DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 212 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  141 HD_C  9.9999997e-06 ROLL_MIN  256 ALTIM_TOP_TURN_MARGIN  5
MISSION  15 HEADING  -1 ROLL_MAX  3943 ALTIM_TOP_MIN_OBSTACLE  2
DIVE  212 ESCAPE_HEADING  120 ROLL_DEG  40 ALTIM_PING_DEPTH  300
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2490 ALTIM_PING_DELTA  50
D_SURF  3 FIX_MISSING_TIMEOUT  5 C_ROLL_CLIMB  2275 ALTIM_FREQUENCY  13
D_FLARE  5 TGT_DEFAULT_LAT  6000 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_TGT  990 TGT_DEFAULT_LON  -5500 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  4
D_NO_BLEED  50 SM_CC  559.0387 R_PORT_OVSHOOT  28 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  28 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  2 ROLL_AD_RATE  325 INT_PRESSURE_YINT  0
D_FINISH  9 CALL_NDIVES  1 ROLL_MAXERRORS  0 DEEPGLIDER  0
D_PITCH  1.75 COMM_SEQ  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  500 PROTOCOL  9 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  3 N_NOCOMM  1 VBD_MIN  751 DEVICE1  2
SURFACE_URGENCY  10 N_NOSURFACE  0 VBD_MAX  4040 DEVICE2  20
SURFACE_URGENCY_TRY  5 UPLOAD_DIVES_MAX  5 C_VBD  3030 DEVICE3  -1
SURFACE_URGENCY_FORCE  10 CALL_TRIES  3 VBD_DBAND  2 DEVICE4  -1
T_DIVE  330 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_MISSION  400 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  3 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_BATHY  -3 T_GPS_CHARGE  -30163.6 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  2 T_RSLEEP  2 CF8_MAXERRORS  0 COMPASS2_DEVICE  133
ICE_FREEZE_MARGIN  0.1 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
D_OFFGRID  250 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  32
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  110 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3900 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2864 PHONE_SUPPLY  2 SEABIRD_T_G  0.0042907749
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_YINT  -33.184971 SEABIRD_T_H  0.0006300722
SPEED_FACTOR  1 PITCH_CNV  0.0031256729 PRESSURE_SLOPE  0.0001160265 SEABIRD_T_I  2.4342404e-05
RHO  1.0275 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.663412e-06
MASS  51684 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8752003
NAV_MODE  0 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1299734
FERRY_MAX  45 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.00041852854
KALMAN_USE  2 PITCH_MAXERRORS  2 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00012689357
HD_A  0.003 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  20
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15

Pre-dive calculations and measurements:
