SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 534 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  160 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  3 ESCAPE_HEADING  0 ROLL_MIN  220 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  534 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3792 ALTIM_PING_DEPTH  0
D_SURF  4 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_DIVE  2180 ALTIM_FREQUENCY  12
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  2270 ALTIM_PULSE  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 SM_CC  225 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  0 N_FILEKB  8 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  28 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  36 INT_PRESSURE_YINT  1
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  300 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  2 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0.029999999 DEVICE1  2
T_DIVE  480 UPLOAD_DIVES_MAX  -1 VBD_MIN  490 DEVICE2  20
T_MISSION  540 CALL_TRIES  5 VBD_MAX  3961 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  3046 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  720 SMARTS  0
USE_BATHY  -1 T_GPS  15 PITCH_VBD_SHIFT  0.0012300001 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  1000 T_GPS_CHARGE  -18631.6 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  3 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  60 CF8_MAXERRORS  0 RAFOS_DEVICE  -1
MAX_BUOY  120 RAFOS_HIT_WINDOW  3600 AH0_24V  146 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  155 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3934 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2613 PRESSURE_YINT  -22.900637 SEABIRD_T_G  0.0043896637
RHO  1.028 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_H  0.00063842954
MASS  51810 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_T_I  2.5580319e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.7701631e-06
FERRY_MAX  45 PITCH_GAIN  22 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.180033
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1381946
HD_A  0.003 PITCH_AD_RATE  140 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00092952099
HD_B  0.0099999998 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.0001655513
HD_C  9.9999997e-06 PITCH_ADJ_GAIN  0.059999999 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  191237,6300.829,329.472,37,1.3,38,-2.9 TGT_NAME  OFFSHORE
_CALLS  1 TGT_LATLONG  6506.000,-100.000
_XMS_NAKs  8 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.60 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -57.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  191920,6300.826,329.248,11,1.6,11,-2.9 MHEAD_RNG_PITCHd_Wd  5.7,312761,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  795

