DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 361 * 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  5
MISSION  3 HEADING  -1 ROLL_MAX  3931 ALTIM_TOP_MIN_OBSTACLE  1.8
DIVE  361 ESCAPE_HEADING  100 ROLL_DEG  40 ALTIM_PING_DEPTH  300
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2780 ALTIM_PING_DELTA  50
D_SURF  3 FIX_MISSING_TIMEOUT  5 C_ROLL_CLIMB  2600 ALTIM_FREQUENCY  13
D_FLARE  5 TGT_DEFAULT_LAT  6000 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_TGT  990 TGT_DEFAULT_LON  -5500 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  34 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  8 R_STBD_OVSHOOT  23 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  2 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.89999998
D_FINISH  9 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  3 COMM_SEQ  0 ROLL_ADJ_GAIN  2.5 DEEPGLIDERMB  0
D_SAFE  500 PROTOCOL  9 ROLL_ADJ_DBAND  0.029999999 MOTHERBOARD  4
D_CALL  4 N_NOCOMM  1 VBD_MIN  440 DEVICE1  2
SURFACE_URGENCY  10 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  20
SURFACE_URGENCY_TRY  5 UPLOAD_DIVES_MAX  5 C_VBD  2923 DEVICE3  -1
SURFACE_URGENCY_FORCE  10 CALL_TRIES  3 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  3 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  -8243.5312 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  2 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  117
ICE_FREEZE_MARGIN  0.1 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
D_OFFGRID  250 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  0 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  0.02 ALTIM_TOP_PING_RANGE  20
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15

Pre-dive calculations and measurements:
GPS1  191110,040737,6658.815,-5757.625,57,0.9,57,-37.8 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  1.85 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  191110,041238,6658.808,-5757.520,12,1.3,12,-37.8 MHEAD_RNG_PITCHd_Wd  293.6,112030,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  936

Post-dive calculations and measurements:
FREEZE  6.82,-0.134,-1.763,0,1,0 ALTIM_TOP_PING  19.3,17.2
FINISH1  6.8,1.025784,84 _24V_AH  22.0,43.595
FINISH2  4.1 _10V_AH  10.0,33.947
RAFOS_CLK  996 FG_AHR_24Vo  0.000
RAFOS  0,1290139263,4.033333,4.017500,61,46,45,45,44,41,1018,988,860,26,1776,1554 FG_AHR_10Vo  0.000
RAFOS_FIX  6701.241699,-5803.727539,191110,080800,5,70,0.41 MEM  151744
IRIDIUM_FIX  6631.12,-5743.95,181110,232313 DATA_FILE_SIZE  46660,1277
