SOSCEx 24Jul16 * SG574 * Dive index * Mission links * Dive 515 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  574 HD_C  9.8500004e-06 ROLL_MAX  3880 ALTIM_BOTTOM_TURN_MARGIN  15
MISSION  20 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  515 ESCAPE_HEADING  0 C_ROLL_DIVE  2124 ALTIM_TOP_MIN_OBSTACLE  1
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2097 ALTIM_PING_DEPTH  1050
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  10
D_FLARE  3 TGT_DEFAULT_LAT  4808 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  1000 TGT_DEFAULT_LON  -12223 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  22 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  446.92932 R_STBD_OVSHOOT  23 XPDR_VALID  2
D_BOOST  5 N_FILEKB  4 ROLL_AD_RATE  350 XPDR_INHIBIT  90
T_BOOST  0 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  0 VBD_MIN  500 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  1 VBD_MAX  3961 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  0 C_VBD  2322 DEVICE1  2
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  134
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.245296 DEVICE3  147
T_DIVE  363 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  165
T_MISSION  395 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_ABORT  720 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  500 CAPMAXSIZE  400000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERS  0
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  -1
T_NO_W  120 T_GPS  15 UNCOM_BLEED  60 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_CHARGE  -2400451.5 DBDW  0 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  48
D_OFFGRID  100 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  145 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_HIT_WINDOW  3600 AH0_10V  96.25 XPDR_DEVICE  24
APOGEE_PITCH  0 PITCH_MIN  143 MINV_24V  19 SIM_W  0
MAX_BUOY  90 PITCH_MAX  3888 MINV_10V  8.5 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2845 FG_AHR_10V  0 SEABIRD_T_G  0.0043017557
GLIDE_SLOPE  17 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00062339538
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PHONE_SUPPLY  2 SEABIRD_T_I  2.3377639e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -47.130039 SEABIRD_T_J  2.5612862e-06
MASS  53162 PITCH_GAIN  45 PRESSURE_SLOPE  0.0001171049 SEABIRD_C_G  -9.9136524
MASS_COMP  0 PITCH_TIMEOUT  17 AD7714Ch0Gain  128 SEABIRD_C_H  1.1456692
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.00078246131
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00012677554
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  0
HD_A  0.0038360001 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0