GPS1  250311,004240,6712.318,-5812.761,0,3090.3,0,-38.2 TGT_NAME  TARGET_E
_CALLS  3 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  6.64 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -2.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  250311,004240,6712.318,-5812.761,0,3090.3,0,-38.2 MHEAD_RNG_PITCHd_Wd  143.9,63596,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1103

Post-dive calculations and measurements:
FREEZE  8.66,-1.769,-1.825,3,87,0 ALTIM_BOTTOM_PING  901.9,39.1
FINISH1  8.7,1.026701,39 _24V_AH  22.4,30.979
FINISH2  7.1 _10V_AH  10.2,17.065
RAFOS_CLK  966 FG_AHR_24Vo  0.000
RAFOS  0,1301025667,4.033333,4.018611,60,59,58,56,55,50,194,130,206,143,221,168 FG_AHR_10Vo  0.000
RAFOS_FIX  6713.379395,-5810.222656,250311,040444,3,125,0.19 MEM  150556
IRIDIUM_FIX  6652.93,-5737.74,100311,101013 DATA_FILE_SIZE  53361,1342
TT8_MAMPS  0.026215 CAP_FILE_SIZE  180981,0
HUMID  46.85 CFSIZE  260165632,237391872
INTERNAL_PRESSURE  8.69174 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.40 SOUNDSPEED  1456.7
XPDR_PINGS  0 GPS  250311,044344,6713.379,-5810.223,0,3125.0,0,-38.2
ALTIM_TOP_PING  20.0,17.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor623033.78 SBE_CT95624513.98
Roll_motor157166586.32 SBE_O2104019442.77
VBD_pump_during_apogee381152012991.48 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer000.00 nil000.00
Transponder_ping342035.28 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8341719694.38
LPSleep114482269.76
TT8_Active50919103.57
TT8_Sampling229039932.47
TT8_CF822345104.87
TT8_Kalman000.00
Analog_circuits173912212.93
GPS_charging000.00
Compass226215346.10
RAFOS2520138.56
Transponder29309.09

Guidance and control:
st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -6.95 0.000 2 0.000 0.000 2883 3674 3081 0 0 0 0 0 0
27 -0.62 -146.0 8.2 -0.0 1 52 0.62 0.32 -17.88 0.000 4 0.122 0.166 2672 3903 3627 0 0 0 0 0 0
216 -0.57 -146.0 29.7 -14.2 34 223 0.00 2.17 0.00 0.000 6 0.000 0.043 2671 2478 3628 0 0 0 0 0 0
562 -0.46 -146.0 85.1 -17.1 95 569 0.17 2.20 0.00 0.000 4 0.225 0.059 2713 1076 3627 0 0 0 0 0 0
582 -0.37 -146.0 88.4 -16.3 98 589 0.00 2.22 0.00 0.000 6 0.000 0.055 2713 2494 3627 0 0 0 0 0 0
915 -0.40 -146.0 125.0 -9.3 137 916 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2494 3627 0 0 0 0 0 0
1236 -0.43 -146.0 152.1 -8.2 167 1240 0.00 2.25 0.00 0.000 4 0.000 0.073 2713 3896 3626 0 0 0 0 0 0
1290 -0.50 -146.0 157.1 -8.4 171 1297 0.00 2.17 0.00 0.000 6 0.000 0.044 2713 2492 3626 0 0 0 0 0 0
1617 -0.55 -146.0 187.2 -9.7 202 1621 0.00 2.20 0.00 0.000 4 0.000 0.058 2713 1076 3626 0 0 0 0 0 0
1630 -0.59 -146.0 188.6 -9.3 203 1635 0.12 2.22 0.00 0.000 6 0.135 0.055 2673 2494 3625 0 0 0 0 0 0