TT8_MAMPS  0.028462 CAP_FILE_SIZE  179094,0
HUMID  49.05 CFSIZE  260165632,223895552
INTERNAL_PRESSURE  8.62185 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  14.40 SOUNDSPEED  1458.0
XPDR_PINGS  0 GPS  191110,082900,6701.242,-5803.728,0,5070.4,0,-37.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1225571.39 SBE_CT88924469.72
Roll_motor14887287.32 SBE_O2000.00
VBD_pump_during_apogee399118510411.12 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010369.29 nil000.00
Iridium_during_connect2316081.81 nil000.00
Iridium_during_xfer118223582.84 nil000.00
Transponder_ping342034.65 nil000.00
GUMSTIX_24V000.00
GPS14507.39
TT8325319648.02
LPSleep124832288.37
TT8_Active53119105.89
TT8_Sampling236639944.81
TT8_CF826545122.01
TT8_Kalman000.00
Analog_circuits172912207.53
GPS_charging000.00
Compass215415323.23
RAFOS43203129.60
Transponder28308.53

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -0.57 -146.0 0.0 0.0 0 106 0.00 0.00 -87.75 0.000 2 0.000 0.000 294 2792 3317 0 0 0 0 0 0
108 -0.57 -146.0 5.5 -13.0 15 128 8.43 2.30 -4.22 0.000 4 0.256 0.060 2284 1367 3520 0 0 0 0 0 0
248 -0.57 -146.0 35.1 -12.9 39 255 0.00 2.35 0.00 0.000 6 0.000 0.060 2278 2778 3522 0 0 0 0 0 0
592 -0.57 -146.0 77.1 -11.7 100 599 0.00 1.95 0.00 0.000 4 0.000 0.072 2272 3927 3523 0 0 0 0 0 0
622 -0.57 -146.0 80.8 -12.5 105 629 0.00 1.85 0.00 0.000 6 0.000 0.047 2272 2783 3522 0 0 0 0 0 0
962 -0.57 -146.0 118.2 -11.2 151 966 0.00 2.25 0.00 0.000 4 0.000 0.050 2272 1365 3522 0 0 0 0 0 0
1001 -0.57 -146.0 122.6 -11.3 154 1005 0.00 2.35 0.00 0.000 6 0.000 0.062 2272 2788 3522 0 0 0 0 0 0
1326 -0.57 -146.0 157.2 -10.2 184 1327 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2787 3522 0 0 0 0 0 0
1645 -0.57 -146.0 188.0 -9.8 214 1649 0.00 2.25 0.00 0.000 4 0.000 0.050 2272 1374 3520 0 0 0 0 0 0
1689 -0.60 -146.0 192.6 -9.5 217 1696 0.00 2.33 0.00 0.000 6 0.000 0.063 2272 2779 3520 0 0 0 0 0 0
2015 -0.63 -146.0 225.0 -9.8 248 2016 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2779 3520 0 0 0 0 0 0
2333 -0.65 -146.0 253.4 -8.1 278 2337 0.00 2.25 0.00 0.000 4 0.000 0.050 2272 1367 3520 0 0 0 0 0 0
2374 -0.69 -146.0 256.8 -8.6 281 2378 0.00 2.33 0.00 0.000 6 0.000 0.062 2272 2777 3520 0 0 0 0 0 0
2699 -0.72 -146.0 281.5 -8.2 311 2700 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2777 3520 0 0 0 0 0 0
3019 -0.76 -146.0 308.9 -9.2 341 3021 0.12 0.00 0.00 0.000 6 0.106 0.000 2216 2777 3520 0 0 0 0 0 0
3336 -0.69 -146.0 348.9 -12.5 371 3338 0.12 0.00 0.00 0.000 6 0.181 0.000 2248 2777 3520 0 0 0 0 0 0
