ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 789 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  221 HD_A  0.0042300001 ROLL_DEG  40 ALTIM_TOP_PING_RANGE  0
MISSION  7 HD_B  0.0085000005 C_ROLL_DIVE  2800 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  789 HD_C  1.6100001e-05 C_ROLL_CLIMB  2550 ALTIM_TOP_TURN_MARGIN  7
N_DIVES  0 HEADING  -1 HEAD_ERRBAND  10 ALTIM_TOP_MIN_OBSTACLE  1.8
STOP_T  0 ESCAPE_HEADING  0 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_TIMEOUT  30 ALTIM_PING_DELTA  6
D_FLARE  3 FIX_MISSING_TIMEOUT  1 R_PORT_OVSHOOT  51 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  24 ALTIM_PULSE  1
D_ABORT  1020 TGT_DEFAULT_LON  -12218 ROLL_AD_RATE  50 ALTIM_SENSITIVITY  4
D_NO_BLEED  500 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  0 XPDR_VALID  3
D_BOOST  110 SM_CC  399.91037 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
T_BOOST  0 N_FILEKB  8 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  280 FILEMGR  2 VBD_MIN  1900 INT_PRESSURE_YINT  0.80000001
D_PITCH  3 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_SAFE  500 COMM_SEQ  0 C_VBD  3492 MOTHERBOARD  4
D_CALL  2 PROTOCOL  9 VBD_DBAND  2 DEVICE1  -1
SURFACE_URGENCY  25 N_NOCOMM  0 VBD_CNV  -0.25119999 DEVICE2  -1
SURFACE_URGENCY_TRY  25 NOCOMM_ACTION  163 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_FORCE  50 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  350 UPLOAD_DIVES_MAX  5 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_MISSION  390 CALL_TRIES  3 VBD_PUMP_AD_RATE_SURFACE  1 DEVICE6  -1
T_ABORT  1440 CALL_WAIT  45 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERS  1
T_TURN  225 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  -5 CAPMAXSIZE  10000 UNCOM_BLEED  200 LOGGERDEVICE2  -1
T_NO_W  120 HEAPDBG  0 VBD_MAXERRORS  5 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS  3 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
T_EPIRB  0 N_GPS  100440 DBDW  0 COMPASS_DEVICE  97
EXEC_P  0 T_RSLEEP  120 LOITER_W_DBAND  1 COMPASS2_DEVICE  149
EXEC_DT  0 STROBE  0 LOITER_DBDW  200 PHONE_DEVICE  49
EXEC_T  0 RAFOS_PEAK_OFFSET  0 LOITER_D_NO_PUMP  500 GPS_DEVICE  64
EXEC_N  0 RAFOS_CORR_THRESH  60 LOITER_N_DIVE  0 RAFOS_DEVICE  32
USE_BATHY  0 RAFOS_HIT_WINDOW  3600 PITCH_W_GAIN  2 XPDR_DEVICE  24
USE_ICE  1 RAFOS_MMODEM  0 PITCH_W_DBAND  0.5 SIM_W  0
ICE_FREEZE_MARGIN  20 PITCH_MIN  200 CF8_MAXERRORS  20 SEABIRD_T_G  0.0044198656
D_OFFGRID  990 PITCH_MAX  3910 AH0_24V  350 SEABIRD_T_H  0.00064431952
T_WATCHDOG  10 C_PITCH  2775 AH0_10V  0 SEABIRD_T_I  2.6320724e-05
RELAUNCH  1 PITCH_DBAND  0.1 MINV_24V  0 SEABIRD_T_J  3.2746798e-06
APOGEE_PITCH  -5 PITCH_CNV  0.0031300001 MINV_10V  0 SEABIRD_C_G  -9.9022408
MAX_BUOY  110 P_OVSHOOT  0.039999999 MAXI_24V  2 SEABIRD_C_H  1.1403944
COURSE_BIAS  0 P_OVSHOOT_WITHG  0 MAXI_10V  2 SEABIRD_C_I  -0.0013212307
