DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 103 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  183 HD_C  9.9999997e-06 ROLL_MIN  330 ALTIM_TOP_TURN_MARGIN  0
MISSION  3 HEADING  -1 ROLL_MAX  3931 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  103 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DEPTH  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2780 ALTIM_PING_DELTA  20
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2600 ALTIM_FREQUENCY  13
D_FLARE  5 TGT_DEFAULT_LAT  4736 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  3
D_NO_BLEED  50 SM_CC  350 R_PORT_OVSHOOT  36 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  8 R_STBD_OVSHOOT  24 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.89999998
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  2.5 DEEPGLIDERMB  0
D_SAFE  0 PROTOCOL  9 ROLL_ADJ_DBAND  0.029999999 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_MIN  440 DEVICE1  2
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  20
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 C_VBD  2923 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 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  0.00065 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  8 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  -7822.0903 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  117
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
D_OFFGRID  100 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  64
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  311 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3850 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2475 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043469137
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_YINT  -62.615704 SEABIRD_T_H  0.00062159239
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00012025224 SEABIRD_T_I  2.0014088e-05
RHO  1.0275 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  1.6690842e-06
MASS  51717 PITCH_GAIN  37 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.9685602
NAV_MODE  2 PITCH_TIMEOUT  17 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1354375
FERRY_MAX  45 PITCH_AD_RATE  160 COMPASS_USE  1 SEABIRD_C_I  -0.0013495153
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00019269099
HD_A  0.003 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
HD_B  0.0099999998 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  10

Pre-dive calculations and measurements:
GPS1  270910,155731,6657.049,-5843.200,40,1.1,40,-38.0 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.34 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  270910,160208,6657.119,-5843.361,14,1.2,14,-38.0 MHEAD_RNG_PITCHd_Wd  245.1,78920,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1032

Post-dive calculations and measurements:
FINISH  2.8,1.025125 ALTIM_BOTTOM_PING  18418.0,18452.0
SM_CCo  19848,94.78,0.083,0,0,1496,350.04 _24V_AH  22.5,15.632
SM_GC  1.30,0.00,0.00,94.78,0.000,0.000,0.083,308,2792,1496,-6.77,0.37,350.04 _10V_AH  10.2,11.692
RAFOS_CLK  1074 FG_AHR_24Vo  0.000
RAFOS  1,1285603745,16.166666,16.151388,100,50,43,42,42,40,753,363,1716,1805,1759,1717 FG_AHR_10Vo  0.000
RAFOS_FIX  1852500.000000,1853000.000000,080707,090928,18064,18538,-2310808403724730368.00 MEM  151628
IRIDIUM_FIX  6625.71,-5832.15,270910,101041 DATA_FILE_SIZE  56637,1540
TT8_MAMPS  0.028462 CAP_FILE_SIZE  177703,0
