Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 114 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 22 ESCAPE_HEADING 180 ROLL_MIN 155 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 114 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3900 ALTIM_PING_DEPTH 90

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2628 ALTIM_FREQUENCY 12

D_TGT 660 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2530 ALTIM_PULSE 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 375 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 45 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 180 UPLOAD_DIVES_MAX -1 VBD_MIN 770 DEVICE2 -1

T_MISSION 220 CALL_TRIES 5 VBD_MAX 3955 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2936 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 1

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 3

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 3 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -59867.746 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 150 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 250 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE -1

COURSE_BIAS 0 PITCH_MIN 132 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3449 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3095 PRESSURE_YINT -0.46644667 SEABIRD_T_G 0.0043738699

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_H 0.00063649943

MASS 51716 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5189185e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7386873e-06

FERRY_MAX 0 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8703537

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1242318

HD_A 0.003 PITCH_AD_RATE 140 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0015997718

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00020779716

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 375

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3449 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 132 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 90 D_TGT 660 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158926 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -0.46644667 TGT_DEFAULT_LAT 21.83

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -159.78

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 180

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -59867.746

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 220

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 116 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 UNCOM_BLEED 150

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3095 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2530 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2628 MASS 51716 R_PORT_OVSHOOT 45 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 24 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 22 SEABIRD_C_G -9.8703537 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1242318 VBD_MAX 3955

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0015997718 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00020779716 VBD_MIN 770

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043738699 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063649943 VBD_PUMP_AD_RATE_SURFACE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5189185e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7386873e-06 XPDR_DEVICE -1

DIVE 114 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 075306,2157.427,-15948.764,30,1.4,30,9.8 TGT_LATLONG 2154.033,-15942.617

_CALLS 1 TGT_RADIUS 500.000

_XMS_NAKs 14 KALMAN_CONTROL 0.278,-0.211

_XMS_TOUTs 0 KALMAN_X -200661.0,-921.3,-233.0,189862.1,-4696.6

_SM_DEPTHo 0.83 KALMAN_Y 68575.1,541.8,240.7,-66682.1,3288.8

_SM_ANGLEo -65.6 MHEAD_RNG_PITCHd_Wd 117.5,12609,-15.9,-12.222

GPS2 080244,2157.505,-15948.929,14,1.4,14,9.8 D_GRID 660

SPEED_LIMITS 0.122,0.349 MM_IGNORESAMPLERETURN 0.0

TGT_NAME 10N

Post-dive calculations and measurements:

FINISH -0.2,1.013095 MM_CLLLayer 0.03

SM_CCo 9044,0.00,0.000,0,0,766,532.30 MM_CfgFile 0.30

SM_GC 1.05,14.48,0.00,0.00,0.033,0.000,0.000,124,2645,766,-13.58,0.48,532.30 _24V_AH 23.6,30.709

IRIDIUM_FIX 2148.09,-15945.13,021198,050511 _10V_AH 9.8,11.462

TT8_MAMPS 0.055991 DATA_FILE_SIZE 25249,827

HUMID 1897 CAP_FILE_SIZE 338749,0

INTERNAL_PRESSURE 11.3383 CFSIZE 260034560,243040256

TCM_TEMP 23.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

MM_GliderControlLayer 0.41 GPS 080809,103537,2157.083,-15948.791,39,1.3,39,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 181 142.68 SBE_CT 548 24 310.42

Roll_motor 136 86 278.84 nil 0 0 0.00

VBD_pump_during_apogee 1007 836 19902.45 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 56.51 nil 0 0 0.00

Iridium_during_connect 25 160 94.92 GUMSTIX 129 1000 3066.91

Iridium_during_xfer 373 223 1967.62

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 62 1000 1471.04

GPS 14 50 6.94

TT8 1656 18 292.20

LPSleep 4339 0 16.58

TT8_Active 990 18 174.64

TT8_Sampling 1599 38 595.60

TT8_CF8 1026 44 442.55

TT8_Kalman 33 80 26.15

Analog_circuits 2049 12 241.05

GPS_charging 0 0 0.00

Compass 1545 8 121.15

RAFOS 0 0 0.00

Transponder 0 0 0.00

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.63 -243.3 0.0 0.0 0 115 0.00 0.00 -93.40 0.000 2 0.000 0.000 124 2631 3275

