OKMC Feb13 * SG171 * Dive index * Mission links * Dive 91 * 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  91 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  950 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  56 ALTIM_SENSITIVITY  2
D_ABORT  1010 SM_CC  400 R_STBD_OVSHOOT  41 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  2380 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  360 CALL_WAIT  60 PITCH_VBD_SHIFT  0.003 DEVICE5  -1
T_MISSION  390 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  -20614.592 DBDW  0 COMPASS_DEVICE  33
USE_BATHY  -9 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  2830 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  27 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  100313,135735,2342.740,12356.878,14,1.6,31,-3.4 TGT_NAME  N3
_CALLS  2 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.44 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  100313,140501,2342.497,12356.980,12,1.5,12,-3.4 MHEAD_RNG_PITCHd_Wd  227.2,245440,-14.1,-8.796,-18.32,2939
SPEED_LIMITS  0.152,0.266 D_GRID  3004

Post-dive calculations and measurements:
FINISH  1.3,1.022999 _10V_AH  10.2,10.459
SM_CCo  12864,85.78,0.059,0,0,748,400.08 FG_AHR_24Vo  0.000
SM_GC  1.35,7.97,1.38,85.78,0.041,0.030,0.059,117,2490,748,-8.34,1.67,400.08,0,0,0,0,0,0,26.71,26.72,26.54 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2335.63,12358.38,100313,101025 MEM  329696
TT8_MAMPS  0.048685,0.048685 DATA_FILE_SIZE  23462,606
HUMID  41.10 CAP_FILE_SIZE  331392,0
INTERNAL_PRESSURE  9.6425 CFSIZE  260034560,243773440
TCM_TEMP  24.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.214,126.1,1
SC_FREEKB  3991456 GPS  100313,174236,2340.120,12357.002,37,1.2,37,-3.4
_24V_AH  24.2,15.126

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19219104.54 nil000.00
Roll_motor11058157.23 nil000.00
VBD_pump_during_apogee49188710551.24 nil000.00
VBD_pump_during_surface8558122.27 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1284941246.89
Iridium_during_xfer246125748.56 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS13273.86
TT8268135982.81
LPSleep78752175.93
TT8_Active69535254.78
TT8_Sampling1896581129.48
TT8_CF824065161.49
TT8_Kalman000.00
Analog_circuits183815281.35
GPS_charging000.00
Compass1553594.90
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -1.03 -170.3 126 2486 839 660 0.0 0.0 0 82 0.00 0.00 -61.83 0.000 16386 0.000 0.000 127 2486 2516 2596 2437 0 0 0 0 0 0 28.83 28.83 28.83
85 -1.03 -170.3 127 2486 2598 2439 3.8 -6.4 8 110 9.00 2.15 -10.10 0.000 18948 0.220 0.048 2487 1097 3078 3166 2991 0 0 0 0 0 0 26.07 26.34 26.61
340 -1.03 -170.3 1536 1096 3138 2985 79.3 -27.8 31 346 0.00 2.12 0.00 0.000 1030 0.000 0.043 2477 2485 3078 3166 2991 0 0 0 0 0 0 28.83 26.44 28.83
660 -1.03 -170.3 2477 2485 3169 2991 172.7 -25.8 47 666 0.00 1.85 0.00 0.000 260 0.000 0.057 2468 3673 3080 3169 2991 0 0 0 0 0 0 28.83 26.55 28.83