HD_B  0.010078 ROLL_MIN  245 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  021216,081657,-4533.970,558.161,84,0.8,84,-24.1 TGT_NAME  SOUTH
_CALLS  1 TGT_LATLONG  -4620.000,470.000
_XMS_NAKs  0 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.80 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  021216,082540,-4533.887,558.169,5,0.9,6,-24.1 MHEAD_RNG_PITCHd_Wd  241.0,105296,-13.1,-9.183,-16.48,3878
SPEED_LIMITS  0.300,0.310 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.8,1.021298 _10V_AH  9.6,69.222
SM_CCo  20856,145.18,0.054,0,0,499,446.93 FG_AHR_24Vo  0.000
SM_GC  2.82,7.82,0.05,145.18,0.058,0.155,0.054,128,2130,499,-8.42,-0.93,446.93,0,0,0,0,0,0,25.81,26.26,25.56 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4514.89,554.26,280909,151515 MEM  352972
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  83647,1329
HUMID  59.60 CAP_FILE_SIZE  149854,0
INTERNAL_PRESSURE  8.90659 CFSIZE  2097086464,2025881600
TCM_TEMP  6.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 CURRENT  0.220, 45.0,1
_24V_AH  22.3,53.831 GPS  021216,141733,-4533.450,558.957,26,0.9,26,-24.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20246114.12 SBE_CT940541146.46
Roll_motor123154426.01 QSP2150114617.24
VBD_pump_during_apogee20213476094.43 WL_BB2FL6051051417.98
VBD_pump_during_surface14553173.36 AA433063443615.08
VBD_valve000.00 nil000.00
Iridium_during_init309161.64 nil000.00
Iridium_during_connect42160150.28 nil000.00
Iridium_during_xfer3292231639.53 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS8322.81
TT8337713440.01
LPSleep142672299.95
TT8_Active5221368.04
TT8_Sampling3133411241.93
TT8_CF824448112.57
TT8_Kalman000.00
Analog_circuits175715263.93
GPS_charging000.00
Compass268819502.58
RAFOS000.00
Transponder050.05

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -0.40 -87.6 128 2115 503 429 0.0 0.0 0 54 0.00 0.00 -36.22 0.000 16386 0.000 0.000 128 2116 1388 1408 1369 0 0 0 0 0 0 28.83 28.83 28.83
56 -0.40 -87.6 128 2116 1406 1373 3.0 -0.7 4 138 11.05 2.40 -60.10 0.000 18692 0.246 0.073 2695 3528 2679 2699 2660 0 0 0 0 0 0 24.78 25.30 26.08
213 -0.40 -87.6 2694 3532 2696 2662 11.5 -14.3 23 223 0.00 2.33 0.00 0.000 1030 0.000 0.053 2694 2133 2679 2697 2662 0 0 0 0 0 0 28.83 25.36 28.83
282 -0.40 -87.6 2694 2129 2698 2662 19.7 -11.5 32 292 0.00 2.35 0.00 0.000 260 0.000 0.060 2684 3529 2679 2697 2662 0 0 0 0 0 0 28.83 25.33 28.83
316 -0.40 -87.6 2685 3529 2696 2662 23.7 -11.8 36 326 0.08 2.35 0.00 0.000 3078 0.198 0.051 2707 2115 2679 2697 2662 0 0 0 0 0 0 25.04 25.39 28.83
491 -0.40 -87.6 1704 2109 2664 2657 44.1 -11.2 61 498 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2111 2680 2698 2662 0 0 0 0 0 0 28.83 28.83 28.83
827 -0.40 -87.6 2707 2110 2699 2662 82.9 -12.5 122 833 0.00 2.28 0.00 0.000 516 0.000 0.052 2707 707 2680 2699 2662 0 0 0 0 0 0 28.83 25.52 28.83