117 -1.63 -243.3 3.8 -9.1 14 146 15.75 0.00 -7.53 0.000 6 0.181 0.000 2733 2631 3932

216 -1.63 -243.3 35.0 -22.7 25 217 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2631 3931

280 -1.63 -243.3 49.0 -21.4 31 282 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2631 3932

344 -1.63 -243.3 61.9 -18.4 37 346 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2631 3932

408 -1.63 -243.3 72.5 -16.6 43 409 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2631 3931

472 -1.63 -243.3 82.9 -16.6 49 476 0.00 2.40 0.00 0.000 4 0.000 0.032 2734 1229 3932

546 -1.63 -243.3 95.6 -16.2 55 550 0.00 2.42 0.00 0.000 6 0.000 0.036 2734 2627 3933

616 -1.63 -243.3 107.2 -16.5 61 618 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2627 3933

681 -1.63 -243.3 117.8 -16.4 67 682 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2627 3932

745 -1.63 -243.3 127.9 -16.0 73 746 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2627 3932

808 -1.63 -243.3 137.7 -15.0 79 812 0.00 2.33 0.00 0.000 4 0.000 0.067 2733 3893 3932

863 -1.63 -243.3 147.9 -18.0 83 871 0.00 2.15 0.00 0.000 6 0.000 0.029 2734 2614 3932

933 -1.63 -243.3 159.4 -16.8 90 934 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2615 3933

998 -1.63 -243.3 169.3 -15.9 96 999 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2613 3933

1062 -1.63 -243.3 179.4 -16.1 102 1063 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2613 3932

1125 -1.63 -243.3 189.3 -15.1 108 1126 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2613 3933

1189 -1.63 -243.3 198.0 -13.1 114 1193 0.00 2.38 0.00 0.000 4 0.000 0.036 2733 1226 3932

1277 -1.63 -243.3 209.7 -13.3 121 1285 0.00 2.45 0.00 0.000 6 0.000 0.037 2733 2635 3932

1347 -1.63 -243.3 218.6 -12.9 128 1351 0.00 2.33 0.00 0.000 4 0.000 0.069 2734 3892 3929

1391 -1.63 -243.3 224.9 -14.6 131 1399 0.00 2.15 0.00 0.000 6 0.000 0.030 2734 2627 3928

1461 -1.63 -243.3 233.6 -12.7 138 1462 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2627 3927

1527 -1.63 -243.3 240.7 -11.0 144 1528 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2627 3926

1590 -1.63 -243.3 247.8 -11.0 150 1592 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2627 3925

1654 -1.63 -243.3 254.9 -10.9 156 1655 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2627 3926

1718 -1.63 -243.3 262.1 -11.4 162 1719 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2627 3926

1781 -1.63 -243.3 269.9 -12.4 168 1785 0.00 2.35 0.00 0.000 4 0.000 0.069 2733 3889 3926

1836 -1.63 -243.3 277.5 -13.9 172 1844 0.00 2.12 0.00 0.000 6 0.000 0.031 2733 2629 3925

1906 -1.63 -243.3 286.6 -13.1 179 1907 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2628 3926

1971 -1.63 -243.3 294.6 -12.8 185 1972 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2629 3926

2035 -1.63 -243.3 302.6 -12.7 191 2036 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2628 3927

2225 -1.63 -243.3 329.0 -13.3 209 2226 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2628 3929

2416 -1.63 -243.3 354.8 -13.2 227 2417 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2629 3931

2607 -1.63 -243.3 378.9 -12.6 245 2611 0.00 2.40 0.00 0.000 4 0.000 0.076 2733 3896 3933

2638 -1.63 -243.3 383.5 -14.0 247 2646 0.00 2.20 0.00 0.000 6 0.000 0.036 2733 2633 3933

2837 -1.63 -243.3 409.1 -12.6 266 2841 0.00 2.38 0.00 0.000 4 0.000 0.077 2733 3888 3932

2912 -1.63 -243.3 418.5 -12.7 272 2916 0.00 2.17 0.00 0.000 6 0.000 0.037 2733 2628 3930

