OKMC Feb13 * SG171 * Dive index * Mission links * Dive 62 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  171 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 ESCAPE_HEADING  0 C_ROLL_DIVE  2500 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  62 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2000 ALTIM_PING_DEPTH  0
N_DIVES  0 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_SURF  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_TGT  920 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  55 ALTIM_SENSITIVITY  2
D_ABORT  1010 SM_CC  400 R_STBD_OVSHOOT  39 XPDR_VALID  2
D_NO_BLEED  200 N_FILEKB  8 ROLL_AD_RATE  400 XPDR_INHIBIT  90
D_BOOST  20 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  3 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  1.4
D_FINISH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 VBD_MIN  415 DEEPGLIDERMB  0
D_SAFE  0 N_NOCOMM  1 VBD_MAX  3400 MOTHERBOARD  4
D_CALL  0 NOCOMM_ACTION  163 C_VBD  2400 DEVICE1  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  330 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0020000001 DEVICE5  -1
T_MISSION  360 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERS  1
T_TURN  225 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  5 T_GPS  15 UNCOM_BLEED  20 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
T_EPIRB  0 T_GPS_CHARGE  -20576.625 DBDW  0 COMPASS_DEVICE  33
USE_BATHY  -8 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
USE_ICE  0 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
D_OFFGRID  1000 RAFOS_CORR_THRESH  60 AH0_24V  150 RAFOS_DEVICE  -1
T_WATCHDOG  10 RAFOS_HIT_WINDOW  3600 AH0_10V  100 XPDR_DEVICE  24
RELAUNCH  1 PITCH_MIN  154 MINV_24V  22 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3952 MINV_10V  9.5 SIM_PITCH  0
MAX_BUOY  175 C_PITCH  2810 FG_AHR_10V  0 SEABIRD_T_G  0.0043708701
COURSE_BIAS  0 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00064764963
GLIDE_SLOPE  30 PITCH_CNV  0.003125763 PHONE_SUPPLY  -2 SEABIRD_T_I  2.5888983e-05
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 PRESSURE_YINT  -74.53199 SEABIRD_T_J  2.7074855e-06
RHO  1.0275 PITCH_GAIN  24 PRESSURE_SLOPE  0.0001165165 SEABIRD_C_G  -10.475479
MASS  52107 PITCH_TIMEOUT  16 AD7714Ch0Gain  128 SEABIRD_C_H  1.2050543
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0015894541
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00021379974
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.003 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0099999998 ROLL_MIN  181 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_C  9.9999997e-06 ROLL_MAX  3676 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  050313,203806,2327.685,12238.763,43,1.4,44,-3.2 TGT_NAME  N2