GLIDE_SLOPE  45 PITCH_GAIN  22 FG_AHR_10V  0 SEABIRD_C_J  0.00017705678
SPEED_FACTOR  1 PITCH_TIMEOUT  40 FG_AHR_24V  0 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_AD_RATE  20 PHONE_SUPPLY  -2 SC_PROFILE  3.0
MASS  53510 PITCH_MAXERRORS  1 PRESSURE_YINT  -160.68855 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  0.000108275 SC_NDIVE  1.0
NAV_MODE  0 PITCH_ADJ_DBAND  0 AD7714Ch0Gain  1
FERRY_MAX  45 ROLL_MIN  230 COMPASS_USE  4
KALMAN_USE  2 ROLL_MAX  3910 ALTIM_PING_FIT  883

Pre-dive calculations and measurements:
GPS1  040119,181424,-7430.5317,-11231.7861,0,4130.3,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS  0.094,0.239
_CALLS  1 TGT_NAME  insideC1
_XMS_NAKs  0 TGT_LATLONG  -7430.000,-11230.000
_XMS_TOUTs  0 TGT_RADIUS  1000.000
_SM_DEPTHo  394.47 MHEAD_RNG_PITCHd_Wd  348.4,1324,-43.8,-9.429,-45.00,333
_SM_ANGLEo  4.4 D_GRID  990
GPS2  040119,181424,-7430.5317,-11231.7861,0,4130.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:
FINISH1  402.4,1.027512,-1 _24V_AH  11.17,248.202
FINISH2  399.0 _10V_AH  11.68,0.000
RAFOS_CLK  560 FG_AHR_24Vo  0.000
RAFOS  0,1546635667,21.032354,21.018612,138,60,60,54,53,49,610,210,192,223,171,135 FG_AHR_10Vo  0.000
RAFOS_FIX  -7430.141602,-11228.877930,040119,212144,3,154,0.15 MEM  279680
IRIDIUM_FIX  -7410.06,-11230.52,311218,020608 DATA_FILE_SIZE  43206,1241
TT8_MAMPS  0.03745,0.544523 CAP_FILE_SIZE  140236,0
HUMID  51.37 CFSIZE  1024409600,926007296
INTERNAL_PRESSURE  7.92918 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  13.40 SOUNDSPEED  1459.0
XPDR_PINGS  0 GPS  040119,211544,-7430.142,-11228.878,0,4154.3,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING  412.9,16.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1037744.64 nil000.00
Roll_motor1008798.29 nil000.00
VBD_pump_during_apogee18630946445.46 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1387691416.34
Iridium_during_xfer000.00 nil000.00
Transponder_ping40420187.66 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8000.00
LPSleep108112291.70
TT8_Active2941037.38
TT8_Sampling250830889.11
TT8_CF835151210.94
TT8_Kalman000.00
Analog_circuits119610141.10
GPS_charging000.00
Compass17706139.38
RAFOS720112.61
Transponder30830107.97

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
437.0 41.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
429.0 32.60 9000.00 0.0 0.00 0.00 32.60 396.4 1.09 1.00
420.9 24.70 24.60 396.3 1.04 1.00 24.70 396.2 0.98 1.00
412.9 16.40 16.40 396.5 1.02 1.00 16.40 396.5 1.04 1.00

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
6 end surface: CONTROL_FINISHED_OK
state 6 begin dive
10 -2.02 -20.4 2784 2809 3529 3524 0.0 0.0 0 12 0.00 0.00 -0.30 0.295 16390 0.000 0.000 2783 2809 3589 3589 3589 0 0 0 0 0 0 14.68 12.52 14.42
15 -2.02 -20.4 2784 2809 3593 3592 0.0 0.0 0 22 2.08 2.03 0.00 0.000 4356 0.117 0.087 2119 3916 3590 3592 3589 0 0 0 0 0 0 14.16 14.11 14.34