1955 -0.54 -146.0 228.9 -12.7 233 1959 0.00 2.28 0.00 0.000 4 0.000 0.073 2673 3900 3625 0 0 0 0 0 0
1979 -0.50 -146.0 231.9 -12.9 235 1983 0.12 2.20 0.00 0.000 6 0.211 0.045 2701 2484 3625 0 0 0 0 0 0
2304 -0.53 -146.0 267.0 -11.0 265 2305 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2483 3625 0 0 0 0 0 0
2626 -0.57 -146.0 301.1 -10.2 295 2632 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2484 3625 0 0 0 0 0 0
2953 -0.62 -146.0 332.0 -8.1 326 2958 0.12 2.20 0.00 0.000 4 0.132 0.057 2660 1077 3625 0 0 0 0 0 0
2971 -0.62 -146.0 333.8 -9.2 327 2975 0.00 2.22 0.00 0.000 6 0.000 0.056 2660 2492 3625 0 0 0 0 0 0
3296 -0.55 -146.0 370.4 -11.5 357 3297 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2492 3624 0 0 0 0 0 0
3617 -0.50 -146.0 405.8 -11.3 387 3624 0.15 0.00 0.00 0.000 6 0.216 0.000 2695 2492 3625 0 0 0 0 0 0
3944 -0.54 -146.0 431.1 -7.3 418 3945 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2492 3626 0 0 0 0 0 0
4263 -0.59 -146.0 454.5 -7.0 448 4267 0.00 2.28 0.00 0.000 4 0.000 0.071 2695 3900 3626 0 0 0 0 0 0
4297 -0.66 -146.0 457.1 -7.2 451 4304 0.15 2.17 0.00 0.000 6 0.119 0.042 2645 2487 3626 0 0 0 0 0 0
4629 -0.57 -146.0 494.0 -11.7 482 4634 0.12 2.20 0.00 0.000 4 0.220 0.055 2672 1083 3626 0 0 0 0 0 0
4644 -0.50 -146.0 495.9 -11.5 483 4651 0.00 2.22 0.00 0.000 6 0.000 0.054 2672 2493 3626 0 0 0 0 0 0
4970 -0.50 -146.0 526.8 -9.7 514 4975 0.10 2.30 0.00 0.000 4 0.230 0.070 2696 3905 3626 0 0 0 0 0 0
4987 -0.50 -146.0 528.4 -9.2 515 4991 0.00 2.15 0.00 0.000 6 0.000 0.041 2696 2489 3626 0 0 0 0 0 0
5313 -0.56 -146.0 553.3 -7.4 545 5314 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2489 3626 0 0 0 0 0 0
5635 -0.62 -146.0 577.2 -7.5 575 5639 0.00 2.17 0.00 0.000 4 0.000 0.054 2696 1076 3627 0 0 0 0 0 0
5648 -0.68 -146.0 578.5 -7.7 576 5653 0.15 2.22 0.00 0.000 6 0.122 0.054 2645 2499 3626 0 0 0 0 0 0
5969 -0.61 -146.0 614.5 -11.4 598 5973 0.00 2.28 0.00 0.000 4 0.000 0.071 2645 3906 3626 0 0 0 0 0 0
5979 -0.53 -146.0 615.9 -11.3 598 5984 0.17 2.17 0.00 0.000 6 0.203 0.041 2688 2489 3626 0 0 0 0 0 0
6298 -0.58 -146.0 640.8 -7.4 609 6300 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2489 3627 0 0 0 0 0 0
6605 -0.62 -146.0 662.4 -6.8 619 6606 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2489 3627 0 0 0 0 0 0
6910 -0.67 -146.0 682.5 -6.5 629 6912 0.12 0.00 0.00 0.000 6 0.129 0.000 2646 2489 3627 0 0 0 0 0 0
7216 -0.60 -146.0 713.5 -10.5 639 7220 0.00 2.20 0.00 0.000 4 0.000 0.055 2646 1078 3627 0 0 0 0 0 0
7226 -0.53 -146.0 714.8 -10.6 639 7231 0.17 2.25 0.00 0.000 6 0.210 0.056 2687 2499 3627 0 0 0 0 0 0
7551 -0.58 -146.0 739.1 -7.5 650 7555 0.00 2.22 0.00 0.000 4 0.000 0.072 2687 3899 3627 0 0 0 0 0 0