3109 -1.63 -243.3 442.4 -12.4 290 3113 0.00 2.47 0.00 0.000 4 0.000 0.048 2733 1225 3933

3148 -1.63 -243.3 447.4 -13.3 293 3153 0.00 2.50 0.00 0.000 6 0.000 0.046 2733 2631 3933

3346 -1.63 -243.3 472.2 -12.1 311 3347 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2631 3929

3537 -1.63 -243.3 498.0 -13.4 329 3541 0.00 2.40 0.00 0.000 4 0.000 0.083 2734 3890 3927

3598 -1.63 -243.3 506.1 -13.3 334 3602 0.00 2.20 0.00 0.000 6 0.000 0.039 2733 2623 3925

3796 -1.63 -243.3 529.7 -12.0 352 3797 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2623 3924

3986 -1.63 -243.3 554.9 -12.6 370 3990 0.00 2.45 0.00 0.000 4 0.000 0.087 2734 3892 3923

4035 -1.63 -243.3 559.0 -5.6 374 4039 0.00 2.20 0.00 0.000 6 0.000 0.040 2734 2633 3923

4178 end dive: NO_VERTICAL_VELOCITY

state 4178 begin apogee

4183 -0.42 0.0 558.9 0.0 387 4503 1.17 0.00 313.30 0.837 6 0.050 0.000 3005 2521 2936

4506 end apogee: CONTROL_FINISHED_OK

state 4506 begin climb

4508 1.63 243.3 558.7 0.0 419 4840 2.00 2.70 319.55 0.798 4 0.054 0.084 3449 3888 1945

5067 1.63 243.3 503.6 15.4 467 5071 0.00 2.40 0.00 0.000 6 0.000 0.041 3449 2536 1938

5264 1.63 243.3 474.0 13.4 485 5265 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 2536 1936

5455 1.63 243.3 447.1 14.2 503 5456 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 2536 1936

5646 1.63 243.3 420.5 13.3 521 5650 0.00 2.55 0.00 0.000 4 0.000 0.054 3449 1124 1934

5702 1.65 265.3 414.0 11.5 525 5734 0.00 2.55 27.15 0.775 6 0.000 0.048 3449 2534 1854

5923 1.76 349.1 392.0 9.4 546 6042 0.00 2.65 112.12 0.775 4 0.000 0.081 3449 3891 1511

6102 1.78 373.0 374.1 11.4 561 6145 0.00 2.42 32.45 0.738 6 0.000 0.041 3449 2522 1414

6335 1.78 373.0 348.2 12.7 583 6339 0.00 2.53 0.00 0.000 4 0.000 0.050 3449 1121 1411

6378 1.78 373.0 342.4 13.3 586 6386 0.00 2.55 0.00 0.000 6 0.000 0.045 3449 2536 1410

6577 1.80 386.7 318.2 11.8 605 6602 0.00 2.62 18.25 0.719 4 0.000 0.077 3449 3891 1359

6647 1.80 386.7 309.0 12.8 611 6652 0.00 2.40 0.00 0.000 6 0.000 0.039 3449 2529 1358

6845 1.85 426.5 286.5 10.9 629 6905 0.00 0.00 53.58 0.727 6 0.000 0.000 3449 2528 1197

6967 1.85 426.5 272.3 12.4 640 6969 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 2528 1195

7031 1.85 426.5 263.8 13.4 646 7033 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 2528 1194

7095 1.85 426.5 255.4 13.5 652 7096 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 2527 1194

7159 1.85 426.5 246.1 15.0 658 7160 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 2527 1193

7223 1.85 426.5 236.0 16.1 664 7227 0.00 2.58 0.00 0.000 4 0.000 0.072 3449 3888 1192

7254 1.85 426.5 230.1 17.1 666 7262 0.00 2.40 0.00 0.000 6 0.000 0.038 3449 2532 1192

7325 1.85 426.5 219.2 15.9 673 7329 0.00 2.50 0.00 0.000 4 0.000 0.047 3449 1127 1192

7353 1.85 426.5 214.7 16.5 675 7357 0.00 2.50 0.00 0.000 6 0.000 0.041 3449 2533 1191

7423 1.85 426.5 203.6 15.7 681 7428 0.00 2.55 0.00 0.000 4 0.000 0.071 3449 3894 1191