HUMID  49.84 CFSIZE  260165632,243449856
INTERNAL_PRESSURE  8.58279 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  15.30 SOUNDSPEED  1460.4
XPDR_PINGS  1 CURRENT  0.096,192.8,1
ALTIM_TOP_PING  18463.0,18469.0 GPS  270910,213737,6654.908,-5845.589,26,1.8,26,-37.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1626999.82 SBE_CT107424580.35
Roll_motor12676217.48 SBE_O2000.00
VBD_pump_during_apogee25512196997.05 nil000.00
VBD_pump_during_surface9483177.81 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010371.19 nil000.00
Iridium_during_connect1916068.86 nil000.00
Iridium_during_xfer112223566.35 nil000.00
Transponder_ping04202.36 nil000.00
GUMSTIX_24V000.00
GPS17508.79
TT8394719802.00
LPSleep129512305.15
TT8_Active51719105.09
TT8_Sampling2724391109.44
TT8_CF81654577.36
TT8_Kalman000.00
Analog_circuits184212225.53
GPS_charging000.00
Compass252915386.96
RAFOS46803143.21
Transponder050.03

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
12 end surface: CONTROL_FINISHED_OK
state 13 begin dive
14 -0.57 -146.0 0.0 0.0 0 110 0.00 0.00 -93.53 0.000 2 0.000 0.000 305 2790 3504 0 0 0 0 0 0
112 -0.57 -146.0 6.9 -20.2 16 127 8.30 2.30 -0.28 0.000 4 0.269 0.060 2282 1369 3520 0 0 0 0 0 0
227 -0.57 -146.0 39.6 -13.1 36 234 0.00 2.30 0.00 0.000 6 0.000 0.060 2276 2781 3523 0 0 0 0 0 0
569 -0.57 -146.0 83.4 -11.6 97 575 0.00 2.25 0.00 0.000 4 0.000 0.049 2276 1363 3524 0 0 0 0 0 0
636 -0.57 -146.0 91.3 -10.8 109 643 0.00 2.33 0.00 0.000 6 0.000 0.060 2273 2779 3524 0 0 0 0 0 0
966 -0.57 -146.0 127.0 -10.9 147 970 0.00 1.92 0.00 0.000 4 0.000 0.072 2267 3936 3524 0 0 0 0 0 0
1048 -0.57 -146.0 136.9 -11.7 154 1057 0.00 1.88 0.00 0.000 6 0.000 0.045 2266 2771 3524 0 0 0 0 0 0
1374 -0.57 -146.0 176.9 -11.8 185 1378 0.00 2.20 0.00 0.000 4 0.000 0.050 2267 1370 3523 0 0 0 0 0 0
1425 -0.57 -146.0 182.4 -10.7 189 1429 0.00 2.25 0.00 0.000 6 0.000 0.063 2264 2759 3523 0 0 0 0 0 0
1749 -0.57 -146.0 216.7 -10.7 219 1750 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2759 3522 0 0 0 0 0 0
2068 -0.57 -146.0 251.8 -11.6 249 2072 0.00 2.20 0.00 0.000 4 0.000 0.050 2264 1366 3521 0 0 0 0 0 0
2096 -0.57 -146.0 255.2 -11.5 251 2100 0.00 2.25 0.00 0.000 6 0.000 0.062 2261 2760 3521 0 0 0 0 0 0
2421 -0.57 -146.0 292.2 -11.2 281 2424 0.00 1.95 0.00 0.000 4 0.000 0.073 2256 3936 3522 0 0 0 0 0 0
2469 -0.57 -146.0 298.1 -11.7 285 2478 0.08 1.90 0.00 0.000 6 0.155 0.047 2282 2758 3522 0 0 0 0 0 0
2795 -0.57 -146.0 327.6 -8.5 316 2799 0.00 2.17 0.00 0.000 4 0.000 0.052 2282 1370 3521 0 0 0 0 0 0
2836 -0.57 -146.0 331.1 -8.5 319 2840 0.00 2.28 0.00 0.000 6 0.000 0.063 2279 2764 3521 0 0 0 0 0 0
3162 -0.57 -146.0 359.1 -8.4 349 3163 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2764 3521 0 0 0 0 0 0
3480 -0.57 -146.0 386.6 -9.0 379 3481 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2765 3521 0 0 0 0 0 0
3798 -0.57 -146.0 414.9 -9.1 409 3802 0.00 2.20 0.00 0.000 4 0.000 0.051 2279 1358 3521 0 0 0 0 0 0
3836 -0.57 -146.0 418.6 -9.0 412 3843 0.00 2.30 0.00 0.000 6 0.000 0.062 2278 2757 3521 0 0 0 0 0 0
4162 -0.57 -146.0 446.9 -8.6 443 4163 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 2757 3521 0 0 0 0 0 0
4480 -0.57 -146.0 474.0 -8.1 473 4484 0.00 1.95 0.00 0.000 4 0.000 0.073 2271 3938 3521 0 0 0 0 0 0
4518 -0.57 -146.0 477.5 -8.9 476 4526 0.00 1.90 0.00 0.000 6 0.000 0.047 2271 2753 3521 0 0 0 0 0 0
4844 -0.57 -146.0 504.7 -8.0 507 4848 0.00 2.17 0.00 0.000 4 0.000 0.051 2271 1360 3521 0 0 0 0 0 0