7572 -0.63 -146.0 740.8 -7.6 650 7576 0.00 2.17 0.00 0.000 6 0.000 0.042 2686 2482 3627 0 0 0 0 0 0
7891 -0.68 -146.0 765.0 -7.8 661 7893 0.12 0.00 0.00 0.000 6 0.130 0.000 2643 2483 3627 0 0 0 0 0 0
8197 -0.61 -146.0 798.4 -11.1 671 8198 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2482 3627 0 0 0 0 0 0
8503 -0.55 -146.0 832.6 -11.1 681 8505 0.15 0.00 0.00 0.000 6 0.206 0.000 2679 2483 3628 0 0 0 0 0 0
8810 -0.58 -146.0 859.1 -8.6 691 8814 0.00 2.28 0.00 0.000 4 0.000 0.070 2679 3899 3627 0 0 0 0 0 0
8831 -0.62 -146.0 861.1 -9.0 691 8838 0.00 2.17 0.00 0.000 6 0.000 0.043 2679 2487 3627 0 0 0 0 0 0
9145 -0.66 -146.0 886.5 -8.0 702 9146 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2487 3628 0 0 0 0 0 0
9451 -0.76 -146.0 911.1 -7.5 712 9456 0.17 2.30 0.00 0.000 4 0.112 0.070 2617 3903 3628 0 0 0 0 0 0
9469 -0.81 -146.0 912.5 -7.0 712 9473 0.00 2.17 0.00 0.000 6 0.000 0.043 2617 2480 3627 0 0 0 0 0 0
9596 end dive: BOTTOM_OBSTACLE_DETECTED
state 9596 begin apogee
9601 -0.12 0.0 928.9 12.8 716 9732 0.70 0.00 124.60 1.520 6 0.206 0.000 2811 2262 3030 0 0 0 0 0 0
9733 end apogee: CONTROL_FINISHED_OK
state 9733 begin climb
9735 0.62 146.0 933.4 0.0 720 9871 0.80 0.00 132.57 1.473 6 0.129 0.000 3055 2262 2434 0 0 0 0 0 0
10155 0.48 146.0 886.1 13.5 734 10160 0.15 2.42 0.00 0.000 4 0.208 0.063 3022 3683 2425 0 0 0 0 0 0
10222 0.38 146.0 876.8 13.3 736 10227 0.17 2.30 0.00 0.000 6 0.198 0.050 2990 2293 2425 0 0 0 0 0 0
10558 0.41 169.0 846.1 8.9 747 10583 0.00 2.38 19.95 1.352 4 0.000 0.066 2999 865 2341 0 0 0 0 0 0
10628 0.46 180.8 839.6 9.5 748 10649 0.00 2.30 12.07 1.278 6 0.000 0.052 2999 2275 2292 0 0 0 0 0 0
10955 0.46 180.8 806.3 10.3 759 10959 0.00 2.33 0.00 0.000 4 0.000 0.067 2998 3687 2288 0 0 0 0 0 0
11038 0.43 180.8 796.4 11.4 761 11042 0.00 2.28 0.00 0.000 6 0.000 0.050 3009 2274 2287 0 0 0 0 0 0
11357 0.41 180.8 761.3 11.2 772 11361 0.00 2.25 0.00 0.000 4 0.000 0.063 3020 865 2286 0 0 0 0 0 0
11406 0.41 180.8 755.7 11.1 773 11410 0.00 2.25 0.00 0.000 6 0.000 0.051 3019 2279 2285 0 0 0 0 0 0
11725 0.37 180.8 718.8 11.8 784 11729 0.12 2.28 0.00 0.000 4 0.195 0.065 2990 3694 2285 0 0 0 0 0 0
11792 0.37 180.8 711.1 10.8 786 11796 0.00 2.22 0.00 0.000 6 0.000 0.047 2998 2269 2285 0 0 0 0 0 0
12127 0.38 188.8 678.4 9.6 797 12141 0.00 2.30 7.60 1.126 4 0.000 0.062 3008 869 2260 0 0 0 0 0 0
12181 0.44 199.7 673.1 9.5 798 12197 0.00 2.22 11.62 1.225 6 0.000 0.050 3008 2281 2214 0 0 0 0 0 0
12527 0.44 199.7 636.4 10.7 810 12531 0.00 2.28 0.00 0.000 4 0.000 0.066 3008 3689 2213 0 0 0 0 0 0
12594 0.42 199.7 628.3 11.5 812 12598 0.00 2.28 0.00 0.000 6 0.000 0.049 3018 2274 2212 0 0 0 0 0 0
12913 0.39 199.7 592.2 11.1 825 12917 0.00 2.22 0.00 0.000 4 0.000 0.060 3029 862 2212 0 0 0 0 0 0