7456 1.85 426.5 197.4 17.7 683 7464 0.00 2.40 0.00 0.000 6 0.000 0.037 3449 2529 1191

7526 1.85 426.5 184.7 18.6 690 7530 0.00 2.47 0.00 0.000 4 0.000 0.044 3449 1133 1191

7599 1.85 426.5 171.6 17.3 696 7603 0.00 2.47 0.00 0.000 6 0.000 0.041 3449 2531 1190

7670 1.85 426.5 159.5 17.7 702 7674 0.00 2.53 0.00 0.000 4 0.000 0.068 3449 3888 1190

7709 1.85 426.5 152.7 17.2 705 7713 0.00 2.35 0.00 0.000 6 0.000 0.035 3449 2527 1190

7780 1.85 426.5 142.1 15.2 711 7784 0.00 2.45 0.00 0.000 4 0.000 0.042 3449 1131 1190

7831 1.85 426.5 134.6 14.9 715 7836 0.00 2.47 0.00 0.000 6 0.000 0.039 3449 2536 1190

7902 1.85 426.5 124.8 14.0 721 7906 0.00 2.50 0.00 0.000 4 0.000 0.041 3449 1126 1189

7945 1.85 426.5 118.1 14.3 724 7953 0.00 2.50 0.00 0.000 6 0.000 0.038 3449 2528 1190

8016 1.85 426.5 108.8 13.2 731 8020 0.00 2.47 0.00 0.000 4 0.000 0.041 3449 1125 1189

8044 1.85 426.5 104.9 14.0 733 8048 0.00 2.47 0.00 0.000 6 0.000 0.038 3449 2531 1190

8115 1.85 426.5 95.6 13.2 739 8119 0.00 2.47 0.00 0.000 4 0.000 0.040 3449 1131 1189

8147 1.85 426.5 91.0 12.4 741 8154 0.00 2.47 0.00 0.000 6 0.000 0.036 3449 2526 1189

8218 1.85 426.5 82.1 13.4 748 8223 0.00 2.47 0.00 0.000 4 0.000 0.038 3449 1122 1189

8258 1.85 426.5 76.8 12.3 751 8262 0.00 2.47 0.00 0.000 6 0.000 0.036 3449 2534 1189

8329 1.85 426.5 68.0 12.7 757 8333 0.00 2.50 0.00 0.000 4 0.000 0.064 3449 3888 1189

8360 1.85 426.5 63.7 12.4 759 8368 0.00 2.35 0.00 0.000 6 0.000 0.032 3449 2528 1189

8431 1.85 429.6 55.4 12.1 766 8436 0.00 2.53 0.00 0.000 4 0.000 0.063 3449 3894 1188

8471 1.92 486.3 51.1 10.3 769 8554 0.00 2.33 74.65 0.576 6 0.000 0.032 3449 2525 953

8617 1.99 542.4 37.5 10.3 782 8680 0.00 2.50 56.75 0.548 4 0.000 0.038 3449 1139 769

8754 2.03 575.9 22.2 11.1 794 8759 0.00 2.42 0.00 0.000 6 0.000 0.033 3449 2532 764

8827 2.06 593.7 14.1 11.6 804 8833 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 2532 769

8902 2.14 661.8 5.8 9.9 817 8908 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 2532 768

