SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 259 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  573 HD_B  0.010078 ROLL_MIN  150 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 HD_C  9.8500004e-06 ROLL_MAX  3785 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  259 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  1819 ALTIM_PING_DELTA  5
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1646 ALTIM_FREQUENCY  13
D_TGT  1000 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_ABORT  1100 TGT_DEFAULT_LAT  -4235 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_NO_BLEED  200 TGT_DEFAULT_LON  -200 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  0 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  33 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  250 R_STBD_OVSHOOT  36 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST_BLACKOUT  0 N_FILEKB  4 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.55000001
D_FINISH  0 FILEMGR  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 KERMIT  0 ROLL_GAIN_P  0.5 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  409 DEVICE2  115
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE3  20
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  2862 DEVICE4  134
T_DIVE  300 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  315 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  720 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  4.9999999e-05 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_ALMANAC  0 UNCOM_BLEED  60 COMPASS_DEVICE  33
USE_ICE  0 T_GPS_CHARGE  -5133.0054 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 PHONE_DEVICE  48
D_OFFGRID  100 STROBE  0 AH0_24V  150 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_CORR_THRESH  60 MINV_24V  20 XPDR_DEVICE  24
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 SIM_W  0
MAX_BUOY  125 PITCH_MIN  100 FG_AHR_10V  0 SIM_PITCH  0
COURSE_BIAS  0 PITCH_MAX  3858 FG_AHR_24V  0 SEABIRD_T_G  0.0042828661
GLIDE_SLOPE  30 C_PITCH  3022 PHONE_SUPPLY  2 SEABIRD_T_H  0.00061930995
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -87.947678 SEABIRD_T_I  2.1971719e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011693723 SEABIRD_T_J  2.301111e-06
MASS  52752 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9469662
LENGTH  1.8 PITCH_GAIN  22 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.155618
NAV_MODE  1 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0016006827
DIRECT_CONTROL  0 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_J  0.00019558761
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 EBE_ENABLE  0
KALMAN_USE  1 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  20