248 -2.02 -20.4 2120 3916 3602 3587 411.5 -8.1 46 253 0.00 1.90 0.00 0.000 1030 0.000 0.038 2120 2783 3593 3600 3586 0 0 0 0 0 0 14.33 14.28 14.36
559 -2.03 -26.9 2119 2783 3601 3588 434.5 -7.4 78 564 0.00 2.05 0.00 0.000 292 0.000 0.074 2115 3911 3594 3601 3588 0 0 0 0 0 0 14.76 14.12 14.76
694 -2.03 -26.9 2114 3912 3601 3590 445.0 -7.7 104 699 0.00 1.90 0.00 0.000 1030 0.000 0.039 2115 2793 3594 3600 3588 0 0 0 0 0 0 14.39 14.33 14.42
1005 -2.04 -36.4 2115 2794 3601 3590 466.2 -6.5 136 1007 0.00 0.00 -0.25 0.362 16422 0.000 0.000 2115 2793 3657 3663 3651 0 0 0 0 0 0 14.75 12.52 14.17
1305 -2.04 -36.4 2115 2794 3670 3660 495.4 -10.2 166 1306 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 2793 3665 3671 3659 0 0 0 0 0 0 14.75 14.75 14.75
1605 -2.04 -36.4 2115 2795 3671 3661 525.1 -9.7 196 1606 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 2793 3664 3670 3659 0 0 0 0 0 0 14.74 14.75 14.74
1905 -2.04 -36.4 2115 2793 3671 3659 553.6 -9.4 226 1910 0.00 2.42 0.00 0.000 516 0.000 0.043 2115 1407 3663 3668 3659 0 0 0 0 0 0 14.76 14.18 14.76
1951 -2.04 -36.4 2115 1408 3671 3660 558.0 -9.5 235 1957 0.00 2.53 0.00 0.000 1030 0.000 0.055 2114 2817 3664 3670 3659 0 0 0 0 0 0 14.28 14.16 14.33
2256 -2.04 -36.4 2114 2817 3672 3659 586.5 -9.2 266 2257 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2817 3664 3670 3659 0 0 0 0 0 0 14.74 14.75 14.74
2556 -2.04 -36.4 2113 2818 3671 3660 613.6 -8.7 296 2561 0.00 2.47 0.00 0.000 516 0.000 0.041 2114 1406 3664 3670 3659 0 0 0 0 0 0 14.74 14.17 14.75
2597 -2.04 -36.4 2114 1406 3672 3659 617.1 -8.4 304 2602 0.00 2.53 0.00 0.000 1030 0.000 0.056 2112 2812 3664 3670 3659 0 0 0 0 0 0 14.20 14.08 14.23
2908 -2.04 -36.4 2113 2813 3671 3660 643.4 -8.3 336 2913 0.00 2.00 0.00 0.000 260 0.000 0.075 2105 3914 3664 3670 3659 0 0 0 0 0 0 14.76 14.07 14.77
2944 -2.04 -36.4 2105 3916 3669 3660 646.6 -8.5 343 2950 0.00 1.90 0.00 0.000 1030 0.000 0.041 2105 2795 3664 3670 3658 0 0 0 0 0 0 14.35 14.30 14.38
3250 -2.04 -36.4 2106 2794 3671 3659 670.9 -7.7 374 3250 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2795 3664 3670 3658 0 0 0 0 0 0 14.76 14.76 14.76
3549 -2.05 -43.4 2105 2796 3671 3659 693.4 -7.3 404 3554 0.00 2.42 0.00 0.000 548 0.000 0.042 2105 1406 3664 3670 3658 0 0 0 0 0 0 14.76 14.15 14.76
3702 -2.05 -50.3 2109 1412 3672 3658 704.6 -7.3 434 3707 0.00 2.53 0.00 0.000 1062 0.000 0.054 2099 2813 3664 3670 3658 0 0 0 0 0 0 14.10 13.98 14.13
4096 -2.06 -58.6 2100 2814 3671 3659 732.3 -6.9 452 4101 0.00 2.00 0.00 0.000 292 0.000 0.075 2092 3915 3663 3670 3656 0 0 0 0 0 0 14.71 14.04 14.72
4242 -2.07 -65.5 2092 3916 3671 3656 743.5 -7.3 481 4250 0.00 1.90 0.00 0.000 1062 0.000 0.041 2092 2796 3663 3670 3656 0 0 0 0 0 0 14.23 14.23 14.23
4607 -2.09 -77.0 2093 2794 3671 3656 765.9 -5.9 494 4608 0.00 0.00 0.00 0.000 38 0.000 0.000 2092 2793 3662 3670 3655 0 0 0 0 0 0 14.75 14.75 14.75
