OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 31 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  144 HD_C  1.0513e-05 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  13 HEADING  -1 PITCH_ADJ_GAIN  0.039999999 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  31 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  160 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3940 ALTIM_PING_DEPTH  0
D_TGT  990 TGT_DEFAULT_LAT  4736 ROLL_DEG  40 ALTIM_PING_DELTA  10
D_ABORT  1090 TGT_DEFAULT_LON  -12218 C_ROLL_DIVE  1900 ALTIM_FREQUENCY  13
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2100 ALTIM_PULSE  3
D_FINISH  0 SM_CC  400 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  26 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  33 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  400 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  412.5 N_NOSURFACE  0 ROLL_ADJ_GAIN  0 DEVICE2  20
T_MISSION  450 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0 DEVICE3  53
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  480 DEVICE4  35
T_TURN  225 CALL_WAIT  60 VBD_MAX  3950 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2931 DEVICE6  -1
T_NO_W  120 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  -1 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  10 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0012300001 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -24242.598 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  2 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  150 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  2 SIM_PITCH  0
GLIDE_SLOPE  45 PITCH_MIN  500 AH0_24V  91.800003 SEABIRD_T_G  0.0043142079
SPEED_FACTOR  1 PITCH_MAX  3812 AH0_10V  61.200001 SEABIRD_T_H  0.00062953553
RHO  1.023 C_PITCH  2728 PRESSURE_YINT  -2.1256177 SEABIRD_T_I  2.3274781e-05
MASS  51458 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.00011159377 SEABIRD_T_J  2.4096155e-06
NAV_MODE  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -10.012566
FERRY_MAX  45 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1222577
KALMAN_USE  1 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0011971687
HD_A  0.0044757999 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_J  0.000188736
HD_B  0.0099689998 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  083151,4952.924,-14459.354,155,4.9,174,18.4 TGT_NAME  C_NE
_CALLS  1 TGT_LATLONG  5007.080,-14438.068
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.212,0.120
_SM_DEPTHo  1.63 KALMAN_X  1983.2,-40.2,-305.0,-3168.2,874.9
_SM_ANGLEo  -58.0 KALMAN_Y  25156.8,96.0,-669.5,-38585.7,3341.0
GPS2  083752,4952.950,-14459.426,86,2.7,105,18.4 MHEAD_RNG_PITCHd_Wd  42.2,36442,-15.3,-8.000
SPEED_LIMITS  0.080,0.243 D_GRID  1001

Post-dive calculations and measurements:
FINISH  1.1,1.025496 XPDR_PINGS  101
SM_CCo  23585,87.38,0.591,9,0,1299,400.08 _24V_AH  23.3,11.230
SM_GC  1.57,0.00,0.00,87.38,0.000,0.000,0.591,498,1888,1299,-10.26,-0.37,400.08 _10V_AH  10.1,5.324
IRIDIUM_FIX  4936.36,-14500.75,090997,020245 DATA_FILE_SIZE  38004,620
TT8_MAMPS  0.029913 CAP_FILE_SIZE  154633,0
HUMID  1691 CFSIZE  260165632,256204800
INTERNAL_PRESSURE  7.61748 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,1,9,0
TCM_TEMP  15.20 GPS  150608,151931,4954.785,-14454.907,292,1.8,292,18.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor25171101.03 SBE_CT44124246.81
Roll_motor219111567.76 SBE_O250019221.55
VBD_pump_during_apogee401135412680.16 Optode64133492.93
VBD_pump_during_surface875901202.35 WL_BB2F375105917.68
VBD_valve000.00 nil000.00
Iridium_during_init2610363.59 nil000.00
Iridium_during_connect31160118.27 nil000.00
Iridium_during_xfer120223625.46
Transponder_ping25420247.10
Mmodem_TX000.00
Mmodem_RX000.00
GPS1065053.75
TT8143219286.48
LPSleep195132431.62
TT8_Active74319148.70
TT8_Sampling201939811.95
TT8_CF837245172.49
TT8_Kalman338127.56
Analog_circuits179812217.95
GPS_charging000.00
Compass19048153.89
RAFOS000.00

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
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
19 -1.20 -146.6 0.0 0.0 0 104 0.00 0.00 -82.15 0.000 2 0.000 0.000 497 1901 2953
106 -1.20 -146.6 3.3 -4.3 8 140 10.60 2.45 -15.80 0.000 4 0.171 0.071 2459 498 3532
387 -1.14 -146.6 40.1 -12.9 33 392 0.10 2.35 0.00 0.000 6 0.127 0.041 2477 1899 3533
712 -1.14 -146.6 74.3 -10.5 63 716 0.00 2.45 0.00 0.000 4 0.000 0.058 2477 493 3534
743 -1.14 -146.6 78.0 -11.1 65 751 0.00 2.38 0.00 0.000 6 0.000 0.044 2477 1894 3534
1059 -1.14 -146.6 111.5 -10.8 82 1064 0.00 2.45 0.00 0.000 4 0.000 0.064 2477 489 3535
1131 -1.14 -146.6 119.6 -11.5 85 1136 0.00 2.40 0.00 0.000 6 0.000 0.048 2477 1897 3535
1453 -1.19 -146.6 146.8 -8.1 101 1457 0.00 2.45 0.00 0.000 4 0.000 0.060 2477 489 3535
1524 -1.24 -146.6 153.2 -8.4 104 1528 0.00 2.40 0.00 0.000 6 0.000 0.048 2477 1904 3535
1854 -1.30 -146.6 179.9 -8.4 115 1858 0.15 2.45 0.00 0.000 4 0.074 0.057 2434 498 3535
1948 -1.24 -146.6 190.4 -11.0 118 1953 0.10 2.35 0.00 0.000 6 0.125 0.046 2453 1899 3535
2281 -1.24 -146.6 221.9 -9.4 129 2283 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 1901 3535
2587 -1.24 -146.6 250.0 -8.8 139 2592 0.00 2.45 0.00 0.000 4 0.000 0.059 2453 495 3534
2704 -1.24 -146.6 261.1 -9.9 142 2708 0.00 2.38 0.00 0.000 6 0.000 0.042 2454 1897 3535
3022 -1.24 -146.6 287.8 -8.3 153 3026 0.00 2.42 0.00 0.000 4 0.000 0.058 2454 497 3534
3093 -1.24 -146.6 294.3 -9.2 155 3097 0.00 2.38 0.00 0.000 6 0.000 0.041 2453 1903 3534
3419 -1.24 -146.6 321.9 -8.5 162 3424 0.00 2.45 0.00 0.000 4 0.000 0.063 2454 491 3534
3451 -1.24 -146.6 325.0 -9.1 162 3456 0.00 2.38 0.00 0.000 6 0.000 0.048 2453 1895 3534