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20 GC_LAST_COLLECTION  238

Pre-dive calculations and measurements:
GPS1  281112,021852,-4148.703,-621.808,42,1.3,42,-22.2 TGT_NAME  ACC_WP1s
_CALLS  1 TGT_LATLONG  -4200.000,-500.000
_XMS_NAKs  0 TGT_RADIUS  6000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.243,0.046
_SM_DEPTHo  2.70 KALMAN_X  -323235.6,-305.9,28.4,622697.6,-2759.3
_SM_ANGLEo  -73.4 KALMAN_Y  -217663.5,-207.8,322.5,312054.0,-1120.5
GPS2  281112,022605,-4148.742,-621.898,20,1.6,21,-22.2 MHEAD_RNG_PITCHd_Wd  101.6,114629,-21.8,-11.111
SPEED_LIMITS  0.192,0.247 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.8,1.003927 _10V_AH  10.1,38.549
SM_CCo  18317,0.00,0.000,0,0,1516,329.92 FG_AHR_24Vo  0.000
SM_GC  2.92,8.60,0.00,0.00,0.031,0.000,0.000,85,1816,1516,-9.10,-0.08,329.92 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4135.14,-622.33,271112,202042 MEM  354696
TT8_MAMPS  0.026964 DATA_FILE_SIZE  56801,965
HUMID  44.40 CAP_FILE_SIZE  178721,0
INTERNAL_PRESSURE  9.09881 CFSIZE  2097086464,2059927552
TCM_TEMP  16.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS  0 GPS  281112,073329,-4149.477,-620.906,40,0.9,40,-22.2
_24V_AH  23.2,41.303

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22275144.40 SBE_CT63624354.44
Roll_motor12878233.08 WL_BB2FLVMT10961052670.67
VBD_pump_during_apogee392126311490.03 SBE_O262219274.45
VBD_pump_during_surface000.00 QSP21508148.33
VBD_valve000.00 nil000.00
Iridium_during_init2710365.19 nil000.00
Iridium_during_connect41160152.45 nil000.00
Iridium_during_xfer2362231223.65 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS23266.28
TT8251214379.60
LPSleep122962271.98
TT8_Active4741468.15
TT8_Sampling3282371241.01
TT8_CF81764783.87
TT8_Kalman335919.94
Analog_circuits174212211.19
GPS_charging000.00
Compass292015464.06
RAFOS000.00
Transponder150.05

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
23 end surface: CONTROL_FINISHED_OK
state 23 begin dive
25 -1.00 -121.6 0.0 0.0 0 70 0.00 0.00 -42.53 0.000 2 0.000 0.000 82 1830 2383 0 0 0 0 0 0
72 -1.00 -121.6 3.0 -1.0 7 128 10.60 1.15 -38.62 0.000 4 0.234 0.078 2700 1127 3357 0 0 0 0 0 0
172 -0.93 -121.6 9.2 -12.9 23 180 0.05 1.10 0.00 0.000 6 0.178 0.047 2712 1815 3358 0 0 0 0 0 0
253 -0.87 -121.6 18.9 -12.0 36 260 0.10 0.88 0.00 0.000 4 0.185 0.054 2734 2373 3359 0 0 0 0 0 0
322 -0.85 -121.6 26.5 -10.8 47 329 0.00 0.88 0.00 0.000 6 0.000 0.049 2734 1813 3359 0 0 0 0 0 0
399 -0.85 -121.6 35.5 -11.0 60 406 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 1813 3359 0 0 0 0 0 0
634 -0.83 -121.6 62.1 -11.4 101 639 0.08 0.65 0.00 0.000 4 0.207 0.055 2749 2233 3359 0 0 0 0 0 0
697 -0.83 -121.6 68.9 -10.7 112 702 0.00 0.62 0.00 0.000 6 0.000 0.051 2749 1822 3359 0 0 0 0 0 0