4967 -2.10 -89.5 2093 2793 3671 3656 785.7 -5.6 506 4973 0.00 2.08 0.00 0.000 292 0.000 0.073 2085 3914 3663 3670 3656 0 0 0 0 0 0 14.75 13.91 14.75
5076 -2.12 -100.6 2085 3915 3671 3654 792.1 -6.0 527 5082 0.00 1.92 0.00 0.000 1062 0.000 0.040 2085 2789 3663 3670 3656 0 0 0 0 0 0 14.30 14.23 14.33
5456 -2.12 -107.1 2085 2790 3671 3657 812.4 -5.2 542 5461 0.00 2.42 0.00 0.000 548 0.000 0.042 2085 1399 3663 3670 3656 0 0 0 0 0 0 14.70 14.11 14.70
5537 -2.12 -107.1 2086 1399 3672 3656 816.8 -5.1 558 5542 0.00 2.55 0.00 0.000 1062 0.000 0.056 2084 2813 3662 3670 3655 0 0 0 0 0 0 14.13 14.01 14.17
5908 -2.12 -107.1 2084 2814 3671 3657 835.0 -4.6 572 5913 0.00 2.50 0.00 0.000 548 0.000 0.041 2084 1399 3663 3670 3656 0 0 0 0 0 0 14.76 14.11 14.76
6124 -2.12 -107.1 2085 1399 3670 3658 845.4 -4.0 615 6129 0.00 2.53 0.00 0.000 1062 0.000 0.057 2082 2805 3663 3670 3657 0 0 0 0 0 0 14.21 14.09 14.25
6514 -2.12 -107.1 2082 2806 3671 3657 861.5 -4.2 632 6515 0.00 0.00 0.00 0.000 38 0.000 0.000 2081 2805 3663 3670 3657 0 0 0 0 0 0 14.71 14.71 14.71
6871 -2.12 -107.1 2081 2805 3671 3658 874.9 -3.7 644 6876 0.00 2.00 0.00 0.000 292 0.000 0.073 2072 3907 3663 3670 3657 0 0 0 0 0 0 14.75 13.97 14.74
6902 -2.12 -107.1 2073 3908 3671 3658 876.1 -1.3 650 6907 0.00 1.90 0.00 0.000 1062 0.000 0.041 2073 2795 3663 3670 3657 0 0 0 0 0 0 14.28 14.21 14.30
7296 -2.12 -107.1 2073 2795 3671 3659 889.5 -3.1 668 7297 0.00 0.00 0.00 0.000 38 0.000 0.000 2073 2795 3664 3670 3658 0 0 0 0 0 0 14.71 14.70 14.71
7653 -2.12 -107.1 2073 2795 3671 3659 901.4 -3.4 680 7658 0.00 2.42 0.00 0.000 548 0.000 0.040 2073 1399 3664 3670 3658 0 0 0 0 0 0 14.73 14.10 14.73
7845 -2.12 -107.1 2073 1400 3671 3659 908.4 -3.2 718 7850 0.00 2.58 0.00 0.000 1062 0.000 0.055 2071 2815 3664 3670 3658 0 0 0 0 0 0 14.23 14.10 14.26
8226 -2.12 -107.1 2071 2815 3671 3659 919.1 -3.0 734 8227 0.00 0.00 0.00 0.000 38 0.000 0.000 2071 2815 3664 3670 3658 0 0 0 0 0 0 14.73 14.73 14.73
8586 -2.12 -107.1 2072 2815 3672 3658 928.2 -2.3 746 8591 0.00 2.00 0.00 0.000 292 0.000 0.074 2063 3915 3664 3670 3658 0 0 0 0 0 0 14.72 13.97 14.72
8726 -2.12 -107.1 2064 3915 3672 3659 931.2 -2.1 773 8732 0.15 1.90 0.00 0.000 3110 0.347 0.041 2090 2801 3664 3670 3658 0 0 0 0 0 0 13.35 14.22 13.83
9106 -2.12 -107.1 2091 2802 3671 3660 938.1 -1.8 788 9111 0.00 2.45 0.00 0.000 548 0.000 0.041 2092 1395 3664 3670 3658 0 0 0 0 0 0 14.67 14.10 14.69
9337 -2.12 -107.1 2093 1395 3672 3659 942.4 -2.1 834 9342 0.00 2.55 0.00 0.000 1062 0.000 0.055 2085 2810 3664 3670 3659 0 0 0 0 0 0 14.19 14.04 14.23
9708 -2.12 -107.1 2086 2811 3672 3659 950.8 -2.2 848 9714 0.00 2.50 0.00 0.000 548 0.000 0.041 2085 1396 3664 3670 3659 0 0 0 0 0 0 14.75 14.12 14.75
9805 -2.12 -107.1 2086 1396 3672 3659 953.4 -2.3 867 9810 0.00 2.55 0.00 0.000 1062 0.000 0.056 2081 2814 3664 3670 3659 0 0 0 0 0 0 14.22 14.10 14.26