_CALLS  1 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.38 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  050313,204343,2327.791,12238.739,10,1.6,10,-3.2 MHEAD_RNG_PITCHd_Wd  120.5,135580,-15.0,-9.293,-18.92,2788
SPEED_LIMITS  0.161,0.271 D_GRID  3927

Post-dive calculations and measurements:
FINISH  0.4,1.017714 _10V_AH  10.2,7.424
SM_CCo  14060,38.45,0.057,0,0,768,400.08 FG_AHR_24Vo  0.000
SM_GC  0.98,7.97,0.77,38.45,0.036,0.042,0.057,126,2499,768,-8.25,-1.19,400.08,0,0,0,0,0,0,26.34,26.30,26.25 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2319.18,12236.92,050313,171731 MEM  323964
TT8_MAMPS  0.048685,0.048685 DATA_FILE_SIZE  23395,645
HUMID  42.36 CAP_FILE_SIZE  363160,0
INTERNAL_PRESSURE  9.61321 CFSIZE  260034560,247021568
TCM_TEMP  23.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.257,360.0,1
SC_FREEKB  4000736 GPS  060313,004024,2328.777,12240.746,37,1.1,37,-3.2
_24V_AH  24.3,11.374

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19220106.67 nil000.00
Roll_motor10957152.18 nil000.00
VBD_pump_during_apogee95369916216.75 nil000.00
VBD_pump_during_surface385652.89 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1404931298.65
Iridium_during_xfer208125636.11 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS11273.19
TT82832351038.22
LPSleep82872185.13
TT8_Active98635361.42
TT8_Sampling2093581247.30
TT8_CF822865153.39
TT8_Kalman000.00
Analog_circuits227515348.09
GPS_charging000.00
Compass17775108.63
RAFOS000.00
Transponder050.03

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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
17 -0.96 -170.3 127 2490 688 539 0.0 0.0 0 80 0.00 0.00 -60.42 0.000 16386 0.000 0.000 127 2490 2310 2367 2254 0 0 0 0 0 0 28.83 28.83 28.83
82 -0.96 -170.3 127 2490 2370 2254 3.1 -5.0 8 115 9.05 2.17 -15.38 0.000 18948 0.220 0.047 2491 1093 3098 3187 3009 0 0 0 0 0 0 25.96 26.21 26.48
184 -0.96 -170.3 2491 1093 3188 3009 32.2 -26.0 23 191 0.00 2.17 0.00 0.000 1030 0.000 0.043 2481 2498 3099 3189 3009 0 0 0 0 0 0 28.83 26.25 28.83
508 -0.96 -170.3 2480 2498 3192 3010 119.4 -22.1 42 515 0.00 1.83 0.00 0.000 260 0.000 0.055 2472 3674 3101 3192 3010 0 0 0 0 0 0 28.83 26.45 28.83
694 -0.96 -170.3 2472 3674 3194 3010 164.4 -23.4 51 701 0.00 1.70 0.00 0.000 1030 0.000 0.026 2472 2490 3102 3194 3010 0 0 0 0 0 0 28.83 26.58 28.83
1019 -0.96 -170.3 2472 2488 3197 3010 234.6 -20.8 67 1025 0.00 1.85 0.00 0.000 260 0.000 0.054 2463 3680 3103 3196 3010 0 0 0 0 0 0 28.83 26.60 28.83
1097 -0.96 -170.3 1536 3679 3171 3004 248.4 -21.0 70 1106 0.10 1.73 0.00 0.000 3078 0.122 0.025 2499 2497 3103 3197 3010 0 0 0 0 0 0 26.53 26.69 28.83
1404 -0.96 -170.3 2499 2496 3197 3010 307.4 -17.5 86 1410 0.00 1.83 0.00 0.000 260 0.000 0.054 2491 3673 3103 3197 3010 0 0 0 0 0 0 28.83 26.65 28.83