1042 -0.85 -121.6 103.2 -9.8 169 1046 0.00 2.25 0.00 0.000 4 0.000 0.057 2738 3233 3359 0 0 0 0 0 0
1156 -0.85 -121.6 115.2 -9.7 176 1160 0.00 2.20 0.00 0.000 6 0.000 0.044 2738 1821 3359 0 0 0 0 0 0
1483 -0.87 -121.6 148.0 -10.6 197 1487 0.00 1.98 0.00 0.000 4 0.000 0.055 2729 3066 3360 0 0 0 0 0 0
1555 -0.87 -121.6 156.2 -11.1 201 1560 0.00 1.98 0.00 0.000 6 0.000 0.044 2729 1813 3360 0 0 0 0 0 0
1880 -0.87 -121.6 189.0 -10.0 222 1885 0.00 2.25 0.00 0.000 4 0.000 0.057 2719 3225 3360 0 0 0 0 0 0
1997 -0.87 -121.6 200.7 -10.2 229 2001 0.08 2.20 0.00 0.000 6 0.192 0.044 2736 1809 3360 0 0 0 0 0 0
2322 -0.89 -121.6 232.3 -9.5 250 2326 0.00 2.25 0.00 0.000 4 0.000 0.057 2726 3230 3360 0 0 0 0 0 0
2406 -0.89 -121.6 241.0 -10.4 255 2410 0.00 2.20 0.00 0.000 6 0.000 0.044 2727 1827 3361 0 0 0 0 0 0
2741 -0.89 -121.6 272.5 -9.6 273 2745 0.00 2.22 0.00 0.000 4 0.000 0.056 2716 3228 3361 0 0 0 0 0 0
2841 -0.89 -121.6 283.3 -10.1 277 2847 0.03 2.22 0.00 0.000 6 0.184 0.043 2726 1804 3361 0 0 0 0 0 0
3159 -0.89 -121.6 316.2 -10.6 293 3163 0.00 2.25 0.00 0.000 4 0.000 0.056 2716 3233 3360 0 0 0 0 0 0
3252 -0.89 -121.6 326.4 -11.0 297 3257 0.05 2.20 0.00 0.000 6 0.219 0.044 2728 1813 3360 0 0 0 0 0 0
3581 -0.89 -121.6 362.1 -10.9 313 3585 0.00 2.22 0.00 0.000 4 0.000 0.056 2717 3224 3361 0 0 0 0 0 0
3687 -0.89 -121.6 374.1 -10.9 317 3693 0.00 2.20 0.00 0.000 6 0.000 0.044 2717 1825 3361 0 0 0 0 0 0
4003 -0.89 -121.6 407.1 -10.3 332 4007 0.03 2.25 0.00 0.000 4 0.275 0.057 2716 3228 3360 0 0 0 0 0 0
4102 -0.89 -121.6 417.8 -10.0 335 4107 0.03 2.22 0.00 0.000 6 0.185 0.042 2725 1808 3361 0 0 0 0 0 0
4437 -0.89 -121.6 449.1 -9.3 346 4441 0.00 2.25 0.00 0.000 4 0.000 0.056 2715 3230 3360 0 0 0 0 0 0
4542 -0.89 -121.6 459.0 -8.9 349 4547 0.03 2.20 0.00 0.000 6 0.182 0.043 2725 1828 3360 0 0 0 0 0 0
4877 -0.89 -121.6 489.0 -8.9 360 4881 0.00 2.22 0.00 0.000 4 0.000 0.056 2715 3227 3360 0 0 0 0 0 0
5011 -0.89 -121.6 501.3 -9.2 364 5016 0.08 2.20 0.00 0.000 6 0.184 0.043 2733 1806 3360 0 0 0 0 0 0
5340 -0.93 -121.6 530.7 -9.2 375 5344 0.00 2.22 0.00 0.000 4 0.000 0.055 2733 415 3360 0 0 0 0 0 0
5440 -0.90 -121.6 541.6 -10.7 378 5444 0.00 2.20 0.00 0.000 6 0.000 0.042 2723 1826 3360 0 0 0 0 0 0
5776 -0.90 -121.6 576.9 -11.0 389 5780 0.00 2.28 0.00 0.000 4 0.000 0.054 2723 415 3359 0 0 0 0 0 0
5892 -0.86 -121.6 591.8 -13.1 392 5897 0.08 2.22 0.00 0.000 6 0.153 0.043 2738 1819 3359 0 0 0 0 0 0
6211 -0.91 -121.6 626.0 -10.5 403 6215 0.00 2.25 0.00 0.000 4 0.000 0.054 2738 409 3359 0 0 0 0 0 0
6276 -0.91 -121.6 633.7 -11.6 405 6281 0.00 2.22 0.00 0.000 6 0.000 0.042 2727 1816 3359 0 0 0 0 0 0
6613 -0.94 -121.6 667.9 -10.0 416 6617 0.00 2.22 0.00 0.000 4 0.000 0.056 2717 3223 3358 0 0 0 0 0 0
6735 -0.94 -121.6 681.0 -10.4 419 6741 0.00 2.20 0.00 0.000 6 0.000 0.044 2717 1828 3358 0 0 0 0 0 0
