DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 259 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  113 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 ESCAPE_HEADING  0 ROLL_MIN  280 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  259 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3944 ALTIM_PING_DEPTH  0
D_SURF  2 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  0
D_FLARE  3 TGT_DEFAULT_LAT  21 C_ROLL_DIVE  2340 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -158.3 C_ROLL_CLIMB  2520 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_NO_BLEED  50 SM_CC  225 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  43 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  26 INT_PRESSURE_YINT  0
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  350 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0 DEVICE1  2
T_DIVE  470 UPLOAD_DIVES_MAX  -1 VBD_MIN  144 DEVICE2  20
T_MISSION  500 CALL_TRIES  5 VBD_MAX  3700 DEVICE3  -1
T_ABORT  1440 CALL_WAIT  60 C_VBD  2420 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  120 HEAPDBG  0 VBD_TIMEOUT  360 SMARTS  0
USE_BATHY  -3 T_GPS  15 PITCH_VBD_SHIFT  0.00135 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS_DEVICE  33
D_OFFGRID  900 T_GPS_CHARGE  -26767.309 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  2 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  70 CF8_MAXERRORS  0 RAFOS_DEVICE  32
MAX_BUOY  150 RAFOS_HIT_WINDOW  3600 AH0_24V  150 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  171 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  4022 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2436 PRESSURE_YINT  -25.705193 SEABIRD_T_G  0.004371644
RHO  1.02765 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001160825 SEABIRD_T_H  0.00064727472
MASS  51576 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_T_I  2.6231954e-05
NAV_MODE  1 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.8174416e-06
FERRY_MAX  45 PITCH_GAIN  14.7 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -9.9426794
KALMAN_USE  1 PITCH_TIMEOUT  20 COMPASS_USE  0 SEABIRD_C_H  1.1390046
HD_A  0.00342 PITCH_AD_RATE  150 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00057758979
HD_B  0.0096000005 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00012778315
HD_C  3.1312e-05 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  135237,6702.005,-5723.182,29,1.5,30,-37.7 TGT_NAME  TARGET_E_IN
_CALLS  1 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.223,-0.027
_SM_DEPTHo  1.52 KALMAN_X  27657.3,-326.7,-110.1,-26207.0,-842.4
_SM_ANGLEo  -61.3 KALMAN_Y  -74111.5,-844.4,-918.8,89144.9,5028.0
GPS2  135921,6702.039,-5723.164,8,1.5,8,-37.7 MHEAD_RNG_PITCHd_Wd  134.7,25456,-12.9,-7.021
SPEED_LIMITS  0.122,0.224 D_GRID  791