Post-dive calculations and measurements:
FINISH  2.6,1.000503 _24V_AH  21.3,83.295
SM_CCo  22023,0.00,0.000,0,0,1765,314.23 _10V_AH  10.3,59.618
SM_GC  3.99,7.75,0.00,0.00,0.048,0.000,0.000,146,2161,1765,-7.64,-0.54,314.23 DATA_FILE_SIZE  44384,861
IRIDIUM_FIX  6235.17,337.83,300998,131303 CAP_FILE_SIZE  186724,0
TT8_MAMPS  0.026845 CFSIZE  260165632,210100224
HUMID  1794 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  9.21321 CURRENT  0.144,268.5,1
TCM_TEMP  17.20 GPS  070709,012801,6303.248,325.612,36,1.6,37,-3.0
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor34194143.63 SBE_CT59724305.26
Roll_motor22367321.53 SBE_O263019255.23
VBD_pump_during_apogee373127710170.56 WL_BB2F381105852.57
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2610358.56 nil000.00
Iridium_during_connect37160128.62 nil000.00
Iridium_during_xfer203223968.52
Transponder_ping04200.00
Mmodem_TX000.00
Mmodem_RX000.00
GPS13506.99
TT8193819395.33
LPSleep171362386.55
TT8_Active51719105.52
TT8_Sampling209439858.80
TT8_CF872845343.71
TT8_Kalman000.00
Analog_circuits166712206.16
GPS_charging000.00
Compass20548169.30
RAFOS000.00
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
18 -0.77 -116.7 0.0 0.0 0 26 0.00 0.00 -5.80 0.000 2 0.000 0.000 123 2180 1996
30 -0.77 -116.7 3.9 -0.0 1 112 8.23 2.38 -63.72 0.000 4 0.194 0.060 2353 3585 3523
345 -0.45 -116.7 43.5 -12.6 54 352 0.35 2.22 0.00 0.000 6 0.116 0.033 2463 2174 3526
694 -0.60 -116.7 61.7 -3.8 110 699 0.15 2.25 0.00 0.000 4 0.064 0.041 2398 766 3527
784 -0.45 -116.7 68.0 -7.3 114 789 0.22 2.20 0.00 0.000 6 0.117 0.033 2465 2176 3528
1107 -0.64 -116.7 87.3 -6.6 130 1111 0.17 2.25 0.00 0.000 4 0.057 0.044 2389 3584 3529
1157 -0.50 -116.7 91.8 -9.5 132 1162 0.20 2.25 0.00 0.000 6 0.117 0.032 2450 2160 3529
1481 -0.61 -116.7 112.1 -5.7 148 1482 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2160 3529
1790 -0.73 -116.7 130.6 -6.2 163 1792 0.20 0.00 0.00 0.000 6 0.057 0.000 2357 2160 3529
2098 -0.46 -116.7 162.7 -10.7 178 2100 0.32 0.00 0.00 0.000 6 0.117 0.000 2460 2159 3529
2409 -0.63 -116.7 182.4 -6.2 193 2414 0.15 2.35 0.00 0.000 4 0.061 0.048 2391 3590 3529
2450 -0.52 -116.7 185.7 -8.6 195 2455 0.17 2.25 0.00 0.000 6 0.119 0.035 2445 2175 3529
2778 -0.63 -116.7 207.3 -6.5 211 2783 0.12 2.28 0.00 0.000 4 0.067 0.044 2388 762 3529
2819 -0.43 -116.7 211.0 -9.6 213 2824 0.28 2.22 0.00 0.000 6 0.120 0.035 2472 2176 3529
3146 -0.67 -116.7 230.9 -6.1 229 3151 0.20 2.30 0.00 0.000 4 0.054 0.044 2378 3595 3529
3198 -0.52 -116.7 235.4 -9.4 231 3202 0.22 2.25 0.00 0.000 6 0.115 0.032 2449 2172 3529
3514 -0.65 -116.7 259.5 -7.6 246 3516 0.15 0.00 0.00 0.000 6 0.064 0.000 2382 2173 3529
3824 -0.51 -116.7 289.0 -9.3 261 3826 0.20 0.00 0.00 0.000 6 0.117 0.000 2445 2171 3528