838 -1.03 -170.3 2468 3673 3170 2991 214.0 -24.0 55 844 0.00 1.70 0.00 0.000 1030 0.000 0.025 2468 2492 3080 3170 2991 0 0 0 0 0 0 28.83 26.65 28.83
1151 -1.03 -170.3 2468 2490 3173 2991 285.4 -22.6 71 1158 0.00 1.85 0.00 0.000 260 0.000 0.058 2459 3674 3082 3173 2992 0 0 0 0 0 0 28.83 26.64 28.83
1247 -1.03 -170.3 2459 3674 3173 2990 305.0 -22.7 75 1254 0.12 1.70 0.00 0.000 3078 0.149 0.026 2493 2489 3082 3173 2991 0 0 0 0 0 0 26.56 26.72 28.83
1562 -1.03 -170.3 2493 2488 3174 2992 370.5 -19.1 91 1568 0.00 1.85 0.00 0.000 260 0.000 0.059 2485 3677 3083 3173 2993 0 0 0 0 0 0 28.83 26.68 28.83
1616 -1.03 -170.3 2485 3674 3170 2991 379.0 -19.0 93 1622 0.00 1.70 0.00 0.000 1030 0.000 0.024 2485 2487 3082 3173 2992 0 0 0 0 0 0 28.83 26.75 28.83
1930 -1.03 -170.3 2485 2485 3173 2992 440.0 -18.2 109 1936 0.00 1.85 0.00 0.000 260 0.000 0.058 2476 3674 3082 3174 2991 0 0 0 0 0 0 28.83 26.70 28.83
2019 -1.03 -170.3 1536 3673 3145 2985 455.8 -18.6 113 2025 0.00 1.73 0.00 0.000 1030 0.000 0.025 2476 2496 3082 3173 2992 0 0 0 0 0 0 28.83 26.79 28.83
2339 -1.03 -170.3 2476 2494 3173 2991 511.0 -15.6 129 2340 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2494 3082 3173 2992 0 0 0 0 0 0 28.83 28.83 28.83
2638 -1.03 -170.3 2476 2494 3173 2991 556.5 -15.5 144 2639 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2494 3082 3173 2991 0 0 0 0 0 0 28.83 28.83 28.83
2937 -1.03 -170.3 2476 2494 3173 2989 602.3 -15.6 159 2943 0.00 2.05 0.00 0.000 516 0.000 0.033 2476 1105 3081 3173 2989 0 0 0 0 0 0 28.83 26.79 28.83
3012 -1.03 -170.3 2476 1105 3173 2989 612.9 -16.2 161 3018 0.12 2.12 0.00 0.000 3078 0.154 0.042 2500 2504 3080 3173 2988 0 0 0 0 0 0 26.65 26.74 28.83
3337 -1.03 -170.3 2500 2504 3173 2985 660.1 -13.6 172 3343 0.00 2.08 0.00 0.000 516 0.000 0.031 2501 1103 3079 3173 2985 0 0 0 0 0 0 28.83 26.78 28.83
3372 -1.03 -170.3 2500 1102 3173 2984 665.0 -13.6 173 3377 0.00 2.12 0.00 0.000 1030 0.000 0.041 2491 2501 3078 3173 2984 0 0 0 0 0 0 28.83 26.74 28.83
3706 -1.03 -170.3 2490 2501 3173 2979 714.3 -15.0 184 3712 0.00 2.08 0.00 0.000 516 0.000 0.032 2491 1108 3076 3173 2979 0 0 0 0 0 0 28.83 26.79 28.83
3753 -1.03 -170.3 2490 1108 3173 2978 719.7 -15.1 185 3759 0.00 2.12 0.00 0.000 1030 0.000 0.042 2480 2506 3075 3173 2978 0 0 0 0 0 0 28.83 26.74 28.83
4072 -1.03 -170.3 2479 2506 3173 2974 771.4 -15.1 196 4078 0.00 1.85 0.00 0.000 260 0.000 0.058 2471 3670 3073 3173 2974 0 0 0 0 0 0 28.83 26.74 28.83
4172 -1.03 -170.3 2471 3670 3173 2973 786.0 -15.2 199 4178 0.00 1.67 0.00 0.000 1030 0.000 0.026 2471 2495 3072 3173 2972 0 0 0 0 0 0 28.83 26.84 28.83
4501 -1.03 -170.3 2471 2494 3172 2968 834.7 -14.5 210 4507 0.00 2.05 0.00 0.000 516 0.000 0.031 2471 1109 3070 3172 2968 0 0 0 0 0 0 28.83 26.79 28.83
4539 -1.03 -170.3 2471 1108 3175 2968 839.9 -14.8 211 4547 0.12 2.12 0.00 0.000 3078 0.155 0.041 2495 2505 3070 3172 2968 0 0 0 0 0 0 26.65 26.75 28.83