3655 -0.69 -146.0 380.7 -9.9 401 3659 0.00 2.25 0.00 0.000 4 0.000 0.050 2249 1361 3520 0 0 0 0 0 0
3711 -0.69 -146.0 386.3 -10.0 405 3718 0.00 2.35 0.00 0.000 6 0.000 0.061 2247 2776 3520 0 0 0 0 0 0
4036 -0.69 -146.0 418.3 -9.6 436 4037 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2777 3521 0 0 0 0 0 0
4358 -0.69 -146.0 448.0 -9.2 466 4362 0.00 2.22 0.00 0.000 4 0.000 0.049 2247 1372 3521 0 0 0 0 0 0
4398 -0.69 -146.0 452.0 -9.1 469 4403 0.00 2.33 0.00 0.000 6 0.000 0.061 2247 2770 3521 0 0 0 0 0 0
4724 -0.69 -146.0 480.8 -9.2 499 4725 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2769 3521 0 0 0 0 0 0
5060 -0.69 -146.0 511.4 -9.1 523 5064 0.00 2.22 0.00 0.000 4 0.000 0.049 2247 1366 3521 0 0 0 0 0 0
5098 -0.69 -146.0 515.4 -9.5 524 5102 0.00 2.33 0.00 0.000 6 0.000 0.060 2247 2764 3521 0 0 0 0 0 0
5429 -0.69 -146.0 545.1 -9.1 535 5430 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2764 3522 0 0 0 0 0 0
5734 -0.69 -146.0 572.4 -8.7 545 5738 0.00 2.22 0.00 0.000 4 0.000 0.049 2247 1370 3521 0 0 0 0 0 0
5783 -0.69 -146.0 577.0 -8.8 546 5787 0.00 2.28 0.00 0.000 6 0.000 0.060 2243 2758 3522 0 0 0 0 0 0
6103 -0.69 -146.0 605.7 -9.0 557 6104 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2758 3521 0 0 0 0 0 0
6408 -0.69 -146.0 632.3 -8.5 567 6409 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2758 3522 0 0 0 0 0 0
6715 -0.69 -146.0 658.5 -8.6 577 6719 0.00 2.20 0.00 0.000 4 0.000 0.049 2243 1370 3522 0 0 0 0 0 0
6753 -0.69 -146.0 662.1 -8.9 578 6757 0.00 2.28 0.00 0.000 6 0.000 0.060 2243 2753 3522 0 0 0 0 0 0
7077 -0.69 -146.0 690.1 -9.0 589 7080 0.00 1.98 0.00 0.000 4 0.000 0.070 2234 3932 3522 0 0 0 0 0 0
7099 -0.69 -146.0 692.4 -9.0 589 7102 0.00 1.88 0.00 0.000 6 0.000 0.047 2234 2755 3521 0 0 0 0 0 0
7417 -0.69 -146.0 722.4 -9.4 600 7421 0.00 2.17 0.00 0.000 4 0.000 0.050 2234 1372 3522 0 0 0 0 0 0
7444 -0.69 -146.0 725.2 -9.7 600 7451 0.00 2.30 0.00 0.000 6 0.000 0.061 2234 2763 3522 0 0 0 0 0 0
7758 -0.69 -146.0 754.2 -9.3 611 7762 0.00 2.22 0.00 0.000 4 0.000 0.050 2234 1364 3522 0 0 0 0 0 0
7790 -0.69 -146.0 757.4 -9.0 612 7795 0.00 2.28 0.00 0.000 6 0.000 0.060 2234 2747 3522 0 0 0 0 0 0
8120 -0.69 -146.0 786.3 -8.6 623 8124 0.00 2.00 0.00 0.000 4 0.000 0.072 2230 3935 3522 0 0 0 0 0 0
8143 -0.67 -146.0 788.4 -9.3 623 8147 0.10 1.92 0.00 0.000 6 0.181 0.046 2254 2739 3522 0 0 0 0 0 0
8461 -0.70 -146.0 812.1 -7.5 634 8465 0.00 2.17 0.00 0.000 4 0.000 0.050 2254 1366 3522 0 0 0 0 0 0
8488 -0.73 -146.0 814.4 -8.1 634 8495 0.00 2.28 0.00 0.000 6 0.000 0.060 2251 2746 3522 0 0 0 0 0 0