3783 -1.24 -146.6 353.1 -8.5 168 3787 0.00 2.42 0.00 0.000 4 0.000 0.062 2453 497 3534
3832 -1.24 -146.6 357.6 -9.2 168 3837 0.00 2.38 0.00 0.000 6 0.000 0.041 2453 1901 3534
4147 -1.24 -146.6 384.6 -8.6 174 4151 0.00 2.42 0.00 0.000 4 0.000 0.059 2453 496 3533
4173 -1.24 -146.6 387.1 -9.4 174 4178 0.00 2.38 0.00 0.000 6 0.000 0.041 2453 1903 3533
4516 -1.24 -146.6 416.0 -8.4 180 4520 0.00 2.45 0.00 0.000 4 0.000 0.058 2453 491 3533
4631 -1.24 -146.6 427.1 -9.9 181 4636 0.00 2.38 0.00 0.000 6 0.000 0.047 2453 1898 3533
4947 -1.28 -146.6 455.3 -9.0 187 4951 0.00 2.45 0.00 0.000 4 0.000 0.066 2453 489 3533
5001 -1.28 -146.6 460.7 -10.1 187 5008 0.00 2.38 0.00 0.000 6 0.000 0.041 2454 1896 3533
5310 -1.32 -146.6 487.0 -8.4 193 5314 0.00 2.42 0.00 0.000 4 0.000 0.060 2453 497 3533
5382 -1.32 -146.6 493.5 -9.7 194 5386 0.00 2.35 0.00 0.000 6 0.000 0.048 2453 1894 3533
5742 -1.37 -146.6 522.6 -8.1 200 5747 0.10 2.42 0.00 0.000 4 0.085 0.063 2427 498 3532
5791 -1.32 -146.6 527.5 -9.6 200 5795 0.00 2.35 0.00 0.000 6 0.000 0.041 2427 1896 3532
6107 -1.32 -146.6 556.2 -9.1 206 6111 0.00 2.42 0.00 0.000 4 0.000 0.059 2427 498 3532
6151 -1.28 -146.6 560.6 -9.8 206 6156 0.10 2.33 0.00 0.000 6 0.130 0.048 2446 1897 3532
6466 -1.28 -146.6 586.3 -8.1 212 6470 0.00 2.42 0.00 0.000 4 0.000 0.064 2446 497 3532
6572 -1.28 -146.6 596.5 -9.3 213 6576 0.00 2.38 0.00 0.000 6 0.000 0.042 2446 1900 3532
6898 -1.28 -146.6 623.7 -8.3 219 6901 0.00 2.42 0.00 0.000 4 0.000 0.061 2446 496 3532
6941 -1.28 -146.6 627.8 -8.9 219 6945 0.00 2.38 0.00 0.000 6 0.000 0.041 2446 1901 3531
7267 -1.28 -146.6 654.9 -8.3 225 7271 0.00 2.45 0.00 0.000 4 0.000 0.064 2446 495 3531
7327 -1.28 -146.6 660.4 -9.6 226 7331 0.00 2.35 0.00 0.000 6 0.000 0.041 2446 1904 3531
7698 -1.28 -146.6 689.9 -7.9 232 7702 0.00 2.42 0.00 0.000 4 0.000 0.067 2446 498 3531
7769 -1.28 -146.6 696.2 -9.1 233 7773 0.00 2.35 0.00 0.000 6 0.000 0.043 2445 1908 3531
8129 -1.32 -146.6 723.7 -7.6 239 8134 0.00 2.47 0.00 0.000 4 0.000 0.062 2446 489 3531
8223 -1.32 -146.6 731.9 -8.7 240 8228 0.00 2.38 0.00 0.000 6 0.000 0.048 2446 1891 3531
8561 -1.37 -146.6 757.9 -7.7 246 8565 0.00 2.42 0.00 0.000 4 0.000 0.067 2446 498 3530
8610 -1.37 -146.6 762.2 -8.9 246 8615 0.00 2.38 0.00 0.000 6 0.000 0.043 2446 1899 3530
8926 -1.41 -146.6 786.4 -7.7 252 8931 0.12 2.45 0.00 0.000 4 0.080 0.066 2414 497 3530
8991 -1.34 -146.6 792.6 -9.8 253 8996 0.10 2.38 0.00 0.000 6 0.131 0.047 2432 1898 3530
9357 -1.34 -146.6 821.3 -7.7 259 9361 0.00 2.45 0.00 0.000 4 0.000 0.062 2432 498 3530
9400 -1.34 -146.6 825.2 -9.2 259 9405 0.00 2.38 0.00 0.000 6 0.000 0.044 2432 1901 3530
9721 -1.34 -146.6 850.0 -7.8 265 9725 0.00 2.45 0.00 0.000 4 0.000 0.071 2432 496 3530
9747 -1.34 -146.6 852.3 -9.2 265 9752 0.00 2.38 0.00 0.000 6 0.000 0.049 2432 1897 3530
10093 -1.34 -146.6 879.2 -7.9 271 10097 0.00 2.45 0.00 0.000 4 0.000 0.067 2432 499 3529