1514 -0.96 -170.3 2490 3674 3197 3010 326.5 -18.7 91 1520 0.00 1.67 0.00 0.000 1030 0.000 0.026 2491 2496 3103 3197 3010 0 0 0 0 0 0 28.83 26.74 28.83
1834 -0.96 -170.3 2490 2495 3197 3011 384.9 -16.8 107 1840 0.00 2.03 0.00 0.000 516 0.000 0.033 2491 1113 3104 3197 3011 0 0 0 0 0 0 28.83 26.73 28.83
1905 -0.96 -170.3 2491 1112 3197 3009 396.3 -17.0 110 1911 0.00 2.12 0.00 0.000 1030 0.000 0.043 2480 2511 3103 3197 3010 0 0 0 0 0 0 28.83 26.70 28.83
2224 -0.96 -170.3 2479 2511 3197 3011 448.8 -15.3 126 2230 0.00 2.08 0.00 0.000 516 0.000 0.032 2480 1106 3103 3197 3010 0 0 0 0 0 0 28.83 26.76 28.83
2252 -0.96 -170.3 2479 1106 3197 3011 452.5 -15.1 127 2258 0.00 2.12 0.00 0.000 1030 0.000 0.043 2470 2504 3102 3197 3007 0 0 0 0 0 0 28.83 26.73 28.83
2571 -0.96 -170.3 2469 2504 3196 3010 502.0 -15.2 143 2578 0.10 1.83 0.00 0.000 2308 0.164 0.053 2488 3680 3103 3197 3010 0 0 0 0 0 0 26.70 26.73 28.83
2669 -0.96 -170.3 2487 3680 3196 3010 514.4 -14.6 147 2677 0.00 1.67 0.00 0.000 1030 0.000 0.028 2488 2500 3103 3196 3010 0 0 0 0 0 0 28.83 26.82 28.83
2976 -0.96 -170.3 2487 2498 3196 3007 562.0 -15.0 163 2982 0.00 2.05 0.00 0.000 516 0.000 0.033 2488 1107 3101 3196 3007 0 0 0 0 0 0 28.83 26.79 28.83
3046 -0.96 -170.3 1536 1105 3169 3000 572.1 -15.6 166 3052 0.00 2.12 0.00 0.000 1030 0.000 0.043 2478 2505 3102 3197 3007 0 0 0 0 0 0 28.83 26.76 28.83
3375 -0.96 -170.3 2477 2505 3197 3003 625.6 -16.1 180 3376 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2505 3099 3196 3003 0 0 0 0 0 0 28.83 28.83 28.83
3675 -0.96 -170.3 2477 2505 3196 2999 671.5 -14.6 190 3676 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2505 3098 3196 3000 0 0 0 0 0 0 28.83 28.83 28.83
3974 -0.96 -170.3 2477 2505 3196 2996 713.8 -14.0 200 3975 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2505 3096 3196 2996 0 0 0 0 0 0 28.83 28.83 28.83
4275 -0.96 -170.3 2477 2505 3196 2992 756.2 -14.0 210 4281 0.00 2.08 0.00 0.000 516 0.000 0.031 2477 1105 3094 3196 2992 0 0 0 0 0 0 28.83 26.82 28.83
4313 -0.96 -170.3 2477 1104 3195 2992 761.0 -14.0 211 4320 0.12 2.12 0.00 0.000 3078 0.155 0.043 2502 2502 3093 3195 2991 0 0 0 0 0 0 26.70 26.78 28.83
4643 -0.96 -170.3 2502 2502 3195 2987 803.7 -13.0 222 4649 0.00 1.85 0.00 0.000 260 0.000 0.057 2494 3668 3091 3195 2987 0 0 0 0 0 0 28.83 26.77 28.83
4708 -0.96 -170.3 2494 3668 3195 2987 812.0 -13.0 224 4714 0.00 1.70 0.00 0.000 1030 0.000 0.031 2494 2495 3091 3195 2987 0 0 0 0 0 0 28.83 26.86 28.83
5041 -0.96 -170.3 2494 2495 3192 2985 855.7 -12.9 235 5042 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2495 3089 3193 2985 0 0 0 0 0 0 28.83 28.83 28.83
5342 -0.96 -170.3 2494 2495 3190 2983 892.5 -12.0 245 5343 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2495 3086 3190 2983 0 0 0 0 0 0 28.83 28.83 28.83