8918 end climb: SURFACE_DEPTH_REACHED

state 8918 begin surface coast

8958 end surface coast: CONTROL_FINISHED_OK

state 8958 begin surface

ID	116	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	22	ESCAPE_HEADING	180	ROLL_MIN	155	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	114	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3900	ALTIM_PING_DEPTH	90
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2628	ALTIM_FREQUENCY	12
D_TGT	660	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2530	ALTIM_PULSE	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	375	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	45	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	180	UPLOAD_DIVES_MAX	-1	VBD_MIN	770	DEVICE2	-1
T_MISSION	220	CALL_TRIES	5	VBD_MAX	3955	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2936	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	1
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	3
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	3	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-59867.746	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	150	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	250	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	-1
COURSE_BIAS	0	PITCH_MIN	132	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3449	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3095	PRESSURE_YINT	-0.46644667	SEABIRD_T_G	0.0043738699
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_H	0.00063649943
MASS	51716	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5189185e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7386873e-06
FERRY_MAX	0	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8703537
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1242318
HD_A	0.003	PITCH_AD_RATE	140	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0015997718
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00020779716
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	075306,2157.427,-15948.764,30,1.4,30,9.8	TGT_LATLONG	2154.033,-15942.617
_CALLS	1	TGT_RADIUS	500.000
_XMS_NAKs	14	KALMAN_CONTROL	0.278,-0.211
_XMS_TOUTs	0	KALMAN_X	-200661.0,-921.3,-233.0,189862.1,-4696.6
_SM_DEPTHo	0.83	KALMAN_Y	68575.1,541.8,240.7,-66682.1,3288.8
_SM_ANGLEo	-65.6	MHEAD_RNG_PITCHd_Wd	117.5,12609,-15.9,-12.222
GPS2	080244,2157.505,-15948.929,14,1.4,14,9.8	D_GRID	660
SPEED_LIMITS	0.122,0.349	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	10N

FINISH	-0.2,1.013095	MM_CLLLayer	0.03
SM_CCo	9044,0.00,0.000,0,0,766,532.30	MM_CfgFile	0.30
SM_GC	1.05,14.48,0.00,0.00,0.033,0.000,0.000,124,2645,766,-13.58,0.48,532.30	_24V_AH	23.6,30.709
IRIDIUM_FIX	2148.09,-15945.13,021198,050511	_10V_AH	9.8,11.462
TT8_MAMPS	0.055991	DATA_FILE_SIZE	25249,827
HUMID	1897	CAP_FILE_SIZE	338749,0
INTERNAL_PRESSURE	11.3383	CFSIZE	260034560,243040256
TCM_TEMP	23.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
MM_GliderControlLayer	0.41	GPS	080809,103537,2157.083,-15948.791,39,1.3,39,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	181	142.68	SBE_CT	548	24	310.42
Roll_motor	136	86	278.84	nil	0	0	0.00
VBD_pump_during_apogee	1007	836	19902.45	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	56.51	nil	0	0	0.00
Iridium_during_connect	25	160	94.92	GUMSTIX	129	1000	3066.91
Iridium_during_xfer	373	223	1967.62
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	62	1000	1471.04
GPS	14	50	6.94
TT8	1656	18	292.20
LPSleep	4339	0	16.58
TT8_Active	990	18	174.64
TT8_Sampling	1599	38	595.60
TT8_CF8	1026	44	442.55
TT8_Kalman	33	80	26.15
Analog_circuits	2049	12	241.05
GPS_charging	0	0	0.00
Compass	1545	8	121.15
RAFOS	0	0	0.00
Transponder	0	0	0.00