Post-dive calculations and measurements:
FINISH  0.7,1.003942 TCM_TEMP  15.80
SM_CCo  21936,0.00,0.000,0,0,1075,329.68 XPDR_PINGS  0
SM_GC  1.55,7.35,0.00,0.00,0.071,0.000,0.000,165,2343,1075,-10.38,0.08,329.68 _24V_AH  20.9,50.386
RAFOS_CLK  1224 _10V_AH  10.5,21.613
RAFOS  0,1225728263,16.083334,16.073055,63,59,58,57,54,51,218,866,193,144,125,167 DATA_FILE_SIZE  41045,1072
RAFOS_FIX  6639.764648,-5907.302246,031108,161656,4,91,9.55 CAP_FILE_SIZE  173696,0
IRIDIUM_FIX  6636.54,-5722.85,280198,070744 CFSIZE  260165632,231596032
TT8_MAMPS  0.029913 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
HUMID  1878 SOUNDSPEED  1456.1
INTERNAL_PRESSURE  8.50619 GPS  031108,200807,6702.021,-5720.613,37,0.9,43,-37.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22269125.27 SBE_CT84024421.49
Roll_motor21380358.64 SBE_O273519291.89
VBD_pump_during_apogee454137013013.23 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410352.78 nil000.00
Iridium_during_connect42160141.20 nil000.00
Iridium_during_xfer208223971.81
Transponder_ping04200.00
Mmodem_TX000.00
Mmodem_RX000.00
GPS10505.49
TT8207919435.02
LPSleep168702409.20
TT8_Active65919137.98
TT8_Sampling217639912.31
TT8_CF859245285.87
TT8_Kalman338128.71
Analog_circuits189712239.05
GPS_charging000.00
Compass21408179.80
RAFOS2160134.02
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -1.08 -146.0 0.0 0.0 0 134 0.00 0.00 -113.72 0.000 2 0.000 0.000 159 2321 2921
137 -1.08 -146.0 3.2 -3.0 20 156 9.02 2.40 -3.33 0.000 4 0.270 0.081 2192 3754 3017
393 -0.70 -146.0 48.8 -14.4 65 400 0.32 2.20 0.00 0.000 6 0.169 0.041 2282 2345 3020
738 -0.70 -146.0 77.1 -6.8 126 743 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 2345 3020
1082 -0.70 -146.0 103.4 -8.0 182 1086 0.00 2.33 0.00 0.000 4 0.000 0.070 2282 3746 3020
1142 -0.76 -146.0 108.2 -7.9 184 1149 0.00 2.20 0.00 0.000 6 0.000 0.043 2282 2331 3020
1458 -0.76 -146.0 131.4 -7.2 200 1462 0.00 2.35 0.00 0.000 4 0.000 0.068 2282 3746 3020
1468 -0.81 -146.0 132.1 -7.0 200 1472 0.00 2.20 0.00 0.000 6 0.000 0.041 2282 2331 3020
1790 -0.87 -146.0 153.9 -6.7 216 1795 0.12 2.35 0.00 0.000 4 0.094 0.068 2235 3753 3020
1801 -0.87 -146.0 154.7 -6.8 216 1807 0.00 2.20 0.00 0.000 6 0.000 0.042 2235 2340 3020
2116 -0.79 -146.0 183.6 -9.2 232 2121 0.12 2.33 0.00 0.000 4 0.176 0.068 2268 3745 3020
2131 -0.79 -146.0 184.9 -8.8 232 2138 0.00 2.20 0.00 0.000 6 0.000 0.042 2268 2326 3019
2448 -0.83 -146.0 208.4 -7.3 248 2452 0.00 2.35 0.00 0.000 4 0.000 0.068 2268 3743 3019
2458 -0.88 -146.0 209.3 -7.1 248 2463 0.10 2.17 0.00 0.000 6 0.101 0.042 2233 2334 3020
2779 -0.82 -146.0 233.3 -7.1 264 2781 0.10 0.00 0.00 0.000 6 0.167 0.000 2257 2334 3019
3089 -0.82 -146.0 250.5 -5.3 279 3093 0.00 2.35 0.00 0.000 4 0.000 0.070 2257 3748 3019