8801 -0.73 -146.0 838.7 -7.8 645 8802 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2746 3522 0 0 0 0 0 0
9108 -0.75 -146.0 862.1 -7.5 655 9111 0.00 2.20 0.00 0.000 4 0.000 0.049 2250 1374 3522 0 0 0 0 0 0
9129 -0.78 -146.0 864.0 -8.1 655 9133 0.00 2.25 0.00 0.000 6 0.000 0.061 2247 2740 3522 0 0 0 0 0 0
9442 -0.78 -146.0 887.4 -7.5 665 9447 0.00 2.03 0.00 0.000 4 0.000 0.073 2247 3931 3522 0 0 0 0 0 0
9469 -0.78 -146.0 889.8 -8.0 665 9477 0.00 1.92 0.00 0.000 6 0.000 0.046 2247 2748 3522 0 0 0 0 0 0
9783 -0.78 -146.0 913.9 -7.9 676 9784 0.00 0.00 0.00 0.000 6 0.000 0.000 2247 2748 3522 0 0 0 0 0 0
10087 end dive: TARGET_DEPTH_EXCEEDED
state 10087 begin apogee
10093 -0.14 0.0 938.2 8.1 686 10225 0.55 0.00 125.53 1.186 4 0.135 0.000 2425 2598 2922 0 0 0 0 0 0
10226 end apogee: CONTROL_FINISHED_OK
state 10226 begin climb
10228 0.57 146.0 941.5 0.0 690 10367 0.65 0.00 133.88 1.156 6 0.076 0.000 2656 2598 2327 0 0 0 0 0 0
10675 0.51 146.0 894.1 12.5 704 10679 0.00 2.35 0.00 0.000 4 0.000 0.069 2656 3929 2316 0 0 0 0 0 0
10714 0.40 146.0 888.2 15.5 705 10719 0.17 2.22 0.00 0.000 6 0.194 0.045 2606 2613 2316 0 0 0 0 0 0
11049 0.44 160.7 856.8 9.3 716 11063 0.00 0.00 12.45 1.040 6 0.000 0.000 2606 2612 2267 0 0 0 0 0 0
11356 0.48 170.0 827.2 9.6 726 11370 0.00 2.28 9.57 1.000 4 0.000 0.070 2606 3930 2229 0 0 0 0 0 0
11397 0.48 170.0 822.4 11.6 727 11402 0.00 2.17 0.00 0.000 6 0.000 0.044 2610 2611 2227 0 0 0 0 0 0
11728 0.51 170.0 789.5 10.0 738 11729 0.00 0.00 0.00 0.000 6 0.000 0.000 2610 2610 2226 0 0 0 0 0 0
12034 0.55 173.5 759.4 9.8 748 12041 0.12 0.00 4.50 0.783 6 0.105 0.000 2666 2610 2215 0 0 0 0 0 0
12340 0.49 173.5 720.3 13.1 758 12342 0.12 0.00 0.00 0.000 6 0.203 0.000 2636 2610 2215 0 0 0 0 0 0
12647 0.49 173.5 685.6 11.1 768 12651 0.00 2.22 0.00 0.000 4 0.000 0.069 2636 3927 2214 0 0 0 0 0 0
12681 0.45 173.5 681.1 12.7 769 12685 0.00 2.12 0.00 0.000 6 0.000 0.045 2640 2607 2213 0 0 0 0 0 0
13021 0.45 173.5 641.9 11.4 780 13022 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2606 2213 0 0 0 0 0 0
13328 0.45 173.5 606.9 11.4 790 13332 0.00 2.22 0.00 0.000 4 0.000 0.069 2640 3933 2213 0 0 0 0 0 0
13357 0.40 173.5 603.1 12.3 791 13361 0.15 2.10 0.00 0.000 6 0.200 0.044 2609 2620 2212 0 0 0 0 0 0
13696 0.46 189.1 570.8 9.3 802 13713 0.00 0.00 14.88 0.935 6 0.000 0.000 2609 2619 2152 0 0 0 0 0 0
13998 0.53 211.4 542.8 9.0 812 14024 0.12 2.22 20.58 0.929 4 0.103 0.067 2664 3927 2060 0 0 0 0 0 0