10130 -1.34 -146.6 882.7 -8.5 271 10135 0.00 2.38 0.00 0.000 6 0.000 0.042 2432 1902 3529
10456 -1.34 -146.6 908.5 -7.9 277 10460 0.00 2.47 0.00 0.000 4 0.000 0.074 2432 499 3529
10533 -1.34 -146.6 915.5 -8.6 278 10538 0.00 2.38 0.00 0.000 6 0.000 0.044 2432 1895 3529
10888 -1.34 -146.6 943.6 -7.9 284 10892 0.00 2.50 0.00 0.000 4 0.000 0.081 2431 498 3529
10948 -1.34 -146.6 949.0 -9.2 284 10955 0.00 2.42 0.00 0.000 6 0.000 0.051 2432 1899 3529
11257 -1.34 -146.6 972.4 -7.5 290 11261 0.00 2.55 0.00 0.000 4 0.000 0.087 2431 502 3529
11334 -1.34 -146.6 978.9 -8.4 291 11339 0.00 2.45 0.00 0.000 6 0.000 0.064 2432 1891 3529
11511 end dive: TARGET_DEPTH_EXCEEDED
state 11511 begin apogee
11515 -0.33 0.0 992.4 7.6 294 11647 1.05 0.00 128.70 1.355 6 0.104 0.000 2653 2104 2931
11648 end apogee: CONTROL_FINISHED_OK
state 11648 begin climb
11650 1.20 146.6 995.6 0.0 296 11787 1.48 2.70 127.35 1.322 4 0.071 0.093 2985 3502 2332
11859 1.01 146.6 981.8 10.5 299 11864 0.20 2.47 0.00 0.000 6 0.119 0.071 2948 2111 2328
12207 0.95 146.6 953.3 8.2 305 12211 0.00 2.58 0.00 0.000 4 0.000 0.079 2948 687 2324
12239 0.86 146.6 950.4 8.3 305 12244 0.17 2.47 0.00 0.000 6 0.118 0.056 2914 2111 2323
12570 0.89 172.2 926.8 7.1 311 12595 0.00 0.00 22.95 1.248 6 0.000 0.000 2914 2111 2229
12874 0.97 193.8 904.9 7.2 316 12897 0.10 0.00 20.73 1.230 6 0.087 0.000 2938 2111 2140
13176 0.97 193.8 880.0 8.3 321 13181 0.00 2.53 0.00 0.000 4 0.000 0.065 2939 685 2136
13208 0.97 193.8 877.1 8.7 321 13214 0.00 2.45 0.00 0.000 6 0.000 0.051 2939 2104 2135
13540 0.97 193.8 848.8 8.5 327 13544 0.00 2.42 0.00 0.000 4 0.000 0.064 2939 3504 2135
13567 0.97 193.8 846.3 9.2 327 13571 0.00 2.42 0.00 0.000 6 0.000 0.045 2939 2089 2135
13909 0.97 193.8 815.2 9.1 333 13911 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2088 2135
14213 0.97 193.8 788.4 8.7 338 14214 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2088 2134
14516 0.98 205.4 765.1 7.6 343 14529 0.00 0.00 11.20 1.113 6 0.000 0.000 2939 2088 2093
14819 1.01 230.2 743.6 7.1 348 14845 0.00 0.00 23.67 1.160 6 0.000 0.000 2938 2088 1992
15122 1.01 230.9 719.8 8.0 353 15126 0.00 2.45 0.00 0.000 4 0.000 0.067 2939 685 1987
15153 1.01 230.9 716.9 8.5 353 15158 0.00 2.42 0.00 0.000 6 0.000 0.050 2939 2093 1987
15486 1.02 237.2 691.1 7.8 359 15495 0.00 0.00 7.10 0.981 6 0.000 0.000 2939 2097 1963
15789 1.06 237.2 667.0 8.0 364 15793 0.00 2.45 0.00 0.000 4 0.000 0.061 2939 691 1961
15820 1.06 237.2 664.2 8.3 364 15826 0.05 2.40 0.00 0.000 6 0.081 0.044 2958 2093 1961
16153 1.06 237.2 633.6 9.3 370 16154 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2095 1961
16455 1.06 237.2 606.3 9.0 375 16456 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2095 1960
16758 1.06 237.2 581.3 8.1 380 16762 0.00 2.45 0.00 0.000 4 0.000 0.059 2958 690 1960
16784 1.06 237.2 579.0 8.5 380 16788 0.00 2.42 0.00 0.000 6 0.000 0.044 2958 2102 1960