4142 -0.64 -116.7 309.6 -6.1 274 4144 0.12 0.00 0.00 0.000 6 0.066 0.000 2389 2171 3527
4448 -0.53 -116.7 333.5 -7.6 284 4453 0.17 2.33 0.00 0.000 4 0.120 0.046 2444 3586 3527
4494 -0.73 -116.7 336.3 -5.4 285 4499 0.20 2.25 0.00 0.000 6 0.051 0.033 2354 2173 3527
4813 -0.48 -116.7 365.3 -9.6 296 4818 0.30 2.28 0.00 0.000 4 0.117 0.043 2455 759 3526
4865 -0.66 -116.7 369.3 -7.2 297 4869 0.17 2.22 0.00 0.000 6 0.058 0.035 2380 2195 3526
5189 -0.53 -116.7 397.7 -9.1 308 5194 0.20 2.30 0.00 0.000 4 0.114 0.049 2448 3588 3526
5262 -0.72 -116.7 403.1 -6.9 310 5267 0.20 2.25 0.00 0.000 6 0.054 0.035 2363 2176 3526
5593 -0.53 -116.7 434.6 -9.4 321 5597 0.22 2.30 0.00 0.000 4 0.119 0.044 2439 762 3525
5660 -0.61 -116.7 439.4 -6.2 323 5664 0.00 2.25 0.00 0.000 6 0.000 0.035 2437 2191 3526
5997 -0.73 -116.7 456.9 -5.0 334 6002 0.17 2.30 0.00 0.000 4 0.062 0.050 2354 3589 3524
6053 -0.52 -116.7 461.4 -8.4 335 6062 0.30 2.28 0.00 0.000 6 0.116 0.036 2447 2179 3524
6367 -0.70 -116.7 477.5 -5.4 346 6372 0.17 2.30 0.00 0.000 4 0.060 0.049 2373 761 3523
6403 -0.48 -116.7 480.1 -8.7 347 6408 0.28 2.28 0.00 0.000 6 0.121 0.039 2457 2194 3523
6739 -0.70 -116.7 498.0 -5.2 358 6744 0.20 2.30 0.00 0.000 4 0.057 0.051 2364 3588 3522
6768 -0.59 -116.7 500.1 -8.5 359 6773 0.20 2.28 0.00 0.000 6 0.122 0.038 2425 2184 3522
7101 -0.67 -116.7 523.6 -7.1 365 7105 0.00 2.30 0.00 0.000 4 0.000 0.051 2425 769 3521
7157 -0.67 -116.7 528.3 -8.3 365 7161 0.00 2.25 0.00 0.000 6 0.000 0.037 2425 2192 3520
7468 -0.74 -116.7 551.3 -7.4 370 7472 0.15 2.30 0.00 0.000 4 0.067 0.054 2359 3582 3519
7513 -0.55 -116.7 555.5 -9.6 370 7518 0.25 2.25 0.00 0.000 6 0.117 0.039 2436 2184 3519
7841 -0.68 -116.7 576.6 -6.3 376 7846 0.12 2.33 0.00 0.000 4 0.077 0.050 2385 766 3517
7905 -0.55 -116.7 581.9 -8.6 377 7910 0.17 2.28 0.00 0.000 6 0.127 0.038 2434 2199 3517
8277 -0.68 -116.7 606.8 -6.7 383 8282 0.12 2.28 0.00 0.000 4 0.069 0.051 2377 3586 3516
8340 -0.58 -116.7 612.2 -8.5 384 8345 0.17 2.25 0.00 0.000 6 0.122 0.038 2429 2196 3516
8708 -0.70 -116.7 635.8 -6.1 390 8712 0.12 2.35 0.00 0.000 4 0.074 0.048 2376 758 3514
8758 -0.53 -116.7 639.9 -9.0 390 8763 0.22 2.33 0.00 0.000 6 0.123 0.042 2443 2202 3514
9070 -0.70 -116.7 657.2 -5.5 395 9074 0.17 2.30 0.00 0.000 4 0.060 0.051 2367 3597 3513
9127 -0.55 -116.7 661.7 -8.1 395 9132 0.22 2.28 0.00 0.000 6 0.119 0.036 2436 2191 3513
9439 -0.68 -116.7 680.2 -5.8 400 9444 0.15 2.35 0.00 0.000 4 0.071 0.049 2373 763 3512
9490 -0.50 -116.7 684.4 -8.3 400 9495 0.25 2.30 0.00 0.000 6 0.123 0.039 2447 2206 3512
9801 -0.70 -116.7 701.6 -5.4 405 9805 0.17 2.30 0.00 0.000 4 0.061 0.053 2375 3598 3511
9840 -0.57 -116.7 704.5 -8.5 405 9845 0.17 2.28 0.00 0.000 6 0.124 0.036 2427 2190 3511
10162 -0.68 -116.7 723.2 -5.7 411 10167 0.12 2.33 0.00 0.000 4 0.074 0.051 2374 767 3510