4865 -0.57 -146.0 506.7 -8.5 508 4873 0.05 2.28 0.00 0.000 6 0.168 0.061 2282 2747 3521 0 0 0 0 0 0
5191 -0.57 -146.0 529.9 -6.9 539 5192 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 2747 3522 0 0 0 0 0 0
5510 -0.57 -146.0 551.9 -6.7 569 5514 0.00 1.98 0.00 0.000 4 0.000 0.072 2276 3949 3522 0 0 0 0 0 0
5536 -0.57 -146.0 553.8 -6.9 571 5544 0.00 1.92 0.00 0.000 6 0.000 0.047 2276 2747 3522 0 0 0 0 0 0
5862 -0.57 -146.0 576.8 -7.0 602 5863 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2747 3522 0 0 0 0 0 0
6181 -0.57 -146.0 599.2 -7.2 632 6185 0.00 2.15 0.00 0.000 4 0.000 0.050 2276 1367 3522 0 0 0 0 0 0
6213 -0.57 -146.0 601.7 -7.5 634 6218 0.00 2.28 0.00 0.000 6 0.000 0.061 2276 2751 3522 0 0 0 0 0 0
6549 -0.57 -146.0 625.7 -7.3 645 6550 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2751 3522 0 0 0 0 0 0
6856 -0.57 -146.0 650.4 -8.2 655 6857 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2751 3522 0 0 0 0 0 0
7161 -0.57 -146.0 674.4 -7.8 665 7163 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2751 3522 0 0 0 0 0 0
7468 -0.57 -146.0 698.2 -8.0 675 7472 0.00 1.95 0.00 0.000 4 0.000 0.073 2270 3933 3522 0 0 0 0 0 0
7506 -0.57 -146.0 701.7 -8.9 676 7511 0.00 1.90 0.00 0.000 6 0.000 0.047 2270 2747 3522 0 0 0 0 0 0
7842 -0.57 -146.0 730.3 -8.7 687 7843 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2747 3522 0 0 0 0 0 0
8148 -0.57 -146.0 754.8 -7.7 697 8149 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2747 3522 0 0 0 0 0 0
8455 -0.57 -146.0 777.8 -7.5 707 8456 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2747 3522 0 0 0 0 0 0
8760 -0.57 -146.0 800.9 -7.6 717 8764 0.00 2.12 0.00 0.000 4 0.000 0.051 2270 1369 3521 0 0 0 0 0 0
8798 -0.57 -146.0 804.0 -8.0 718 8803 0.00 2.28 0.00 0.000 6 0.000 0.062 2266 2754 3522 0 0 0 0 0 0
9134 -0.57 -146.0 829.9 -7.6 729 9135 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2755 3522 0 0 0 0 0 0
9441 -0.57 -146.0 853.7 -7.8 739 9442 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2755 3521 0 0 0 0 0 0
9746 -0.57 -146.0 876.9 -7.5 749 9747 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2755 3522 0 0 0 0 0 0
10053 -0.57 -146.0 898.9 -7.2 759 10057 0.00 2.17 0.00 0.000 4 0.000 0.051 2266 1368 3521 0 0 0 0 0 0
10102 -0.57 -146.0 902.9 -7.8 760 10107 0.00 2.25 0.00 0.000 6 0.000 0.062 2265 2741 3521 0 0 0 0 0 0
10422 -0.57 -146.0 926.5 -7.7 771 10423 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2741 3521 0 0 0 0 0 0
10728 -0.57 -146.0 949.5 -7.5 781 10729 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2741 3521 0 0 0 0 0 0
11034 -0.57 -146.0 971.9 -7.3 791 11036 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2741 3521 0 0 0 0 0 0
11308 end dive: TARGET_DEPTH_EXCEEDED
state 11308 begin apogee
11312 -0.14 0.0 991.0 6.9 800 11441 0.50 0.00 124.32 1.219 4 0.147 0.000 2428 2596 2923 0 0 0 0 0 0
11442 end apogee: CONTROL_FINISHED_OK
state 11442 begin climb
11443 0.57 146.0 993.3 0.0 804 11584 0.68 2.42 130.70 1.201 4 0.079 0.051 2658 1182 2327 0 0 0 0 0 0
11798 0.57 146.0 956.0 42101.3 815 11802 0.00 2.47 0.00 0.000 6 0.000 0.059 2659 2610 2317 0 0 0 0 0 0
12132 0.57 146.0 909.9 42101.3 826 12136 0.00 2.35 0.00 0.000 4 0.000 0.056 2665 1186 2313 0 0 0 0 0 0
12343 0.57 146.0 880.5 42101.3 832 12348 0.00 2.40 0.00 0.000 6 0.000 0.058 2665 2604 2314 0 0 0 0 0 0
12667 0.57 146.0 834.7 42101.3 843 12669 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2605 2312 0 0 0 0 0 0