17127 1.07 245.8 552.5 7.7 386 17137 0.00 0.00 8.70 0.956 6 0.000 0.000 2958 2104 1929
17430 1.08 247.8 528.4 7.9 391 17431 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2104 1927
17733 1.08 247.8 503.7 8.2 396 17737 0.00 2.45 0.00 0.000 4 0.000 0.061 2958 693 1927
17764 1.08 247.8 500.8 9.1 396 17769 0.00 2.40 0.00 0.000 6 0.000 0.045 2958 2093 1927
18096 1.08 247.8 471.0 9.0 402 18097 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2096 1926
18399 1.08 247.8 442.0 9.6 407 18401 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2096 1926
18702 1.08 247.8 412.6 9.6 412 18706 0.00 2.45 0.00 0.000 4 0.000 0.061 2958 686 1926
18729 1.08 247.8 409.9 10.6 412 18734 0.00 2.42 0.00 0.000 6 0.000 0.047 2958 2101 1926
19066 1.08 247.8 379.2 9.0 418 19070 0.00 2.45 0.00 0.000 4 0.000 0.061 2958 684 1926
19087 1.08 247.8 377.2 8.9 418 19092 0.00 2.42 0.00 0.000 6 0.000 0.049 2958 2105 1926
19435 1.08 247.8 347.9 8.3 424 19437 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2107 1926
19739 1.08 247.8 322.4 8.4 429 19743 0.00 2.45 0.00 0.000 4 0.000 0.059 2958 691 1926
19759 1.08 247.8 320.4 8.8 429 19764 0.00 2.40 0.00 0.000 6 0.000 0.047 2958 2096 1925
20073 1.08 247.8 294.2 8.3 435 20074 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2099 1926
20379 1.12 252.6 270.1 7.8 445 20393 0.00 2.53 7.22 0.775 4 0.000 0.058 2958 687 1901
20427 1.12 252.6 265.9 8.1 446 20431 0.00 2.42 0.00 0.000 6 0.000 0.042 2958 2102 1900
20751 1.17 252.6 239.5 8.2 457 20753 0.10 0.00 0.00 0.000 6 0.087 0.000 2983 2104 1899
21057 1.17 252.6 211.0 9.5 467 21061 0.00 2.45 0.00 0.000 4 0.000 0.064 2983 691 1899
21089 1.12 252.6 207.7 11.2 468 21093 0.00 2.38 0.00 0.000 6 0.000 0.044 2983 2106 1899
21423 1.12 252.6 176.6 9.0 479 21424 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2110 1899
21729 1.12 252.6 150.6 8.3 489 21733 0.00 2.45 0.00 0.000 4 0.000 0.062 2983 694 1899
21778 1.12 252.6 145.9 9.2 491 21783 0.00 2.38 0.00 0.000 6 0.000 0.042 2984 2094 1899
22106 1.12 252.6 117.5 8.8 507 22107 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2097 1899
22415 1.19 267.4 93.6 7.5 522 22437 0.00 2.50 14.02 0.732 4 0.000 0.058 2983 698 1840
22492 1.19 267.4 87.3 8.2 525 22496 0.00 2.40 0.00 0.000 6 0.000 0.047 2983 2099 1839
22821 1.28 290.9 63.7 7.1 551 22845 0.10 0.00 21.35 0.717 6 0.084 0.000 3010 2102 1745
23159 1.28 290.9 35.5 8.7 583 23163 0.00 2.45 0.00 0.000 4 0.000 0.057 3009 691 1740
23186 1.28 290.9 33.0 8.7 585 23190 0.00 2.38 0.00 0.000 6 0.000 0.041 3010 2099 1739
23511 1.28 294.8 5.4 7.9 615 23523 0.00 2.47 3.20 0.435 4 0.000 0.061 3010 694 1729
23550 1.32 326.5 2.4 6.8 618 23560 0.00 2.40 5.57 0.582 2 0.000 0.041 3010 2109 1705
23561 end climb: SURFACE_DEPTH_REACHED
state 23561 begin surface coast
23567 end surface coast: CONTROL_FINISHED_OK
state 23567 begin surface