14062 0.45 211.4 535.0 14.8 813 14067 0.17 2.12 0.00 0.000 6 0.194 0.044 2622 2621 2057 0 0 0 0 0 0
14398 0.51 214.5 500.9 9.9 824 14402 0.00 2.30 0.00 0.000 4 0.000 0.052 2622 1189 2054 0 0 0 0 0 0
14442 0.62 237.5 496.6 8.9 826 14472 0.15 2.38 23.27 0.907 6 0.089 0.056 2685 2635 1954 0 0 0 0 0 0
14790 0.57 237.5 445.8 14.8 859 14794 0.00 2.17 0.00 0.000 4 0.000 0.067 2685 3925 1948 0 0 0 0 0 0
14820 0.49 237.5 440.7 16.5 861 14824 0.20 2.08 0.00 0.000 6 0.188 0.045 2638 2633 1947 0 0 0 0 0 0
15150 0.53 237.5 403.1 11.0 892 15154 0.00 2.33 0.00 0.000 4 0.000 0.053 2638 1184 1947 0 0 0 0 0 0
15183 0.60 237.5 399.5 10.3 894 15190 0.00 2.38 0.00 0.000 6 0.000 0.055 2638 2633 1946 0 0 0 0 0 0
15509 0.65 237.5 364.7 11.2 925 15513 0.12 2.15 0.00 0.000 4 0.105 0.068 2690 3925 1946 0 0 0 0 0 0
15560 0.55 237.5 356.6 17.6 929 15565 0.15 2.10 0.00 0.000 6 0.195 0.044 2655 2619 1945 0 0 0 0 0 0
15885 0.55 237.5 315.9 12.1 959 15889 0.00 2.28 0.00 0.000 4 0.000 0.053 2655 1186 1945 0 0 0 0 0 0
15912 0.60 237.5 312.8 11.1 961 15919 0.00 2.38 0.00 0.000 6 0.000 0.056 2655 2639 1945 0 0 0 0 0 0
16237 0.60 237.5 273.5 12.2 992 16241 0.00 2.15 0.00 0.000 4 0.000 0.067 2655 3934 1944 0 0 0 0 0 0
16266 0.60 237.5 269.6 14.0 994 16270 0.00 2.10 0.00 0.000 6 0.000 0.044 2659 2620 1944 0 0 0 0 0 0
16590 0.60 237.5 228.6 12.5 1024 16595 0.00 2.28 0.00 0.000 4 0.000 0.053 2662 1191 1944 0 0 0 0 0 0
16635 0.65 237.5 223.3 11.0 1027 16642 0.00 2.33 0.00 0.000 6 0.000 0.055 2662 2629 1944 0 0 0 0 0 0
16960 0.65 237.5 184.2 11.7 1058 16963 0.00 2.17 0.00 0.000 4 0.000 0.069 2662 3925 1944 0 0 0 0 0 0
17028 0.65 237.5 174.9 14.0 1064 17032 0.00 2.05 0.00 0.000 6 0.000 0.044 2662 2644 1943 0 0 0 0 0 0
17360 0.69 239.1 137.9 9.9 1095 17364 0.10 2.33 0.00 0.000 4 0.122 0.053 2705 1184 1943 0 0 0 0 0 0
17411 0.69 239.1 132.1 11.3 1099 17415 0.00 2.40 0.00 0.000 6 0.000 0.056 2705 2652 1944 0 0 0 0 0 0
17740 0.66 239.1 91.6 11.4 1135 17747 0.00 2.12 0.00 0.000 4 0.000 0.068 2705 3925 1944 0 0 0 0 0 0
17850 0.61 239.1 76.3 14.6 1154 17858 0.12 2.03 0.00 0.000 6 0.208 0.046 2676 2662 1943 0 0 0 0 0 0
18198 0.67 259.7 44.3 9.1 1215 18222 0.00 2.35 17.85 0.663 4 0.000 0.053 2676 1189 1866 0 0 0 0 0 0
18253 0.82 301.5 39.5 8.1 1224 18296 0.17 2.45 36.60 0.649 6 0.091 0.057 2746 2676 1692 0 0 0 0 0 0
18513 end climb: SURFACE_OBSTACLE_DETECTED
state 18515 begin subsurface finish
18521 0.05 84.2 6.8 -15.2 1270 18564 0.82 2.30 -34.75 0.000 4 0.168 0.065 2501 1188 2580 0 0 0 0 0 0
18565 end subsurface finish: CONTROL_FINISHED_OK
state 18565 begin surface