883 -0.40 -87.6 2707 707 2699 2663 89.2 -10.8 132 893 0.00 2.35 0.00 0.000 1030 0.000 0.052 2699 2122 2681 2699 2663 0 0 0 0 0 0 28.83 25.53 28.83
1200 -0.40 -87.6 2698 2122 2700 2663 131.6 -13.3 170 1209 0.00 2.30 0.00 0.000 260 0.000 0.060 2688 3545 2681 2699 2663 0 0 0 0 0 0 28.83 25.47 28.83
1282 -0.40 -87.6 2688 3545 2698 2662 141.5 -11.3 178 1291 0.00 2.30 0.00 0.000 1030 0.000 0.050 2688 2113 2681 2699 2663 0 0 0 0 0 0 28.83 25.59 28.83
1592 -0.40 -87.6 2688 2109 2699 2663 182.5 -12.9 209 1601 0.00 2.28 0.00 0.000 516 0.000 0.053 2688 704 2681 2700 2663 0 0 0 0 0 0 28.83 25.58 28.83
1616 -0.40 -87.6 2688 704 2700 2662 185.3 -12.9 211 1624 0.15 2.33 0.00 0.000 3078 0.216 0.053 2713 2129 2681 2700 2663 0 0 0 0 0 0 25.06 25.58 28.83
1926 -0.40 -87.6 2713 2129 2700 2663 215.1 -8.7 234 1931 0.00 2.25 0.00 0.000 260 0.000 0.059 2705 3532 2681 2700 2663 0 0 0 0 0 0 28.83 25.53 28.83
2012 -0.40 -87.6 2704 3532 2699 2662 221.8 -8.3 238 2016 0.00 2.28 0.00 0.000 1030 0.000 0.050 2705 2114 2681 2699 2663 0 0 0 0 0 0 28.83 25.63 28.83
2819 -0.40 -87.6 2704 2111 2699 2662 296.7 -9.0 278 2821 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2111 2681 2700 2662 0 0 0 0 0 0 28.83 28.83 28.83
3619 -0.40 -87.6 2705 2112 2699 2661 371.5 -9.1 318 3621 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2112 2680 2699 2661 0 0 0 0 0 0 28.83 28.83 28.83
4419 -0.40 -87.6 2704 2111 2700 2661 446.4 -9.6 358 4425 0.00 2.28 0.00 0.000 516 0.000 0.052 2705 700 2680 2700 2661 0 0 0 0 0 0 28.83 25.63 28.83
4462 -0.40 -87.6 2704 700 2700 2661 450.5 -9.9 360 4466 0.00 2.33 0.00 0.000 1030 0.000 0.052 2694 2134 2680 2700 2661 0 0 0 0 0 0 28.83 25.63 28.83
5274 -0.40 -87.6 2695 2134 2700 2660 527.9 -8.5 401 5280 0.00 2.28 0.00 0.000 260 0.000 0.060 2683 3541 2680 2700 2660 0 0 0 0 0 0 28.83 25.51 28.83
5322 -0.40 -87.6 2683 3540 2698 2660 531.2 -8.4 403 5327 0.12 2.30 0.00 0.000 3078 0.204 0.050 2713 2116 2679 2698 2660 0 0 0 0 0 0 25.25 25.64 28.83
6129 -0.40 -87.6 2713 2113 2698 2659 584.5 -7.1 443 6135 0.00 2.28 0.00 0.000 516 0.000 0.054 2714 703 2678 2698 2659 0 0 0 0 0 0 28.83 25.60 28.83
6162 -0.40 -87.6 2714 703 2698 2659 586.1 -7.2 444 6169 0.00 2.30 0.00 0.000 1030 0.000 0.052 2706 2126 2679 2699 2659 0 0 0 0 0 0 28.83 25.60 28.83
6969 -0.40 -87.6 2705 2125 2699 2659 656.8 -8.6 485 6975 0.00 2.28 0.00 0.000 260 0.000 0.061 2695 3531 2678 2698 2658 0 0 0 0 0 0 28.83 25.48 28.83
7062 -0.40 -87.6 2694 3530 2698 2658 663.5 -8.4 489 7070 0.00 2.28 0.00 0.000 1030 0.000 0.053 2694 2120 2678 2698 2658 0 0 0 0 0 0 28.83 25.60 28.83
7870 -0.40 -87.6 2694 2116 2698 2658 736.4 -8.5 530 7875 0.00 2.30 0.00 0.000 260 0.000 0.060 2684 3531 2678 2698 2658 0 0 0 0 0 0 28.83 25.47 28.83
7897 -0.40 -87.6 2684 3531 2698 2658 738.2 -8.5 531 7902 0.12 2.28 0.00 0.000 3078 0.200 0.053 2714 2120 2678 2698 2658 0 0 0 0 0 0 25.21 25.58 28.83