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.63	-243.3	0.0	0.0	0	115	0.00	0.00	-93.40	0.000	2	0.000	0.000	124	2631	3275
117	-1.63	-243.3	3.8	-9.1	14	146	15.75	0.00	-7.53	0.000	6	0.181	0.000	2733	2631	3932
216	-1.63	-243.3	35.0	-22.7	25	217	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2631	3931
280	-1.63	-243.3	49.0	-21.4	31	282	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2631	3932
344	-1.63	-243.3	61.9	-18.4	37	346	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2631	3932
408	-1.63	-243.3	72.5	-16.6	43	409	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2631	3931
472	-1.63	-243.3	82.9	-16.6	49	476	0.00	2.40	0.00	0.000	4	0.000	0.032	2734	1229	3932
546	-1.63	-243.3	95.6	-16.2	55	550	0.00	2.42	0.00	0.000	6	0.000	0.036	2734	2627	3933
616	-1.63	-243.3	107.2	-16.5	61	618	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2627	3933
681	-1.63	-243.3	117.8	-16.4	67	682	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2627	3932
745	-1.63	-243.3	127.9	-16.0	73	746	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2627	3932
808	-1.63	-243.3	137.7	-15.0	79	812	0.00	2.33	0.00	0.000	4	0.000	0.067	2733	3893	3932
863	-1.63	-243.3	147.9	-18.0	83	871	0.00	2.15	0.00	0.000	6	0.000	0.029	2734	2614	3932
933	-1.63	-243.3	159.4	-16.8	90	934	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2615	3933
998	-1.63	-243.3	169.3	-15.9	96	999	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2613	3933
1062	-1.63	-243.3	179.4	-16.1	102	1063	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2613	3932
1125	-1.63	-243.3	189.3	-15.1	108	1126	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2613	3933
1189	-1.63	-243.3	198.0	-13.1	114	1193	0.00	2.38	0.00	0.000	4	0.000	0.036	2733	1226	3932
1277	-1.63	-243.3	209.7	-13.3	121	1285	0.00	2.45	0.00	0.000	6	0.000	0.037	2733	2635	3932
1347	-1.63	-243.3	218.6	-12.9	128	1351	0.00	2.33	0.00	0.000	4	0.000	0.069	2734	3892	3929
1391	-1.63	-243.3	224.9	-14.6	131	1399	0.00	2.15	0.00	0.000	6	0.000	0.030	2734	2627	3928
1461	-1.63	-243.3	233.6	-12.7	138	1462	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2627	3927
1527	-1.63	-243.3	240.7	-11.0	144	1528	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2627	3926
1590	-1.63	-243.3	247.8	-11.0	150	1592	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2627	3925
1654	-1.63	-243.3	254.9	-10.9	156	1655	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2627	3926
1718	-1.63	-243.3	262.1	-11.4	162	1719	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2627	3926
1781	-1.63	-243.3	269.9	-12.4	168	1785	0.00	2.35	0.00	0.000	4	0.000	0.069	2733	3889	3926
1836	-1.63	-243.3	277.5	-13.9	172	1844	0.00	2.12	0.00	0.000	6	0.000	0.031	2733	2629	3925
1906	-1.63	-243.3	286.6	-13.1	179	1907	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2628	3926
1971	-1.63	-243.3	294.6	-12.8	185	1972	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2629	3926
2035	-1.63	-243.3	302.6	-12.7	191	2036	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2628	3927
2225	-1.63	-243.3	329.0	-13.3	209	2226	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2628	3929
2416	-1.63	-243.3	354.8	-13.2	227	2417	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2629	3931
2607	-1.63	-243.3	378.9	-12.6	245	2611	0.00	2.40	0.00	0.000	4	0.000	0.076	2733	3896	3933
2638	-1.63	-243.3	383.5	-14.0	247	2646	0.00	2.20	0.00	0.000	6	0.000	0.036	2733	2633	3933
2837	-1.63	-243.3	409.1	-12.6	266	2841	0.00	2.38	0.00	0.000	4	0.000	0.077	2733	3888	3932
2912	-1.63	-243.3	418.5	-12.7	272	2916	0.00	2.17	0.00	0.000	6	0.000	0.037	2733	2628	3930
3109	-1.63	-243.3	442.4	-12.4	290	3113	0.00	2.47	0.00	0.000	4	0.000	0.048	2733	1225	3933