5610 end dive: TARGET_DEPTH_EXCEEDED
state 5610 begin apogee
5615 -0.21 0.0 2494 1995 3189 2980 922.4 -10.9 254 6078 0.70 0.00 452.33 0.588 10246 0.104 0.000 2737 1994 2399 2564 2234 0 0 0 0 0 0 26.72 28.83 24.51
6080 end apogee: CONTROL_FINISHED_OK
state 6080 begin climb
6081 0.96 170.3 2737 1993 2559 2224 941.2 0.0 268 6361 1.05 2.40 269.20 0.700 11012 0.057 0.047 3119 3415 1698 1802 1595 0 0 0 0 0 0 25.19 24.94 24.31
6387 0.96 170.3 3119 3415 1781 1587 924.1 11.9 279 6394 0.00 2.20 0.00 0.000 1030 0.000 0.030 3131 2016 1683 1779 1587 0 0 0 0 0 0 28.83 25.29 28.83
6702 0.96 170.3 3130 2016 1761 1580 876.4 13.9 290 6703 0.00 0.00 0.00 0.000 6 0.000 0.000 3131 2016 1670 1761 1580 0 0 0 0 0 0 28.83 28.83 28.83
7001 0.96 170.3 3131 2016 1758 1578 835.0 13.8 300 7007 0.00 2.22 0.00 0.000 260 0.000 0.049 3131 3421 1668 1758 1578 0 0 0 0 0 0 28.83 26.31 28.83
7074 0.96 170.3 3131 3421 1756 1577 825.5 14.2 302 7081 0.00 2.15 0.00 0.000 1030 0.000 0.029 3142 1995 1667 1757 1577 0 0 0 0 0 0 28.83 26.39 28.83
7398 0.96 170.3 3142 1994 1756 1577 778.3 13.8 313 7400 0.00 0.00 0.00 0.000 6 0.000 0.000 3142 1994 1666 1755 1577 0 0 0 0 0 0 28.83 28.83 28.83
7699 0.96 170.3 3142 1993 1754 1576 735.2 15.0 323 7706 0.00 2.22 0.00 0.000 260 0.000 0.050 3142 3412 1665 1754 1576 0 0 0 0 0 0 28.83 26.53 28.83
7878 0.96 170.3 3142 3412 1753 1576 709.8 16.4 328 7887 0.12 2.12 0.00 0.000 5126 0.166 0.031 3121 1993 1664 1753 1576 0 0 0 0 0 0 26.46 26.61 28.83
8185 0.96 170.3 3121 1993 1753 1574 662.8 13.8 339 8191 0.00 2.22 0.00 0.000 260 0.000 0.050 3121 3411 1663 1754 1573 0 0 0 0 0 0 28.83 26.60 28.83
8219 0.96 170.3 3118 3411 1753 1573 657.6 14.1 340 8226 0.00 2.12 0.00 0.000 1030 0.000 0.031 3132 1991 1663 1753 1573 0 0 0 0 0 0 28.83 26.65 28.83
8553 0.96 170.3 3129 1991 1753 1573 613.3 12.6 351 8560 0.00 2.22 0.00 0.000 260 0.000 0.050 3132 3412 1662 1753 1572 0 0 0 0 0 0 28.83 26.64 28.83
8618 0.96 170.3 3132 3412 1753 1573 604.4 13.1 353 8625 0.00 2.10 0.00 0.000 1030 0.000 0.031 3143 2000 1663 1753 1573 0 0 0 0 0 0 28.83 26.69 28.83
8933 0.96 170.3 3143 1999 1751 1572 562.7 13.4 368 8940 0.00 2.20 0.00 0.000 260 0.000 0.050 3143 3411 1662 1752 1572 0 0 0 0 0 0 28.83 26.67 28.83
8958 0.96 170.3 3143 3411 1752 1572 559.1 13.9 369 8965 0.12 2.12 0.00 0.000 5126 0.164 0.032 3121 1997 1662 1752 1572 0 0 0 0 0 0 26.55 26.71 28.83
9284 0.96 170.3 3121 1997 1752 1571 517.8 12.3 385 9290 0.00 2.12 0.00 0.000 516 0.000 0.042 3132 598 1662 1753 1571 0 0 0 0 0 0 28.83 26.69 28.83
9328 0.96 170.3 3132 598 1751 1571 512.0 12.6 387 9334 0.00 2.12 0.00 0.000 1030 0.000 0.035 3132 2010 1661 1752 1571 0 0 0 0 0 0 28.83 26.70 28.83