10207 -0.50 -116.7 726.6 -8.1 411 10212 0.25 2.30 0.00 0.000 6 0.123 0.039 2449 2214 3510
10534 -0.71 -116.7 743.3 -5.0 417 10539 0.20 2.30 0.00 0.000 4 0.061 0.057 2360 3594 3510
10569 -0.52 -116.7 746.0 -8.2 417 10574 0.28 2.28 0.00 0.000 6 0.117 0.039 2444 2199 3509
10897 -0.70 -116.7 763.6 -5.2 423 10901 0.17 2.35 0.00 0.000 4 0.063 0.049 2372 762 3509
10937 -0.50 -116.7 766.5 -8.1 423 10942 0.28 2.33 0.00 0.000 6 0.123 0.042 2449 2208 3508
11258 -0.71 -116.7 783.1 -5.1 429 11263 0.20 2.30 0.00 0.000 4 0.061 0.054 2362 3595 3508
11303 -0.55 -116.7 786.6 -8.0 429 11308 0.25 2.28 0.00 0.000 6 0.117 0.038 2439 2195 3507
11494 end dive: TARGET_DEPTH_EXCEEDED
state 11494 begin apogee
11503 -0.23 0.0 797.3 5.4 433 11603 0.30 0.00 97.30 1.277 6 0.112 0.000 2537 2284 3046
11603 end apogee: CONTROL_FINISHED_OK
state 11604 begin climb
11607 0.77 116.7 799.1 0.0 434 11720 0.95 2.60 105.53 1.254 4 0.075 0.052 2859 3683 2570
11783 0.42 116.7 795.5 7.2 436 11788 0.40 2.45 0.00 0.000 6 0.131 0.035 2753 2260 2566
12094 0.71 168.9 780.3 4.8 441 12144 0.22 2.35 44.72 1.243 4 0.059 0.046 2855 855 2356
12185 0.59 168.9 773.4 8.4 442 12190 0.17 2.25 0.00 0.000 6 0.123 0.035 2803 2264 2352
12519 0.69 170.6 750.3 6.8 448 12522 0.00 2.30 0.00 0.000 4 0.000 0.053 2803 3683 2350
12541 0.69 170.6 748.5 7.2 448 12545 0.00 2.28 0.00 0.000 6 0.000 0.035 2808 2260 2349
12885 0.76 170.6 724.3 7.0 454 12890 0.15 2.25 0.00 0.000 4 0.063 0.046 2877 860 2348
12936 0.56 170.6 719.7 9.7 454 12941 0.28 2.20 0.00 0.000 6 0.123 0.035 2794 2263 2348
13246 0.71 179.4 699.4 6.5 459 13258 0.15 0.00 9.15 1.102 6 0.068 0.000 2857 2263 2314
13551 0.61 179.4 672.7 8.9 464 13556 0.15 2.35 0.00 0.000 4 0.121 0.053 2812 3681 2312
13584 0.61 179.4 669.6 8.0 464 13589 0.00 2.33 0.00 0.000 6 0.000 0.037 2812 2244 2312
13912 0.69 179.4 646.5 7.0 470 13916 0.00 2.22 0.00 0.000 4 0.000 0.047 2812 861 2312
13958 0.79 179.4 643.3 8.0 470 13962 0.15 2.20 0.00 0.000 6 0.064 0.035 2880 2263 2312
14285 0.59 179.4 614.7 8.8 476 14287 0.25 0.00 0.00 0.000 6 0.122 0.000 2802 2263 2311
14588 0.75 203.7 596.4 5.9 481 14617 0.15 2.42 21.77 1.134 4 0.065 0.054 2868 3683 2214
14630 0.57 203.7 593.0 7.8 481 14635 0.25 2.35 0.00 0.000 6 0.127 0.038 2794 2242 2213
14952 0.79 219.5 572.7 6.2 487 14972 0.20 2.25 14.73 1.095 4 0.057 0.046 2888 858 2150
15006 0.63 219.5 567.7 9.8 487 15011 0.25 2.20 0.00 0.000 6 0.122 0.035 2811 2256 2148
15319 0.80 227.6 546.7 6.6 492 15333 0.17 2.35 8.07 1.009 4 0.061 0.053 2888 3669 2118
15362 0.54 227.6 542.4 11.1 492 15367 0.32 2.30 0.00 0.000 6 0.123 0.035 2791 2235 2117
15684 0.81 243.0 521.7 6.3 498 15704 0.20 2.22 15.02 1.070 4 0.054 0.048 2887 854 2054
15734 0.68 243.0 517.2 10.1 498 15739 0.17 2.20 0.00 0.000 6 0.124 0.035 2836 2250 2051