8704 -0.40 -87.6 2714 2118 2698 2658 789.5 -6.2 571 8710 0.00 2.28 0.00 0.000 516 0.000 0.054 2714 705 2678 2699 2658 0 0 0 0 0 0 28.83 25.55 28.83
8744 -0.40 -87.6 2714 704 2699 2658 792.0 -6.3 573 8750 0.00 2.30 0.00 0.000 1030 0.000 0.052 2706 2123 2678 2699 2658 0 0 0 0 0 0 28.83 25.57 28.83
9565 -0.40 -87.6 2706 2123 2699 2657 848.2 -7.2 614 9570 0.00 2.28 0.00 0.000 260 0.000 0.063 2694 3529 2677 2698 2657 0 0 0 0 0 0 28.83 25.42 28.83
9698 -0.40 -87.6 2694 3529 2697 2657 856.9 -7.3 620 9705 0.00 2.28 0.00 0.000 1030 0.000 0.052 2694 2117 2677 2697 2657 0 0 0 0 0 0 28.83 25.56 28.83
10504 -0.40 -87.6 2694 2114 2698 2656 921.6 -7.7 661 10510 0.00 2.30 0.00 0.000 516 0.000 0.055 2694 700 2677 2698 2657 0 0 0 0 0 0 28.83 25.50 28.83
10537 -0.40 -87.6 2694 700 2698 2657 923.1 -7.7 662 10544 0.12 2.33 0.00 0.000 3078 0.216 0.053 2713 2128 2677 2698 2657 0 0 0 0 0 0 25.12 25.53 28.83
11344 -0.40 -87.6 2713 2128 2698 2657 967.7 -5.2 703 11350 0.00 2.30 0.00 0.000 260 0.000 0.063 2704 3536 2677 2698 2656 0 0 0 0 0 0 28.83 25.38 28.83
11447 -0.40 -87.6 2704 3536 2696 2656 973.2 -5.5 708 11451 0.00 2.30 0.00 0.000 1030 0.000 0.054 2704 2122 2676 2697 2656 0 0 0 0 0 0 28.83 25.53 28.83
11857 end dive: HALF_MISSION_TIME_EXCEEDED
state 11857 begin apogee
11863 0.00 0.0 2704 2118 2697 2655 996.5 -5.3 729 11943 0.45 0.00 76.38 1.346 10246 0.166 0.000 2838 2117 2321 2359 2284 0 0 0 0 0 0 24.95 28.83 23.07
11944 end apogee: CONTROL_FINISHED_OK
state 11944 begin climb
11946 0.40 87.6 2838 2117 2360 2285 997.1 0.0 733 12039 0.38 2.50 82.60 1.348 10500 0.067 0.051 2992 3503 1963 2021 1906 0 0 0 0 0 0 24.70 23.68 22.26
12137 0.40 87.6 2992 3503 2016 1903 979.3 14.8 742 12144 0.00 2.35 0.00 0.000 1030 0.000 0.044 3002 2095 1958 2015 1901 0 0 0 0 0 0 28.83 24.65 28.83
12945 0.40 87.6 3002 2095 2008 1897 864.3 13.2 783 12951 0.00 2.25 0.00 0.000 516 0.000 0.047 3013 680 1952 2008 1896 0 0 0 0 0 0 28.83 25.63 28.83
13036 0.40 87.6 3013 679 2005 1895 853.6 13.5 787 13044 0.15 2.28 0.00 0.000 5126 0.238 0.044 2981 2102 1949 2004 1895 0 0 0 0 0 0 25.05 25.68 28.83
13843 0.40 87.6 2981 2102 2006 1894 755.4 11.9 828 13849 0.00 2.22 0.00 0.000 260 0.000 0.050 2981 3506 1950 2006 1894 0 0 0 0 0 0 28.83 25.68 28.83
13891 0.40 87.6 2981 3506 2005 1894 750.2 12.4 830 13896 0.00 2.25 0.00 0.000 1030 0.000 0.043 2990 2082 1949 2005 1894 0 0 0 0 0 0 28.83 25.77 28.83
14698 0.40 87.6 2990 2082 2004 1894 651.9 11.9 870 14704 0.00 2.22 0.00 0.000 516 0.000 0.049 3001 688 1948 2004 1893 0 0 0 0 0 0 28.83 25.72 28.83
14751 0.40 87.6 3000 687 2002 1894 647.0 12.0 872 14758 0.00 2.25 0.00 0.000 1030 0.000 0.043 3001 2101 1947 2002 1893 0 0 0 0 0 0 28.83 25.77 28.83
