.6	21.22	13.33	2448	20561.25	0.00	0.00	2.70	0.000	0.000	0.122	1722.25	1818.00	1626.50	1895.25	3358.31	0	0	0	30.00	30.00	15.19
20599.90	1028	288.10	1.10	0.00	1721.4	1816.8	1626.1	1895.3	3357.4	15.51	12.03	2457	20606.12	0.00	0.00	2.39	0.000	0.000	0.034	1722.84	1817.94	1627.75	1894.62	2360.56	0	0	0	30.00	30.00	15.48
20755	end climb: SURFACE_DEPTH_REACHED
state	20755	begin surface coast
20775	end surface coast: CONTROL_FINISHED_OK
state	20775	begin surface