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Nonlinear surface waves propagating along a single interface between a linear metamaterial and a nonlinear antiferromagnet are theoretically studied. The frequency response of transverse-magnetic-polarized waves covering the frequency range from the microwave to the infrared regime is investigated in detail. We find that the waveguide supports soliton-like surface waves with low-pass response in the microwave range and bandpass response in the microwave and infrared ranges. The bandwidth is a function of the nonlinearity and can be tuned by controlling the incident wave power. [ABSTRACT FROM AUTHOR]