Glider dive log

PortSusan 23Jul07 * SG001 * Dive index * Mission links * Dive 139 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 1 HD_B 0.010078 PITCH_AD_RATE 180 ALTIM_TOP_PING_RANGE 10

MISSION 1 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 139 HEADING -1 PITCH_ADJ_GAIN 0.029999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 180 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 3.5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 125

D_TGT 150 FIX_MISSING_TIMEOUT 3 ROLL_MAX 3791 ALTIM_PING_DELTA 25

D_ABORT 250 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1978 ALTIM_FREQUENCY 15

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1978 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 8 ALTIM_SENSITIVITY 1

D_PITCH 1.5 SM_CC 375 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 100 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 10

D_CALL 2 FILEMGR 2 R_PORT_OVSHOOT 2 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 14 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 20 COMM_SEQ 0 ROLL_AD_RATE 500 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 20 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 1 DEVICE2 -1

T_MISSION 60 UPLOAD_DIVES_MAX 5 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 421 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3792 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2257 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 200000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 1 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN -2 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 1

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 32

T_WATCHDOG 10 T_GPS_CHARGE -453157.69 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 0.94999993 PITCH_MAX 3252 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.02765 C_PITCH 2263 PRESSURE_YINT -0.22280908 SEABIRD_T_I 2.5554549e-05

MASS 51747 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 1 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.045000002 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 20 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 1 D_FINISH 0 PITCH_AD_RATE 180 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 20 SM_CC 375

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.5 PITCH_MAX 3252 SPEED_FACTOR 0.94999993

ALTIM_FREQUENCY 15 D_SAFE 100 PITCH_MAXERRORS 1 SURFACE_URGENCY 5

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 20

ALTIM_PING_DEPTH 125 D_TGT 150 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 20

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 3.5 FERRY_MAX 45 PRESSURE_YINT -0.22280908 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 FILEMGR 2 P_OVSHOOT 0.045000002 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 16 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HD_C 9.8541004e-06 RHO 1.02765 T_GPS_CHARGE -453157.69

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 60

CF8_MAXERRORS 20 HEAD_ERRBAND 8 ROLL_ADJ_GAIN 1 T_NO_W 120

COMM_SEQ 0 HEAPDBG 1 ROLL_AD_RATE 500 T_RSLEEP 2

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN -2 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 1 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1978 INT_PRESSURE_YINT 10 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 1978 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 2 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 14 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 2 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3792

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 20

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 421

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 139 PHONE_DEVICE 32 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 250 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 2 PITCH_ADJ_GAIN 0.029999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 193055,4806.681,-12222.825,22,1.1,22,18.0 TGT_NAME default

_CALLS 1 TGT_LATLONG 47.600,-122.300

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.202,-0.077

_SM_DEPTHo 0.00 KALMAN_X -37009.6,-335.9,-210.5,38638.4,-204.9

_SM_ANGLEo -50.0 KALMAN_Y 15953.4,125.1,-348.7,-18518.8,38.6

GPS2 193518,4806.682,-12222.816,27,1.1,27,18.0 MHEAD_RNG_PITCHd_Wd 91.8,14436728,-20.0,-10.000

SPEED_LIMITS 0.156,0.216 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.7,1.020770 ALTIM_TOP_PING 9.6,10.2

SM_CCo 2141,159.15,0.000,1,0,729,375.55 ALTIM_BOTTOM_PING 75.2,27.0

SM_GC 0.00,0.00,0.00,159.15,0.000,0.000,0.000,626,1757,729,-7.48,-6.30,375.55 _24V_AH 23.7,89.526

RAFOS_CLK 0 _10V_AH 9.7,14.314

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 9601,308

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,239165440

TT8_MAMPS 0.024544 ERRORS 0,1,0,0,0,0,0,0,0,0,0,35,161,1,0

HUMID 2265 SOUNDSPEED 1465.0

INTERNAL_PRESSURE 26.0748 CURRENT 0.025,209.6,1

TCM_TEMP 15.00 GPS 280707,201613,4806.812,-12222.996,24,1.1,24,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 119 55.77 SBE_CT 244 24 138.97

Roll_motor 24 60 34.23 nil 0 0 0.00

VBD_pump_during_apogee 198 0 3.60 nil 0 0 0.00

VBD_pump_during_surface 159 600 2263.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 89 223 472.09

Transponder_ping 0 420 4.98

GPS 27 50 13.54

TT8 853 19 164.86

LPSleep 543 2 12.17

TT8_Active 473 19 91.53

TT8_Sampling 299 39 116.07

TT8_CF8 409 45 182.59

TT8_Kalman 33 81 26.49

Analog_circuits 724 12 84.32

GPS_charging 0 0 0.00

Compass 250 26 63.18

RAFOS 360 1 5.24

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

32 end surface: CONTROL_FINISHED_OK

state 33 begin dive

39 -1.21 -121.6 0.0 0.0 0 119 0.00 0.00 -67.32 0.000 6 0.000 0.000 640 1839 2761

125 -1.21 -121.6 3.5 -7.7 11 143 6.88 3.40 0.00 0.000 4 0.000 0.000 2061 3538 2760

417 -1.15 -121.6 36.1 -10.9 58 425 0.00 3.03 0.00 0.000 6 0.000 0.000 2080 1876 2761

784 -1.15 -121.6 75.8 -10.6 119 793 0.43 2.95 0.00 0.000 4 0.000 0.000 1948 360 2759

1022 end dive: TARGET_DEPTH_EXCEEDED

state 1022 begin apogee

1038 -0.25 0.0 100.2 10.3 159 1148 1.38 0.00 100.38 0.001 6 0.000 0.000 2241 2128 2254