3105 -0.82 -146.0 251.5 -5.5 279 3111 0.00 2.20 0.00 0.000 6 0.000 0.041 2258 2333 3019
3421 -0.82 -146.0 269.4 -5.6 295 3425 0.00 2.35 0.00 0.000 4 0.000 0.069 2258 3745 3019
3460 -0.89 -146.0 271.9 -6.4 296 3466 0.00 2.20 0.00 0.000 6 0.000 0.041 2258 2326 3019
3776 -0.94 -146.0 290.8 -6.2 312 3781 0.10 2.38 0.00 0.000 4 0.101 0.068 2220 3749 3020
3803 -0.94 -146.0 292.8 -7.7 313 3807 0.00 2.20 0.00 0.000 6 0.000 0.041 2220 2327 3019
4125 -0.88 -146.0 316.0 -7.1 329 4129 0.10 2.35 0.00 0.000 4 0.170 0.067 2245 3747 3020
4180 -0.93 -146.0 319.7 -6.5 331 4187 0.00 2.20 0.00 0.000 6 0.000 0.041 2245 2326 3020
4496 -0.93 -146.0 338.3 -5.7 347 4499 0.00 2.35 0.00 0.000 4 0.000 0.067 2245 3746 3020
4542 -0.99 -146.0 341.0 -5.6 349 4546 0.10 2.17 0.00 0.000 6 0.100 0.040 2209 2338 3020
4873 -0.90 -146.0 364.1 -7.1 365 4878 0.12 2.35 0.00 0.000 4 0.157 0.066 2242 3753 3020
4884 -0.83 -146.0 364.9 -7.0 365 4891 0.00 2.20 0.00 0.000 6 0.000 0.039 2242 2329 3020
5200 -0.83 -146.0 384.2 -6.1 381 5204 0.00 2.33 0.00 0.000 4 0.000 0.067 2242 3746 3020
5223 -0.83 -146.0 385.6 -6.5 382 5227 0.00 2.17 0.00 0.000 6 0.000 0.040 2242 2336 3020
5554 -0.83 -146.0 405.7 -6.1 396 5558 0.00 2.33 0.00 0.000 4 0.000 0.066 2242 3746 3020
5610 -0.89 -146.0 409.3 -6.7 397 5614 0.00 2.17 0.00 0.000 6 0.000 0.040 2242 2337 3020
5928 -0.89 -146.0 429.5 -6.4 405 5932 0.00 2.33 0.00 0.000 4 0.000 0.065 2242 3748 3021
5939 -0.89 -146.0 430.4 -6.5 405 5943 0.00 2.17 0.00 0.000 6 0.000 0.039 2242 2338 3021
6259 -0.89 -146.0 450.7 -6.3 413 6263 0.00 2.33 0.00 0.000 4 0.000 0.065 2242 3746 3021
6292 -0.95 -146.0 452.9 -6.6 413 6296 0.00 2.17 0.00 0.000 6 0.000 0.039 2242 2337 3021
6629 -0.95 -146.0 473.0 -5.9 422 6633 0.00 2.35 0.00 0.000 4 0.000 0.067 2242 3756 3021
6668 -1.02 -146.0 475.4 -6.2 422 6675 0.12 2.20 0.00 0.000 6 0.094 0.039 2198 2333 3022
6999 -0.91 -146.0 501.0 -7.9 431 7004 0.15 2.35 0.00 0.000 4 0.158 0.066 2239 3744 3021
7032 -0.96 -146.0 503.5 -7.5 431 7038 0.00 2.17 0.00 0.000 6 0.000 0.039 2240 2336 3021
7363 -0.96 -146.0 525.1 -6.5 440 7367 0.00 2.35 0.00 0.000 4 0.000 0.066 2240 3756 3021
7402 -1.03 -146.0 527.7 -6.6 440 7409 0.10 2.20 0.00 0.000 6 0.104 0.039 2204 2331 3021
7734 -0.95 -146.0 552.7 -7.5 449 7738 0.10 2.38 0.00 0.000 4 0.156 0.066 2230 3757 3022
7749 -0.95 -146.0 553.9 -7.3 449 7753 0.00 2.22 0.00 0.000 6 0.000 0.039 2230 2338 3021
8098 -0.95 -146.0 576.7 -6.6 458 8102 0.00 2.35 0.00 0.000 4 0.000 0.067 2231 3757 3022
8120 -0.95 -146.0 578.2 -6.5 458 8124 0.00 2.20 0.00 0.000 6 0.000 0.040 2230 2334 3022
8468 -0.95 -146.0 601.0 -6.6 467 8472 0.00 2.33 0.00 0.000 4 0.000 0.067 2230 3746 3022
8495 -0.95 -146.0 602.9 -7.3 467 8498 0.00 2.17 0.00 0.000 6 0.000 0.039 2230 2338 3022
8837 -0.95 -146.0 625.8 -6.6 476 8841 0.00 2.35 0.00 0.000 4 0.000 0.067 2231 3754 3021