16050 0.77 243.0 492.6 7.7 505 16054 0.00 2.33 0.00 0.000 4 0.000 0.050 2836 3683 2049
16101 0.77 243.0 487.9 9.8 506 16105 0.00 2.30 0.00 0.000 6 0.000 0.035 2835 2243 2049
16419 0.85 243.0 461.0 8.6 517 16424 0.15 2.22 0.00 0.000 4 0.064 0.045 2905 856 2049
16447 0.72 243.0 458.0 11.9 517 16454 0.20 2.17 0.00 0.000 6 0.128 0.033 2845 2252 2048
16762 0.72 243.0 432.7 7.6 528 16766 0.00 2.33 0.00 0.000 4 0.000 0.050 2845 3679 2047
16812 0.72 243.0 427.8 9.2 529 16816 0.00 2.30 0.00 0.000 6 0.000 0.036 2850 2240 2047
17137 0.72 243.0 397.2 9.6 540 17138 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 2240 2047
17444 0.72 243.0 372.5 7.6 550 17448 0.00 2.22 0.00 0.000 4 0.000 0.045 2851 863 2047
17486 0.79 249.9 369.7 6.6 551 17497 0.00 2.22 6.32 0.863 6 0.000 0.035 2851 2263 2027
17818 0.79 249.9 342.6 9.1 562 17819 0.00 0.00 0.00 0.000 6 0.000 0.000 2851 2263 2026
18124 0.79 249.9 313.4 9.5 572 18128 0.00 2.35 0.00 0.000 4 0.000 0.051 2851 3682 2025
18142 0.79 249.9 311.6 9.2 572 18146 0.00 2.30 0.00 0.000 6 0.000 0.035 2851 2261 2025
18462 0.79 249.9 283.2 8.2 586 18466 0.00 2.25 0.00 0.000 4 0.000 0.044 2851 857 2026
18509 0.87 249.9 279.6 8.7 588 18513 0.12 2.22 0.00 0.000 6 0.066 0.033 2909 2271 2025
18836 0.69 249.9 242.8 11.8 604 18841 0.22 2.33 0.00 0.000 4 0.117 0.044 2832 3686 2025
18865 0.69 249.9 239.7 9.8 605 18869 0.00 2.30 0.00 0.000 6 0.000 0.031 2835 2240 2025
19183 0.82 249.9 212.8 8.6 620 19187 0.12 2.22 0.00 0.000 4 0.067 0.042 2895 856 2026
19233 0.71 249.9 207.2 10.9 622 19238 0.17 2.20 0.00 0.000 6 0.119 0.031 2841 2267 2026
19550 0.82 249.9 180.6 7.6 637 19555 0.10 2.30 0.00 0.000 4 0.072 0.048 2893 3670 2025
19579 0.69 249.9 177.6 9.9 638 19584 0.20 2.28 0.00 0.000 6 0.123 0.032 2833 2239 2026
19896 0.83 249.9 153.2 7.6 653 19901 0.15 2.22 0.00 0.000 4 0.060 0.041 2905 855 2025
19960 0.70 249.9 146.9 9.6 656 19965 0.22 2.17 0.00 0.000 6 0.117 0.030 2836 2249 2026
20288 0.85 249.9 121.1 7.9 672 20293 0.15 2.33 0.00 0.000 4 0.061 0.044 2906 3667 2027
20333 0.61 249.9 116.1 12.4 674 20338 0.30 2.25 0.00 0.000 6 0.116 0.029 2812 2237 2027
20661 0.85 250.1 93.0 6.9 690 20666 0.20 2.20 0.00 0.000 4 0.053 0.040 2907 864 2027
20734 0.73 250.1 85.3 11.0 693 20739 0.20 2.15 0.00 0.000 6 0.115 0.031 2846 2244 2027
21052 0.84 250.1 58.9 7.9 708 21059 0.12 2.33 0.00 0.000 4 0.067 0.047 2905 3670 2028
21089 0.74 250.1 55.0 8.5 714 21097 0.20 2.25 0.00 0.000 6 0.123 0.030 2844 2237 2028
21437 0.89 250.1 27.3 8.0 775 21445 0.15 2.20 0.00 0.000 4 0.061 0.040 2918 859 2029
21498 0.77 250.1 20.8 11.7 785 21505 0.20 2.15 0.00 0.000 6 0.118 0.031 2857 2248 2029
21847 1.23 359.9 9.3 2.5 846 21902 0.38 0.00 51.28 0.648 2 0.048 0.000 3017 2248 1776
21902 end climb: SURFACE_DEPTH_REACHED
state 21902 begin surface coast
21941 end surface coast: CONTROL_FINISHED_OK
state 21941 begin surface