4870 -1.03 -170.3 2495 2505 3172 2964 883.8 -12.9 222 4876 0.00 1.83 0.00 0.000 260 0.000 0.058 2487 3679 3066 3169 2964 0 0 0 0 0 0 28.83 26.74 28.83
4892 -1.03 -170.3 2486 3679 3169 2964 883.8 -12.9 222 4898 0.00 1.70 0.00 0.000 1030 0.000 0.027 2487 2490 3066 3169 2964 0 0 0 0 0 0 28.83 26.84 28.83
5207 -1.03 -170.3 2486 2490 3166 2962 929.0 -13.3 233 5213 0.00 2.03 0.00 0.000 516 0.000 0.031 2487 1111 3064 3166 2962 0 0 0 0 0 0 28.83 26.79 28.83
5251 -1.03 -170.3 2487 1112 3166 2962 933.6 -13.2 234 5256 0.00 2.12 0.00 0.000 1030 0.000 0.043 2477 2505 3064 3167 2962 0 0 0 0 0 0 28.83 26.74 28.83
5363 end dive: TARGET_DEPTH_EXCEEDED
state 5363 begin apogee
5368 -0.19 0.0 2476 1989 3166 2961 950.4 -13.7 238 5639 0.85 0.00 261.77 0.747 10246 0.109 0.000 2769 1987 2373 2547 2200 0 0 0 0 0 0 26.65 28.83 24.52
5641 end apogee: CONTROL_FINISHED_OK
state 5641 begin climb
5643 1.03 170.3 2768 1987 2547 2190 963.3 0.0 246 5830 1.08 0.00 181.60 0.887 10758 0.046 0.000 3175 1987 1686 1783 1589 0 0 0 0 0 0 25.29 28.83 24.25
6114 1.03 170.3 3174 1987 1737 1566 895.8 18.9 263 6115 0.00 0.00 0.00 0.000 6 0.000 0.000 3174 1987 1649 1733 1566 0 0 0 0 0 0 28.83 28.83 28.83
6414 1.03 170.3 3175 1988 1735 1564 841.2 17.7 273 6421 0.00 2.25 0.00 0.000 260 0.000 0.049 3175 3417 1648 1734 1563 0 0 0 0 0 0 28.83 26.33 28.83
6499 1.03 170.3 3175 3417 1734 1564 829.2 17.9 275 6505 0.00 2.10 0.00 0.000 1030 0.000 0.028 3186 2010 1649 1734 1564 0 0 0 0 0 0 28.83 26.42 28.83
6814 1.03 170.3 3186 2010 1733 1558 771.6 16.6 286 6820 0.00 2.15 0.00 0.000 516 0.000 0.039 3197 597 1647 1733 1561 0 0 0 0 0 0 28.83 26.49 28.83
6852 1.03 170.3 3197 599 1734 1561 765.9 16.3 287 6859 0.12 2.12 0.00 0.000 5126 0.168 0.034 3166 2014 1647 1733 1561 0 0 0 0 0 0 26.36 26.52 28.83
7182 1.03 170.3 3165 2014 1732 1559 714.5 15.7 298 7187 0.00 2.17 0.00 0.000 260 0.000 0.050 3166 3412 1645 1731 1559 0 0 0 0 0 0 28.83 26.56 28.83
7228 1.03 170.3 2208 3410 1695 1553 708.9 16.0 299 7234 0.00 2.10 0.00 0.000 1030 0.000 0.031 3176 1997 1645 1733 1558 0 0 0 0 0 0 28.83 26.61 28.83
7547 1.03 170.3 3176 1996 1729 1558 656.1 15.6 310 7548 0.00 0.00 0.00 0.000 6 0.000 0.000 3176 1996 1643 1729 1558 0 0 0 0 0 0 28.83 28.83 28.83
7847 1.03 170.3 3176 1996 1728 1557 609.3 15.1 320 7848 0.00 0.00 0.00 0.000 6 0.000 0.000 3176 1996 1643 1729 1557 0 0 0 0 0 0 28.83 28.83 28.83
8157 1.03 170.3 3176 1996 1728 1556 562.0 15.9 334 8164 0.00 2.10 0.00 0.000 516 0.000 0.042 3188 609 1642 1728 1556 0 0 0 0 0 0 28.83 26.67 28.83
8216 1.03 170.3 3187 609 1728 1555 554.6 16.4 336 8224 0.00 2.08 0.00 0.000 1030 0.000 0.034 3188 2001 1642 1728 1556 0 0 0 0 0 0 28.83 26.69 28.83
8523 1.03 170.3 3187 2001 1727 1555 504.6 15.3 352 8528 0.00 2.12 0.00 0.000 516 0.000 0.040 3195 606 1641 1727 1555 0 0 0 0 0 0 28.83 26.68 28.83
8550 1.03 170.3 3198 606 1727 1555 501.0 15.2 353 8557 0.12 2.08 0.00 0.000 5126 0.166 0.034 3166 2002 1641 1727 1555 0 0 0 0 0 0 26.54 26.70 28.83