8858 -0.95 -146.0 627.4 -6.9 476 8862 0.00 2.20 0.00 0.000 6 0.000 0.039 2230 2328 3022
9207 -0.95 -146.0 649.1 -6.3 485 9210 0.00 2.35 0.00 0.000 4 0.000 0.067 2230 3746 3021
9218 -0.95 -146.0 649.9 -6.3 485 9221 0.00 2.17 0.00 0.000 6 0.000 0.039 2230 2340 3021
9535 -0.95 -146.0 669.4 -6.0 493 9539 0.00 2.33 0.00 0.000 4 0.000 0.067 2230 3744 3021
9552 -0.95 -146.0 670.4 -5.9 493 9555 0.00 2.17 0.00 0.000 6 0.000 0.040 2230 2336 3021
9867 -0.95 -146.0 689.2 -6.0 501 9871 0.00 2.35 0.00 0.000 4 0.000 0.067 2230 3756 3021
9888 -0.95 -146.0 690.6 -5.6 501 9892 0.00 2.20 0.00 0.000 6 0.000 0.040 2230 2331 3021
10238 -0.95 -146.0 711.2 -5.9 510 10241 0.00 2.35 0.00 0.000 4 0.000 0.067 2230 3746 3021
10271 -0.95 -146.0 713.4 -6.4 510 10275 0.00 2.17 0.00 0.000 6 0.000 0.040 2230 2341 3021
10607 -0.95 -146.0 732.6 -5.8 519 10611 0.00 2.35 0.00 0.000 4 0.000 0.067 2230 3755 3021
10629 -0.95 -146.0 733.9 -5.8 519 10633 0.00 2.20 0.00 0.000 6 0.000 0.040 2230 2330 3021
10977 -0.95 -146.0 754.0 -5.8 528 10981 0.00 2.38 0.00 0.000 4 0.000 0.068 2231 3754 3021
11028 -0.99 -146.0 757.0 -6.2 529 11032 0.00 2.20 0.00 0.000 6 0.000 0.040 2230 2334 3021
11352 -0.99 -146.0 775.5 -5.6 537 11356 0.00 2.35 0.00 0.000 4 0.000 0.068 2230 3753 3021
11379 -1.04 -146.0 777.1 -6.2 537 11383 0.00 2.20 0.00 0.000 6 0.000 0.039 2230 2331 3021
11638 end dive: TARGET_DEPTH_EXCEEDED
state 11638 begin apogee
11644 -0.34 0.0 791.9 5.8 544 11783 0.43 0.00 136.25 1.371 6 0.146 0.000 2360 2516 2420
11784 end apogee: CONTROL_FINISHED_OK
state 11784 begin climb
11787 1.08 146.0 794.6 0.0 547 11975 1.05 0.00 150.95 1.206 6 0.108 0.000 2664 2516 1824
12275 0.93 146.0 755.6 9.0 559 12280 0.12 2.42 0.00 0.000 4 0.150 0.067 2631 3938 1820
12330 0.81 146.0 750.6 9.0 560 12334 0.00 2.28 0.00 0.000 6 0.000 0.041 2632 2512 1820
12644 0.81 147.3 728.2 7.0 568 12645 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2512 1820
12968 0.82 150.4 705.7 6.9 576 12978 0.00 2.38 4.70 0.926 4 0.000 0.068 2632 3940 1806
13018 0.69 150.4 701.7 8.3 577 13022 0.17 2.22 0.00 0.000 6 0.146 0.041 2584 2505 1806
13342 1.00 176.5 683.0 6.1 585 13372 0.20 2.45 23.52 1.295 4 0.073 0.071 2665 3922 1699
13445 0.78 176.5 674.1 10.3 587 13449 0.22 2.22 0.00 0.000 6 0.142 0.041 2600 2511 1698
13758 0.96 218.1 656.4 5.6 595 13801 0.15 2.30 35.95 1.291 4 0.074 0.054 2663 1117 1530
13851 0.96 218.1 649.0 8.1 597 13855 0.00 2.30 0.00 0.000 6 0.000 0.050 2663 2522 1528
14176 0.90 218.1 621.3 8.8 605 14178 0.12 0.00 0.00 0.000 6 0.138 0.000 2627 2523 1528
14501 0.97 218.1 598.0 7.0 613 14502 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2523 1527
14825 1.03 218.1 574.9 7.1 621 14830 0.12 2.25 0.00 0.000 4 0.083 0.054 2678 1114 1526
14886 0.97 218.1 569.6 8.8 622 14891 0.12 2.22 0.00 0.000 6 0.141 0.050 2642 2525 1526