12967 0.39 199.7 585.7 10.5 829 12975 0.10 2.25 0.00 0.000 6 0.168 0.049 2999 2270 2210 0 0 0 0 0 0
13294 0.47 232.2 557.0 8.5 860 13331 0.00 2.35 30.08 1.249 4 0.000 0.064 2998 3680 2082 0 0 0 0 0 0
13384 0.51 236.8 548.7 9.8 868 13397 0.00 2.25 5.40 0.943 6 0.000 0.047 3005 2265 2063 0 0 0 0 0 0
13715 0.56 245.3 516.9 9.6 899 13730 0.10 2.30 8.95 1.092 4 0.125 0.060 3058 864 2029 0 0 0 0 0 0
13782 0.56 245.3 509.0 11.5 905 13786 0.00 2.25 0.00 0.000 6 0.000 0.049 3058 2283 2028 0 0 0 0 0 0
14107 0.49 245.3 463.4 13.8 935 14112 0.12 2.25 0.00 0.000 4 0.191 0.063 3027 3687 2027 0 0 0 0 0 0
14173 0.49 245.3 454.6 12.1 940 14180 0.00 2.28 0.00 0.000 6 0.000 0.049 3035 2269 2026 0 0 0 0 0 0
14499 0.49 245.3 415.9 11.9 971 14503 0.00 2.22 0.00 0.000 4 0.000 0.062 3045 860 2026 0 0 0 0 0 0
14561 0.52 245.3 408.5 11.2 976 14565 0.00 2.25 0.00 0.000 6 0.000 0.049 3045 2283 2025 0 0 0 0 0 0
14886 0.48 245.3 367.7 12.5 1006 14890 0.00 2.25 0.00 0.000 4 0.000 0.063 3045 3696 2024 0 0 0 0 0 0
14952 0.44 245.3 358.4 13.0 1011 14960 0.17 2.25 0.00 0.000 6 0.188 0.049 3011 2271 2024 0 0 0 0 0 0
15278 0.51 253.9 327.8 9.6 1042 15293 0.00 2.30 8.52 0.996 4 0.000 0.062 3015 866 1994 0 0 0 0 0 0
15340 0.62 260.8 321.7 9.7 1047 15359 0.15 2.22 8.20 0.989 6 0.104 0.047 3080 2279 1966 0 0 0 0 0 0
15677 0.53 260.8 268.5 16.5 1079 15681 0.15 2.28 0.00 0.000 4 0.181 0.062 3041 3692 1963 0 0 0 0 0 0
15748 0.53 260.8 257.8 13.4 1085 15755 0.00 2.22 0.00 0.000 6 0.000 0.048 3048 2270 1962 0 0 0 0 0 0
16075 0.53 260.8 211.4 14.1 1116 16079 0.00 2.22 0.00 0.000 4 0.000 0.062 3059 860 1961 0 0 0 0 0 0
16119 0.56 260.8 205.4 12.7 1119 16125 0.00 2.22 0.00 0.000 6 0.000 0.049 3059 2274 1961 0 0 0 0 0 0
16443 0.56 260.8 163.1 12.7 1150 16447 0.00 2.22 0.00 0.000 4 0.000 0.062 3059 3691 1961 0 0 0 0 0 0
16510 0.52 260.8 153.9 12.8 1155 16518 0.12 2.22 0.00 0.000 6 0.190 0.047 3038 2273 1960 0 0 0 0 0 0
16836 0.58 260.8 119.1 11.0 1186 16840 0.00 2.20 0.00 0.000 4 0.000 0.062 3042 868 1960 0 0 0 0 0 0
16899 0.69 272.9 113.1 9.4 1191 16917 0.12 2.20 11.98 0.942 6 0.118 0.047 3094 2277 1917 0 0 0 0 0 0
17250 0.67 272.9 65.2 11.7 1244 17257 0.00 2.22 0.00 0.000 4 0.000 0.063 3094 3687 1915 0 0 0 0 0 0
17308 0.61 272.9 57.3 13.0 1254 17316 0.15 2.22 0.00 0.000 6 0.195 0.050 3067 2276 1915 0 0 0 0 0 0
17657 0.64 272.9 22.1 11.2 1315 17664 0.00 2.22 0.00 0.000 4 0.000 0.062 3075 860 1915 0 0 0 0 0 0
17733 0.68 272.9 12.5 14.6 1328 17740 0.00 2.22 0.00 0.000 6 0.000 0.047 3075 2281 1913 0 0 0 0 0 0
17773 end climb: FINISH_DEPTH_REACHED
state 17773 begin subsurface finish
17779 0.05 39.1 8.7 -9.5 1335 17822 0.62 2.33 -36.20 0.000 4 0.164 0.080 2884 3691 2872 0 0 0 0 0 0
17823 end subsurface finish: CONTROL_FINISHED_OK
state 17823 begin surface