8870 1.03 170.3 3166 2002 1726 1554 457.2 13.6 369 8876 0.00 2.17 0.00 0.000 260 0.000 0.049 3166 3405 1639 1724 1554 0 0 0 0 0 0 28.83 26.69 28.83
9025 1.03 170.3 3166 3405 1726 1554 435.7 14.9 376 9031 0.00 2.08 0.00 0.000 1030 0.000 0.031 3177 1997 1640 1726 1554 0 0 0 0 0 0 28.83 26.74 28.83
9340 1.03 170.3 3176 1997 1726 1554 391.4 13.4 392 9346 0.00 2.17 0.00 0.000 260 0.000 0.049 3177 3401 1640 1726 1554 0 0 0 0 0 0 28.83 26.70 28.83
9430 1.03 170.3 2176 3399 1688 1549 379.7 13.5 396 9436 0.00 2.08 0.00 0.000 1030 0.000 0.030 3188 1993 1640 1726 1554 0 0 0 0 0 0 28.83 26.75 28.83
9750 1.03 170.3 3188 1993 1725 1554 336.9 13.6 412 9756 0.00 2.20 0.00 0.000 260 0.000 0.049 3188 3402 1640 1726 1554 0 0 0 0 0 0 28.83 26.70 28.83
9864 1.03 170.3 3188 3401 1725 1554 321.6 14.7 417 9871 0.15 2.08 0.00 0.000 5126 0.153 0.030 3158 1990 1640 1726 1554 0 0 0 0 0 0 26.58 26.76 28.83
10179 1.03 170.3 3158 1990 1726 1554 280.9 12.1 433 10186 0.00 2.20 0.00 0.000 260 0.000 0.048 3158 3402 1640 1726 1554 0 0 0 0 0 0 28.83 26.71 28.83
10306 1.03 170.3 3158 3402 1726 1554 263.8 13.6 439 10312 0.00 2.08 0.00 0.000 1030 0.000 0.029 3169 1993 1640 1726 1554 0 0 0 0 0 0 28.83 26.77 28.83
10630 1.03 170.3 3168 1993 1726 1554 226.9 10.9 455 10636 0.00 2.20 0.00 0.000 260 0.000 0.048 3168 3407 1640 1726 1554 0 0 0 0 0 0 28.83 26.72 28.83
10663 1.03 170.3 3168 3408 1726 1554 224.1 11.0 456 10670 0.00 2.08 0.00 0.000 1030 0.000 0.030 3180 1994 1640 1726 1554 0 0 0 0 0 0 28.83 26.77 28.83
10978 1.03 170.3 3179 1994 1726 1554 193.2 10.0 472 10984 0.00 2.17 0.00 0.000 260 0.000 0.048 3180 3408 1640 1726 1554 0 0 0 0 0 0 28.83 26.72 28.83
11221 1.03 170.3 3179 3408 1726 1554 168.7 10.0 483 11227 0.00 2.08 0.00 0.000 1030 0.000 0.029 3191 1991 1640 1726 1554 0 0 0 0 0 0 28.83 26.77 28.83
11535 1.07 181.7 3193 1991 1726 1554 138.0 8.4 499 11542 0.00 2.17 0.00 0.000 260 0.000 0.047 3191 3408 1640 1726 1554 0 0 0 0 0 0 28.83 26.72 28.83
11575 1.16 213.0 3189 3408 1726 1554 136.3 7.7 500 11629 0.00 2.05 47.95 0.410 9222 0.000 0.029 3202 1997 1511 1612 1410 0 0 0 0 0 0 28.83 26.78 25.84
11921 1.16 213.0 3202 1997 1583 1387 101.9 10.5 518 11926 0.00 2.20 0.00 0.000 260 0.000 0.048 3202 3408 1485 1584 1387 0 0 0 0 0 0 28.83 26.49 28.83
12070 1.16 213.0 3202 3408 1584 1387 84.7 11.9 525 12077 0.00 2.08 0.00 0.000 1030 0.000 0.028 3214 1998 1485 1583 1387 0 0 0 0 0 0 28.83 26.59 28.83
12391 1.16 213.0 3213 1998 1584 1387 50.4 10.1 541 12397 0.00 2.17 0.00 0.000 260 0.000 0.047 3214 3401 1484 1584 1384 0 0 0 0 0 0 28.83 26.60 28.83
12459 1.16 213.0 3213 3401 1584 1387 42.2 12.7 546 12467 0.00 2.05 0.00 0.000 1030 0.000 0.028 3225 2002 1485 1584 1387 0 0 0 0 0 0 28.83 26.67 28.83
12773 1.16 213.0 3225 2001 1584 1387 10.9 11.4 593 12780 0.00 2.17 0.00 0.000 260 0.000 0.047 3225 3412 1487 1587 1387 0 0 0 0 0 0 28.83 26.65 28.83
12835 end climb: SURFACE_DEPTH_REACHED
state 12835 begin surface coast
12847 end surface coast: CONTROL_FINISHED_OK
state 12847 begin surface