15199 0.97 218.1 546.9 7.1 630 15203 0.00 2.28 0.00 0.000 4 0.000 0.067 2642 3929 1526
15238 0.90 218.1 543.8 8.2 630 15244 0.00 2.17 0.00 0.000 6 0.000 0.041 2643 2516 1526
15569 0.91 222.3 520.9 6.9 639 15578 0.00 2.22 4.85 0.900 4 0.000 0.054 2642 1112 1512
15636 1.00 240.5 516.5 6.4 640 15658 0.00 2.22 16.73 1.182 6 0.000 0.049 2643 2524 1439
15983 1.06 246.7 493.2 6.8 649 15992 0.08 0.00 6.95 1.014 6 0.101 0.000 2679 2524 1414
16308 1.00 246.7 465.4 8.6 657 16310 0.10 0.00 0.00 0.000 6 0.136 0.000 2652 2524 1412
16633 1.02 259.1 443.1 6.6 665 16652 0.00 2.33 11.90 1.110 4 0.000 0.054 2652 1115 1363
16697 1.12 272.4 438.8 6.6 666 16720 0.10 2.25 12.75 1.097 6 0.091 0.049 2692 2525 1309
17044 1.04 272.4 407.1 9.4 675 17046 0.12 0.00 0.00 0.000 6 0.130 0.000 2655 2526 1307
17351 1.09 272.4 383.0 7.8 687 17355 0.00 2.25 0.00 0.000 4 0.000 0.054 2655 1111 1306
17418 1.18 272.4 377.8 7.9 690 17423 0.12 2.22 0.00 0.000 6 0.082 0.048 2705 2523 1306
17751 1.06 272.4 342.4 11.0 706 17753 0.15 0.00 0.00 0.000 6 0.131 0.000 2661 2524 1306
18059 1.06 272.4 316.7 8.1 721 18064 0.00 2.22 0.00 0.000 4 0.000 0.054 2660 1117 1306
18111 1.15 272.4 312.8 7.5 723 18116 0.10 2.22 0.00 0.000 6 0.093 0.048 2702 2533 1305
18438 1.04 272.4 279.3 10.5 739 18439 0.15 0.00 0.00 0.000 6 0.133 0.000 2657 2534 1306
18746 1.12 272.4 253.3 8.3 754 18751 0.08 2.25 0.00 0.000 4 0.098 0.051 2692 1120 1306
18801 1.12 272.4 248.1 8.9 756 18805 0.00 2.20 0.00 0.000 6 0.000 0.048 2692 2531 1306
19122 1.12 272.4 220.7 7.5 772 19126 0.00 2.25 0.00 0.000 4 0.000 0.065 2692 3927 1307
19155 1.01 272.4 217.7 9.4 773 19159 0.15 2.17 0.00 0.000 6 0.140 0.041 2650 2514 1306
19476 1.15 299.1 198.9 6.1 789 19506 0.12 2.30 23.23 1.012 4 0.083 0.053 2704 1115 1199
19603 1.15 299.1 187.2 8.2 794 19609 0.00 2.25 0.00 0.000 6 0.000 0.048 2704 2528 1197
19918 1.15 299.1 155.7 9.6 810 19920 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2528 1197
20227 1.15 299.1 128.1 8.4 825 20231 0.00 2.25 0.00 0.000 4 0.000 0.053 2704 1112 1197
20294 1.15 299.1 122.5 8.1 828 20298 0.00 2.22 0.00 0.000 6 0.000 0.048 2704 2526 1197
20618 1.15 299.1 92.3 10.5 853 20623 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2526 1197
20961 1.15 299.1 63.6 7.2 914 20967 0.00 2.25 0.00 0.000 4 0.000 0.054 2704 1112 1197
21075 1.21 299.1 55.2 7.2 934 21081 0.00 2.22 0.00 0.000 6 0.000 0.049 2704 2521 1197
21419 1.31 304.7 30.5 6.8 995 21431 0.00 2.30 5.85 0.809 4 0.000 0.066 2704 3938 1176
21454 1.31 304.7 27.8 7.4 1001 21460 0.00 2.20 0.00 0.000 6 0.000 0.041 2704 2517 1176
21798 1.43 328.2 4.2 6.2 1062 21829 0.15 2.28 20.65 0.948 4 0.076 0.055 2771 1124 1079
21834 end climb: SURFACE_DEPTH_REACHED
state 21834 begin surface coast
21856 end surface coast: CONTROL_FINISHED_OK
state 21857 begin surface