7048 -0.94 -121.6 712.1 -10.0 430 7052 0.00 1.83 0.00 0.000 4 0.000 0.056 2708 2965 3357 0 0 0 0 0 0
7137 -0.92 -121.6 721.6 -10.6 432 7141 0.03 1.83 0.00 0.000 6 0.187 0.046 2719 1807 3357 0 0 0 0 0 0
7454 -0.92 -121.6 753.9 -10.4 443 7458 0.00 2.28 0.00 0.000 4 0.000 0.059 2709 3227 3356 0 0 0 0 0 0
7571 -0.92 -121.6 766.5 -10.6 446 7576 0.03 2.22 0.00 0.000 6 0.185 0.044 2718 1818 3356 0 0 0 0 0 0
7889 -0.92 -121.6 799.9 -10.8 457 7893 0.00 1.55 0.00 0.000 4 0.000 0.057 2711 2783 3355 0 0 0 0 0 0
7995 -0.92 -121.6 811.5 -10.4 460 7999 0.00 1.52 0.00 0.000 6 0.000 0.047 2711 1818 3355 0 0 0 0 0 0
8330 -0.92 -121.6 849.1 -11.5 471 8334 0.00 2.25 0.00 0.000 4 0.000 0.059 2701 3220 3354 0 0 0 0 0 0
8440 -0.90 -121.6 861.9 -11.4 474 8445 0.08 2.22 0.00 0.000 6 0.150 0.046 2742 1817 3354 0 0 0 0 0 0
8765 -0.93 -121.6 894.2 -9.8 485 8770 0.05 2.25 0.00 0.000 4 0.161 0.060 2696 3221 3353 0 0 0 0 0 0
8905 -0.89 -121.6 910.1 -11.0 489 8910 0.12 2.20 0.00 0.000 6 0.166 0.046 2728 1812 3353 0 0 0 0 0 0
9234 -0.89 -121.6 943.5 -10.3 500 9238 0.00 2.28 0.00 0.000 4 0.000 0.060 2719 3224 3352 0 0 0 0 0 0
9379 -0.89 -121.6 958.9 -9.5 504 9383 0.00 2.20 0.00 0.000 6 0.000 0.046 2719 1819 3352 0 0 0 0 0 0
9481 end dive: HALF_MISSION_TIME_EXCEEDED
state 9481 begin apogee
9485 -0.23 0.0 969.6 10.4 508 9589 0.73 0.00 100.47 1.263 6 0.129 0.000 2947 1637 2862 0 0 0 0 0 0
9590 end apogee: CONTROL_FINISHED_OK
state 9590 begin climb
9591 1.00 121.6 974.1 0.0 511 9704 1.15 2.47 103.68 1.226 4 0.079 0.057 3349 238 2366 0 0 0 0 0 0
9856 0.95 180.8 963.3 7.5 519 9916 0.10 2.33 52.50 1.203 6 0.187 0.041 3327 1651 2123 0 0 0 0 0 0
10245 0.95 223.4 929.7 8.5 532 10289 0.00 1.80 37.15 1.192 4 0.000 0.054 3327 2706 1950 0 0 0 0 0 0
10362 0.98 253.7 918.9 9.3 535 10396 0.00 1.75 28.10 1.167 6 0.000 0.047 3334 1646 1826 0 0 0 0 0 0
10711 1.03 280.1 885.3 9.5 547 10739 0.05 0.00 24.23 1.157 6 0.165 0.000 3362 1645 1719 0 0 0 0 0 0
11046 1.06 280.1 847.6 11.2 558 11050 0.00 0.28 0.00 0.000 4 0.000 0.065 3364 1447 1713 0 0 0 0 0 0
11084 1.08 280.1 843.1 11.5 559 11088 0.00 0.32 0.00 0.000 6 0.000 0.057 3364 1654 1713 0 0 0 0 0 0
11419 1.11 280.1 803.9 12.3 570 11420 0.00 0.00 0.00 0.000 6 0.000 0.000 3363 1654 1712 0 0 0 0 0 0
11725 1.14 280.1 766.3 12.3 580 11727 0.08 0.00 0.00 0.000 6 0.125 0.000 3399 1654 1712 0 0 0 0 0 0
12031 1.14 280.1 725.2 13.2 590 12035 0.00 0.65 0.00 0.000 4 0.000 0.058 3402 1250 1711 0 0 0 0 0 0
12099 1.12 280.1 716.3 13.7 592 12103 0.05 0.60 0.00 0.000 6 0.177 0.050 3386 1640 1711 0 0 0 0 0 0
12439 1.12 280.1 674.0 12.4 603 12443 0.00 0.60 0.00 0.000 4 0.000 0.060 3388 1260 1711 0 0 0 0 0 0
12511 1.12 280.1 665.0 11.8 605 12515 0.00 0.62 0.00 0.000 6 0.000 0.048 3388 1656 1711 0 0 0 0 0 0