9653 0.96 170.3 3132 2010 1752 1571 471.4 12.4 403 9659 0.00 2.17 0.00 0.000 260 0.000 0.050 3132 3406 1661 1751 1571 0 0 0 0 0 0 28.83 26.68 28.83
9793 0.96 170.3 3132 3406 1752 1571 454.4 13.7 409 9801 0.00 2.08 0.00 0.000 1030 0.000 0.031 3142 2000 1661 1752 1571 0 0 0 0 0 0 28.83 26.74 28.83
10099 0.96 170.3 3142 2000 1752 1571 414.0 11.9 425 10105 0.00 2.17 0.00 0.000 260 0.000 0.050 3143 3405 1661 1752 1571 0 0 0 0 0 0 28.83 26.71 28.83
10241 0.96 170.3 3142 3405 1752 1571 398.1 12.6 431 10250 0.12 2.08 0.00 0.000 5126 0.161 0.031 3121 1997 1662 1753 1571 0 0 0 0 0 0 26.60 26.76 28.83
10548 0.96 170.3 3121 1997 1752 1571 364.7 9.5 447 10555 0.00 2.10 0.00 0.000 516 0.000 0.041 3135 609 1661 1752 1571 0 0 0 0 0 0 28.83 26.73 28.83
10699 0.96 170.3 3131 609 1752 1571 349.4 10.8 454 10705 0.00 2.08 0.00 0.000 1030 0.000 0.034 3131 2002 1661 1752 1571 0 0 0 0 0 0 28.83 26.74 28.83
11018 0.96 170.3 3131 2002 1752 1571 314.1 9.9 470 11024 0.00 2.17 0.00 0.000 260 0.000 0.050 3131 3408 1661 1752 1571 0 0 0 0 0 0 28.83 26.73 28.83
11229 0.96 170.3 3131 3408 1751 1574 290.6 11.3 480 11236 0.00 2.08 0.00 0.000 1030 0.000 0.031 3142 2002 1661 1751 1571 0 0 0 0 0 0 28.83 26.78 28.83
11549 0.96 170.3 3142 2001 1752 1571 257.2 9.9 496 11555 0.00 2.17 0.00 0.000 260 0.000 0.048 3142 3406 1661 1752 1571 0 0 0 0 0 0 28.83 26.74 28.83
11597 0.96 170.3 2128 3405 1715 1566 252.5 10.5 498 11603 0.12 2.08 0.00 0.000 5126 0.158 0.031 3120 1997 1661 1752 1571 0 0 0 0 0 0 26.63 26.79 28.83
11917 1.00 186.7 3119 1996 1752 1571 220.8 8.7 514 11941 0.00 2.17 16.10 0.437 8708 0.000 0.041 3130 606 1636 1731 1542 0 0 0 0 0 0 28.83 26.60 26.11
12129 1.06 217.3 3129 606 1720 1535 203.0 8.2 524 12219 0.00 2.10 78.45 0.417 9222 0.000 0.034 3130 2011 1509 1615 1404 0 0 0 0 0 0 28.83 26.65 25.53
12509 1.06 218.4 3129 2011 1600 1391 171.3 9.3 543 12515 0.00 2.17 0.00 0.000 260 0.000 0.049 3133 3402 1495 1598 1392 0 0 0 0 0 0 28.83 26.32 28.83
12676 1.06 218.4 3129 3402 1599 1391 153.8 10.5 551 12682 0.00 2.08 0.00 0.000 1030 0.000 0.030 3141 2001 1495 1599 1391 0 0 0 0 0 0 28.83 26.46 28.83
13001 1.06 218.4 3141 2001 1599 1391 123.0 9.9 567 13007 0.00 2.20 0.00 0.000 260 0.000 0.048 3141 3410 1495 1599 1391 0 0 0 0 0 0 28.83 26.51 28.83
13238 1.07 221.2 3140 3409 1599 1391 99.4 9.2 578 13244 0.00 2.08 0.00 0.000 1030 0.000 0.030 3152 2000 1495 1599 1391 0 0 0 0 0 0 28.83 26.61 28.83
13552 1.27 321.5 3152 2000 1599 1391 79.9 5.6 594 13696 0.15 2.25 137.32 0.378 10500 0.072 0.044 3255 3408 1081 1197 966 0 0 0 0 0 0 26.70 25.74 25.34
13729 1.27 321.5 2240 3407 1168 955 55.2 17.8 602 13736 0.17 2.15 0.00 0.000 5126 0.149 0.030 3218 2000 1068 1183 954 0 0 0 0 0 0 25.74 25.90 28.83
14026 end climb: SURFACE_DEPTH_REACHED
state 14026 begin surface coast
14043 end surface coast: CONTROL_FINISHED_OK
state 14043 begin surface