1154 end apogee: CONTROL_FINISHED_OK

state 1154 begin climb

1160 1.21 121.6 105.6 0.0 165 1270 1.38 2.30 97.78 0.001 4 0.000 0.000 2531 3529 1762

1539 1.21 121.6 64.7 12.3 214 1547 0.00 3.33 0.00 0.000 6 0.000 0.000 2549 1879 1767

1907 1.21 121.6 21.4 11.2 275 1915 0.00 2.53 0.00 0.000 4 0.000 0.000 2542 3507 1757

2084 end climb: SURFACE_DEPTH_REACHED

state 2084 begin surface coast

2107 end surface coast: CONTROL_FINISHED_OK

state 2108 begin surface

ID	1	HD_B	0.010078	PITCH_AD_RATE	180	ALTIM_TOP_PING_RANGE	10
MISSION	1	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	139	HEADING	-1	PITCH_ADJ_GAIN	0.029999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	180	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	3.5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	125
D_TGT	150	FIX_MISSING_TIMEOUT	3	ROLL_MAX	3791	ALTIM_PING_DELTA	25
D_ABORT	250	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1978	ALTIM_FREQUENCY	15
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1978	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	8	ALTIM_SENSITIVITY	1
D_PITCH	1.5	SM_CC	375	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	100	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	10
D_CALL	2	FILEMGR	2	R_PORT_OVSHOOT	2	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	14	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	20	COMM_SEQ	0	ROLL_AD_RATE	500	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	20	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	1	DEVICE2	-1
T_MISSION	60	UPLOAD_DIVES_MAX	5	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	421	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3792	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2257	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	200000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	1	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	-2	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	1
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	32
T_WATCHDOG	10	T_GPS_CHARGE	-453157.69	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	0.94999993	PITCH_MAX	3252	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.02765	C_PITCH	2263	PRESSURE_YINT	-0.22280908	SEABIRD_T_I	2.5554549e-05
MASS	51747	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	1	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.045000002	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	20	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	193055,4806.681,-12222.825,22,1.1,22,18.0	TGT_NAME	default
_CALLS	1	TGT_LATLONG	47.600,-122.300
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.202,-0.077
_SM_DEPTHo	0.00	KALMAN_X	-37009.6,-335.9,-210.5,38638.4,-204.9
_SM_ANGLEo	-50.0	KALMAN_Y	15953.4,125.1,-348.7,-18518.8,38.6
GPS2	193518,4806.682,-12222.816,27,1.1,27,18.0	MHEAD_RNG_PITCHd_Wd	91.8,14436728,-20.0,-10.000
SPEED_LIMITS	0.156,0.216	D_GRID	100

FINISH	0.7,1.020770	ALTIM_TOP_PING	9.6,10.2
SM_CCo	2141,159.15,0.000,1,0,729,375.55	ALTIM_BOTTOM_PING	75.2,27.0
SM_GC	0.00,0.00,0.00,159.15,0.000,0.000,0.000,626,1757,729,-7.48,-6.30,375.55	_24V_AH	23.7,89.526
RAFOS_CLK	0	_10V_AH	9.7,14.314
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	9601,308
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,239165440
TT8_MAMPS	0.024544	ERRORS	0,1,0,0,0,0,0,0,0,0,0,35,161,1,0
HUMID	2265	SOUNDSPEED	1465.0
INTERNAL_PRESSURE	26.0748	CURRENT	0.025,209.6,1
TCM_TEMP	15.00	GPS	280707,201613,4806.812,-12222.996,24,1.1,24,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	119	55.77	SBE_CT	244	24	138.97
Roll_motor	24	60	34.23	nil	0	0	0.00
VBD_pump_during_apogee	198	0	3.60	nil	0	0	0.00
VBD_pump_during_surface	159	600	2263.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	89	223	472.09
Transponder_ping	0	420	4.98
GPS	27	50	13.54
TT8	853	19	164.86
LPSleep	543	2	12.17
TT8_Active	473	19	91.53
TT8_Sampling	299	39	116.07
TT8_CF8	409	45	182.59
TT8_Kalman	33	81	26.49
Analog_circuits	724	12	84.32
GPS_charging	0	0	0.00
Compass	250	26	63.18
RAFOS	360	1	5.24

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
32	end surface: CONTROL_FINISHED_OK
state	33	begin dive
39	-1.21	-121.6	0.0	0.0	0	119	0.00	0.00	-67.32	0.000	6	0.000	0.000	640	1839	2761
125	-1.21	-121.6	3.5	-7.7	11	143	6.88	3.40	0.00	0.000	4	0.000	0.000	2061	3538	2760
417	-1.15	-121.6	36.1	-10.9	58	425	0.00	3.03	0.00	0.000	6	0.000	0.000	2080	1876	2761
784	-1.15	-121.6	75.8	-10.6	119	793	0.43	2.95	0.00	0.000	4	0.000	0.000	1948	360	2759
1022	end dive: TARGET_DEPTH_EXCEEDED
state	1022	begin apogee
1038	-0.25	0.0	100.2	10.3	159	1148	1.38	0.00	100.38	0.001	6	0.000	0.000	2241	2128	2254
1154	end apogee: CONTROL_FINISHED_OK
state	1154	begin climb
1160	1.21	121.6	105.6	0.0	165	1270	1.38	2.30	97.78	0.001	4	0.000	0.000	2531	3529	1762
1539	1.21	121.6	64.7	12.3	214	1547	0.00	3.33	0.00	0.000	6	0.000	0.000	2549	1879	1767
1907	1.21	121.6	21.4	11.2	275	1915	0.00	2.53	0.00	0.000	4	0.000	0.000	2542	3507	1757
2084	end climb: SURFACE_DEPTH_REACHED
state	2084	begin surface coast
2107	end surface coast: CONTROL_FINISHED_OK
state	2108	begin surface