12846 1.12 282.9 626.9 10.9 616 12850 0.00 1.08 0.00 0.000 4 0.000 0.056 3393 993 1711 0 0 0 0 0 0
12929 1.12 285.5 617.6 11.0 618 12939 0.00 1.05 4.78 0.802 6 0.000 0.045 3393 1649 1697 0 0 0 0 0 0
13252 1.12 290.0 582.8 10.8 629 13261 0.00 1.30 5.60 0.793 4 0.000 0.052 3393 2499 1679 0 0 0 0 0 0
13335 1.12 308.3 573.6 10.0 631 13360 0.03 1.35 18.35 0.990 6 0.199 0.048 3390 1655 1604 0 0 0 0 0 0
13689 1.12 311.4 535.3 10.9 643 13693 0.00 0.75 0.00 0.000 4 0.000 0.057 3393 1178 1599 0 0 0 0 0 0
13733 1.12 311.6 530.2 11.1 644 13737 0.00 0.75 0.00 0.000 6 0.000 0.047 3393 1646 1599 0 0 0 0 0 0
14063 1.12 311.6 493.4 11.3 655 14064 0.00 0.00 0.00 0.000 6 0.000 0.000 3393 1646 1598 0 0 0 0 0 0
14369 1.12 312.6 459.6 11.1 665 14378 0.00 0.57 4.15 0.620 4 0.000 0.055 3392 2017 1587 0 0 0 0 0 0
14417 1.12 312.6 453.8 11.7 666 14421 0.00 0.60 0.00 0.000 6 0.000 0.055 3395 1641 1587 0 0 0 0 0 0
14741 1.12 312.6 415.7 11.9 677 14744 0.00 0.62 0.00 0.000 4 0.000 0.054 3395 2046 1587 0 0 0 0 0 0
14784 1.12 312.6 410.2 12.2 678 14789 0.08 0.65 0.00 0.000 6 0.210 0.054 3381 1638 1587 0 0 0 0 0 0
15106 1.15 312.6 373.3 11.6 692 15109 0.00 0.30 0.00 0.000 4 0.000 0.067 3382 1428 1587 0 0 0 0 0 0
15189 1.18 312.6 363.4 12.5 695 15195 0.00 0.35 0.00 0.000 6 0.000 0.057 3383 1654 1587 0 0 0 0 0 0
15508 1.21 312.6 326.5 11.8 711 15512 0.08 0.88 0.00 0.000 4 0.125 0.054 3416 2211 1586 0 0 0 0 0 0
15575 1.18 312.6 317.8 12.8 714 15580 0.03 0.88 0.00 0.000 6 0.215 0.051 3411 1652 1587 0 0 0 0 0 0
15907 1.18 312.6 276.6 12.5 730 15908 0.00 0.00 0.00 0.000 6 0.000 0.000 3411 1652 1586 0 0 0 0 0 0
16230 1.18 312.6 237.6 12.5 747 16234 0.00 1.52 0.00 0.000 4 0.000 0.057 3418 705 1587 0 0 0 0 0 0
16308 1.16 312.6 227.0 12.3 751 16314 0.05 1.50 0.00 0.000 6 0.174 0.043 3400 1654 1587 0 0 0 0 0 0
16628 1.16 312.6 189.6 11.8 772 16632 0.00 0.60 0.00 0.000 4 0.000 0.051 3400 2069 1587 0 0 0 0 0 0
16681 1.16 312.6 183.0 11.8 775 16685 0.00 0.65 0.00 0.000 6 0.000 0.053 3403 1646 1587 0 0 0 0 0 0
17011 1.16 312.6 144.1 12.0 796 17014 0.00 0.30 0.00 0.000 4 0.000 0.064 3405 1428 1587 0 0 0 0 0 0
17140 1.16 321.5 128.4 10.6 803 17155 0.00 0.35 9.70 0.654 6 0.000 0.054 3404 1658 1550 0 0 0 0 0 0
17474 1.16 321.5 89.2 12.2 834 17480 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 1658 1549 0 0 0 0 0 0
17822 1.16 321.5 48.4 11.5 895 17827 0.00 2.33 0.00 0.000 4 0.000 0.057 3415 229 1550 0 0 0 0 0 0
17927 1.13 321.5 35.6 12.2 913 17932 0.10 2.22 0.00 0.000 6 0.189 0.042 3391 1651 1549 0 0 0 0 0 0
18169 1.17 328.2 8.4 10.7 954 18178 0.00 2.25 3.42 0.380 4 0.000 0.057 3402 259 1522 0 0 0 0 0 0
18213 end climb: SURFACE_DEPTH_REACHED
state 18213 begin surface coast
18238 end surface coast: CONTROL_FINISHED_OK
state 18238 begin surface