15558 0.40 87.6 3001 2101 2003 1893 554.9 11.1 913 15564 0.00 2.22 0.00 0.000 260 0.000 0.051 3001 3505 1948 2003 1893 0 0 0 0 0 0 28.83 25.69 28.83
15580 0.40 87.6 3001 3505 2002 1893 552.5 11.4 914 15586 0.10 2.20 0.00 0.000 5126 0.223 0.044 2983 2097 1948 2002 1894 0 0 0 0 0 0 25.15 25.78 28.83
16399 0.40 87.6 2983 2097 2002 1893 464.7 11.2 955 16404 0.00 2.25 0.00 0.000 516 0.000 0.048 2993 684 1947 2001 1893 0 0 0 0 0 0 28.83 25.71 28.83
16458 0.40 87.6 2993 685 2001 1892 457.5 11.7 958 16464 0.00 2.25 0.00 0.000 1030 0.000 0.044 2993 2099 1946 2001 1892 0 0 0 0 0 0 28.83 25.77 28.83
17279 0.40 87.6 2993 2100 2002 1892 361.2 10.9 999 17280 0.00 0.00 0.00 0.000 6 0.000 0.000 2993 2100 1946 2001 1892 0 0 0 0 0 0 28.83 28.83 28.83
18079 0.42 105.0 2993 2100 2002 1892 283.6 8.7 1039 18098 0.00 0.00 13.57 0.846 8198 0.000 0.000 2993 2100 1893 1951 1835 0 0 0 0 0 0 28.83 28.83 24.30
18898 0.42 105.0 2993 2100 1949 1835 199.5 10.5 1080 18907 0.00 2.28 0.00 0.000 516 0.000 0.047 3003 680 1891 1948 1835 0 0 0 0 0 0 28.83 25.71 28.83
19035 0.42 105.0 3003 680 1946 1834 185.3 10.6 1093 19042 0.00 2.28 0.00 0.000 1030 0.000 0.044 3003 2105 1890 1946 1834 0 0 0 0 0 0 28.83 25.76 28.83
19339 0.42 105.0 3003 2105 1947 1834 154.1 9.4 1124 19348 0.00 2.22 0.00 0.000 260 0.000 0.050 3003 3507 1890 1947 1834 0 0 0 0 0 0 28.83 25.68 28.83
19475 0.42 105.0 3003 3507 1946 1835 140.2 10.5 1137 19483 0.12 2.22 0.00 0.000 5126 0.236 0.044 2987 2095 1890 1946 1835 0 0 0 0 0 0 25.22 25.76 28.83
19781 0.46 139.8 2987 2092 1946 1835 113.8 8.3 1168 19821 0.00 2.33 30.20 0.786 8708 0.000 0.048 2997 685 1749 1823 1676 0 0 0 0 0 0 28.83 25.67 24.45
19856 0.46 139.8 2116 684 1795 1672 107.2 9.9 1175 19863 0.00 2.30 0.00 0.000 1030 0.000 0.043 2996 2106 1747 1819 1675 0 0 0 0 0 0 28.83 25.58 28.83
20188 0.46 139.8 2996 2106 1819 1673 72.4 9.7 1230 20199 0.00 2.28 0.00 0.000 260 0.000 0.050 2996 3504 1745 1818 1673 0 0 0 0 0 0 28.83 25.56 28.83
20268 0.46 139.8 2996 3504 1818 1673 64.2 10.7 1243 20275 0.00 2.25 0.00 0.000 1030 0.000 0.044 3006 2089 1745 1818 1673 0 0 0 0 0 0 28.83 25.62 28.83
20639 0.46 139.8 3006 2088 1818 1672 23.9 11.3 1304 20649 0.00 2.30 0.00 0.000 516 0.000 0.047 3018 680 1743 1815 1672 0 0 0 0 0 0 28.83 25.64 28.83
20694 0.46 139.8 3017 680 1812 1672 17.4 12.0 1311 20704 0.00 2.33 0.00 0.000 1030 0.000 0.044 3018 2103 1743 1814 1672 0 0 0 0 0 0 28.83 25.67 28.83
20763 0.46 139.8 3017 2107 1815 1672 8.3 14.0 1320 20773 0.00 2.28 0.00 0.000 260 0.000 0.050 3018 3508 1743 1814 1672 0 0 0 0 0 0 28.83 25.65 28.83
20790 0.46 139.8 3017 3508 1816 1671 4.4 14.8 1323 20801 0.10 2.28 0.00 0.000 5126 0.210 0.042 3000 2090 1744 1818 1670 0 0 0 0 0 0 25.15 25.72 28.83
20809 end climb: SURFACE_DEPTH_REACHED
state 20809 begin surface coast
20839 end surface coast: CONTROL_FINISHED_OK
state 20839 begin surface