10194 -2.12 -107.1 2083 2814 3672 3659 958.8 -1.4 884 10199 0.00 2.00 0.00 0.000 292 0.000 0.073 2073 3917 3664 3670 3658 0 0 0 0 0 0 14.68 14.00 14.66
10426 -2.12 -107.1 2073 3918 3675 3660 962.6 -1.4 930 10431 0.00 1.95 0.00 0.000 1062 0.000 0.041 2076 2782 3664 3670 3658 0 0 0 0 0 0 14.32 14.24 14.34
10797 -2.12 -107.1 2076 2783 3671 3660 967.1 -1.2 944 10802 0.00 2.10 0.00 0.000 292 0.000 0.073 2067 3920 3664 3670 3659 0 0 0 0 0 0 14.76 13.89 14.77
11028 -2.12 -107.1 2067 3921 3671 3660 969.7 -1.2 990 11033 0.00 1.92 0.00 0.000 1062 0.000 0.040 2068 2792 3664 3670 3659 0 0 0 0 0 0 14.31 14.25 14.33
11399 -2.12 -107.1 2068 2793 3671 3660 974.5 -1.3 1004 11404 0.00 2.05 0.00 0.000 292 0.000 0.073 2061 3912 3664 3670 3659 0 0 0 0 0 0 14.76 13.97 14.76
11632 -2.12 -107.1 2061 3913 3673 3657 977.3 -1.2 1050 11637 0.15 1.92 0.00 0.000 3110 0.355 0.041 2087 2789 3664 3670 3658 0 0 0 0 0 0 13.33 14.24 13.81
11729 end dive: HALF_MISSION_TIME_EXCEEDED
state 11730 begin apogee
11738 -0.23 0.0 2089 2531 3672 3659 978.4 -0.8 1055 11795 2.65 0.00 53.00 3.039 10246 0.314 0.000 2695 2528 3491 3497 3486 0 0 0 0 0 0 13.81 13.81 12.49
11796 end apogee: CONTROL_FINISHED_OK
state 11796 begin climb
11799 2.12 107.1 2696 2533 3498 3486 978.5 0.0 1057 11949 2.42 0.00 133.48 3.094 10758 0.103 0.000 3454 2532 3064 3088 3041 0 0 0 0 0 0 13.72 12.40 11.17
12304 2.12 107.1 3455 2532 3077 3032 842.1 30.4 1094 12310 0.00 2.67 0.00 0.000 516 0.000 0.059 3465 1161 3053 3077 3030 0 0 0 0 0 0 13.49 13.14 13.49
12366 2.12 107.1 3465 1161 3077 3030 823.3 29.6 1106 12372 0.00 2.70 0.00 0.000 1030 0.000 0.063 3465 2551 3053 3076 3030 0 0 0 0 0 0 13.40 13.31 13.43
12759 2.12 107.1 3464 2552 3076 3030 706.4 29.9 1124 12764 0.00 2.58 0.00 0.000 516 0.000 0.060 3475 1161 3052 3076 3028 0 0 0 0 0 0 14.26 13.88 14.26
12781 2.12 107.1 3475 1161 3076 3029 699.9 29.6 1128 12786 0.00 2.58 0.00 0.000 1030 0.000 0.063 3475 2560 3051 3074 3029 0 0 0 0 0 0 14.07 13.94 14.11
13152 2.12 107.1 3474 2561 3076 3030 589.5 29.4 1166 13159 0.00 2.50 0.00 0.000 516 0.000 0.059 3485 1165 3051 3075 3028 0 0 0 0 0 0 14.62 13.96 14.62
13185 2.12 107.1 3485 1166 3076 3029 580.2 28.7 1172 13190 0.00 2.55 0.00 0.000 1030 0.000 0.063 3485 2565 3051 3075 3028 0 0 0 0 0 0 14.32 14.19 14.37
13496 2.12 107.1 3486 2565 3076 3028 491.4 28.0 1204 13502 0.00 2.50 0.00 0.000 516 0.000 0.060 3495 1162 3052 3075 3029 0 0 0 0 0 0 14.66 14.17 14.66
13524 2.12 107.1 3495 1164 3075 3029 483.8 27.9 1209 13531 0.20 2.53 0.00 0.000 5126 0.378 0.065 3459 2553 3051 3075 3028 0 0 0 0 0 0 13.72 14.18 14.25
13828 end climb: SURFACE_OBSTACLE_DETECTED
state 13828 begin subsurface finish
13836 -0.00 -0.6 3460 2555 3076 3030 402.4 26.4 1240 13843 2.92 0.00 -1.90 0.047 20486 0.337 0.000 2780 2554 3513 3516 3510 0 0 0 0 0 0 13.95 12.66 14.35
13843 end subsurface finish: CONTROL_FINISHED_OK
state 13843 begin surface