12973 0.57 146.0 791.3 42101.3 853 12975 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2605 2311 0 0 0 0 0 0
13280 0.57 146.0 749.3 42101.3 863 13281 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2605 2311 0 0 0 0 0 0
13586 0.57 146.0 707.5 42101.3 873 13590 0.00 2.20 0.00 0.000 4 0.000 0.071 2665 3928 2311 0 0 0 0 0 0
13612 0.57 146.0 703.2 42101.3 873 13620 0.00 2.15 0.00 0.000 6 0.000 0.045 2670 2600 2310 0 0 0 0 0 0
13925 0.57 146.0 658.1 42101.3 884 13927 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2600 2310 0 0 0 0 0 0
14232 0.57 146.0 614.3 42101.3 894 14236 0.00 2.22 0.00 0.000 4 0.000 0.070 2670 3936 2310 0 0 0 0 0 0
14258 0.57 146.0 610.1 42101.3 894 14266 0.00 2.15 0.00 0.000 6 0.000 0.045 2679 2600 2308 0 0 0 0 0 0
14580 0.57 146.0 563.5 42101.3 919 14581 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2600 2309 0 0 0 0 0 0
14898 0.57 146.0 517.4 42101.3 949 14902 0.00 2.20 0.00 0.000 4 0.000 0.070 2679 3932 2309 0 0 0 0 0 0
14918 0.57 146.0 514.0 42101.3 950 14926 0.00 2.12 0.00 0.000 6 0.000 0.045 2686 2611 2308 0 0 0 0 0 0
15245 0.57 146.0 465.6 42101.3 981 15249 0.00 2.17 0.00 0.000 4 0.000 0.070 2686 3929 2308 0 0 0 0 0 0
15276 0.57 146.0 460.3 42101.3 983 15285 0.12 2.10 0.00 0.000 6 0.194 0.045 2659 2617 2308 0 0 0 0 0 0
15602 0.57 146.0 419.3 42101.3 1014 15603 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2617 2308 0 0 0 0 0 0
15920 0.57 146.0 380.7 42101.3 1044 15924 0.00 2.25 0.00 0.000 4 0.000 0.054 2665 1186 2308 0 0 0 0 0 0
15948 0.57 146.0 377.4 42101.3 1046 15953 0.00 2.30 0.00 0.000 6 0.000 0.057 2665 2629 2309 0 0 0 0 0 0
16273 0.57 146.0 337.5 42101.3 1076 16277 0.00 2.15 0.00 0.000 4 0.000 0.070 2665 3931 2309 0 0 0 0 0 0
16311 0.57 146.0 332.2 42101.3 1079 16315 0.00 2.05 0.00 0.000 6 0.000 0.045 2667 2619 2308 0 0 0 0 0 0
16636 0.57 146.0 293.0 42101.3 1109 16640 0.00 2.17 0.00 0.000 4 0.000 0.069 2666 3928 2309 0 0 0 0 0 0
16697 0.57 146.0 284.5 42101.3 1114 16703 0.00 2.05 0.00 0.000 6 0.000 0.044 2674 2621 2309 0 0 0 0 0 0
17027 0.57 146.0 242.0 42101.3 1145 17028 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2621 2309 0 0 0 0 0 0
17346 0.57 146.0 202.3 42101.3 1175 17350 0.00 2.25 0.00 0.000 4 0.000 0.054 2681 1187 2309 0 0 0 0 0 0
17366 0.57 146.0 199.8 42101.3 1176 17374 0.00 2.35 0.00 0.000 6 0.000 0.057 2682 2631 2309 0 0 0 0 0 0
17691 0.57 146.0 160.8 42101.3 1207 17693 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2631 2309 0 0 0 0 0 0
18011 0.57 146.0 124.7 42101.3 1237 18015 0.00 2.12 0.00 0.000 4 0.000 0.070 2681 3928 2309 0 0 0 0 0 0
18076 0.57 146.0 116.2 42101.3 1242 18084 0.10 2.08 0.00 0.000 6 0.193 0.044 2661 2628 2309 0 0 0 0 0 0
18410 0.57 146.0 82.6 42101.3 1288 18417 0.00 2.28 0.00 0.000 4 0.000 0.054 2665 1177 2309 0 0 0 0 0 0
18530 0.57 146.0 72.0 42101.3 1309 18536 0.00 2.28 0.00 0.000 6 0.000 0.057 2665 2594 2309 0 0 0 0 0 0
18874 0.57 146.0 44.1 42101.3 1370 18880 0.00 2.17 0.00 0.000 4 0.000 0.069 2665 3933 2309 0 0 0 0 0 0
19066 0.57 146.0 27.6 42101.3 1404 19073 0.00 2.10 0.00 0.000 6 0.000 0.046 2666 2598 2309 0 0 0 0 0 0
19410 0.57 146.0 18.1 42101.3 1465 19417 0.00 2.20 0.00 0.000 4 0.000 0.070 2666 3928 2308 0 0 0 0 0 0
19671 0.57 146.0 8.2 42101.3 1511 19677 0.00 2.08 0.00 0.000 6 0.000 0.045 2666 2611 2308 0 0 0 0 0 0
19829 end climb: SURFACE_DEPTH_REACHED
state 19829 begin surface coast
19834 end surface coast: CONTROL_FINISHED_OK
state 19835 begin surface