3148	-1.63	-243.3	447.4	-13.3	293	3153	0.00	2.50	0.00	0.000	6	0.000	0.046	2733	2631	3933
3346	-1.63	-243.3	472.2	-12.1	311	3347	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2631	3929
3537	-1.63	-243.3	498.0	-13.4	329	3541	0.00	2.40	0.00	0.000	4	0.000	0.083	2734	3890	3927
3598	-1.63	-243.3	506.1	-13.3	334	3602	0.00	2.20	0.00	0.000	6	0.000	0.039	2733	2623	3925
3796	-1.63	-243.3	529.7	-12.0	352	3797	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2623	3924
3986	-1.63	-243.3	554.9	-12.6	370	3990	0.00	2.45	0.00	0.000	4	0.000	0.087	2734	3892	3923
4035	-1.63	-243.3	559.0	-5.6	374	4039	0.00	2.20	0.00	0.000	6	0.000	0.040	2734	2633	3923
4178	end dive: NO_VERTICAL_VELOCITY
state	4178	begin apogee
4183	-0.42	0.0	558.9	0.0	387	4503	1.17	0.00	313.30	0.837	6	0.050	0.000	3005	2521	2936
4506	end apogee: CONTROL_FINISHED_OK
state	4506	begin climb
4508	1.63	243.3	558.7	0.0	419	4840	2.00	2.70	319.55	0.798	4	0.054	0.084	3449	3888	1945
5067	1.63	243.3	503.6	15.4	467	5071	0.00	2.40	0.00	0.000	6	0.000	0.041	3449	2536	1938
5264	1.63	243.3	474.0	13.4	485	5265	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	2536	1936
5455	1.63	243.3	447.1	14.2	503	5456	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	2536	1936
5646	1.63	243.3	420.5	13.3	521	5650	0.00	2.55	0.00	0.000	4	0.000	0.054	3449	1124	1934
5702	1.65	265.3	414.0	11.5	525	5734	0.00	2.55	27.15	0.775	6	0.000	0.048	3449	2534	1854
5923	1.76	349.1	392.0	9.4	546	6042	0.00	2.65	112.12	0.775	4	0.000	0.081	3449	3891	1511
6102	1.78	373.0	374.1	11.4	561	6145	0.00	2.42	32.45	0.738	6	0.000	0.041	3449	2522	1414
6335	1.78	373.0	348.2	12.7	583	6339	0.00	2.53	0.00	0.000	4	0.000	0.050	3449	1121	1411
6378	1.78	373.0	342.4	13.3	586	6386	0.00	2.55	0.00	0.000	6	0.000	0.045	3449	2536	1410
6577	1.80	386.7	318.2	11.8	605	6602	0.00	2.62	18.25	0.719	4	0.000	0.077	3449	3891	1359
6647	1.80	386.7	309.0	12.8	611	6652	0.00	2.40	0.00	0.000	6	0.000	0.039	3449	2529	1358
6845	1.85	426.5	286.5	10.9	629	6905	0.00	0.00	53.58	0.727	6	0.000	0.000	3449	2528	1197
6967	1.85	426.5	272.3	12.4	640	6969	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	2528	1195
7031	1.85	426.5	263.8	13.4	646	7033	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	2528	1194
7095	1.85	426.5	255.4	13.5	652	7096	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	2527	1194
7159	1.85	426.5	246.1	15.0	658	7160	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	2527	1193
7223	1.85	426.5	236.0	16.1	664	7227	0.00	2.58	0.00	0.000	4	0.000	0.072	3449	3888	1192
7254	1.85	426.5	230.1	17.1	666	7262	0.00	2.40	0.00	0.000	6	0.000	0.038	3449	2532	1192
7325	1.85	426.5	219.2	15.9	673	7329	0.00	2.50	0.00	0.000	4	0.000	0.047	3449	1127	1192
7353	1.85	426.5	214.7	16.5	675	7357	0.00	2.50	0.00	0.000	6	0.000	0.041	3449	2533	1191
7423	1.85	426.5	203.6	15.7	681	7428	0.00	2.55	0.00	0.000	4	0.000	0.071	3449	3894	1191
7456	1.85	426.5	197.4	17.7	683	7464	0.00	2.40	0.00	0.000	6	0.000	0.037	3449	2529	1191
7526	1.85	426.5	184.7	18.6	690	7530	0.00	2.47	0.00	0.000	4	0.000	0.044	3449	1133	1191
7599	1.85	426.5	171.6	17.3	696	7603	0.00	2.47	0.00	0.000	6	0.000	0.041	3449	2531	1190
7670	1.85	426.5	159.5	17.7	702	7674	0.00	2.53	0.00	0.000	4	0.000	0.068	3449	3888	1190
7709	1.85	426.5	152.7	17.2	705	7713	0.00	2.35	0.00	0.000	6	0.000	0.035	3449	2527	1190
7780	1.85	426.5	142.1	15.2	711	7784	0.00	2.45	0.00	0.000	4	0.000	0.042	3449	1131	1190
7831	1.85	426.5	134.6	14.9	715	7836	0.00	2.47	0.00	0.000	6	0.000	0.039	3449	2536	1190
7902	1.85	426.5	124.8	14.0	721	7906	0.00	2.50	0.00	0.000	4	0.000	0.041	3449	1126	1189
7945	1.85	426.5	118.1	14.3	724	7953	0.00	2.50	0.00	0.000	6	0.000	0.038	3449	2528	1190
8016	1.85	426.5	108.8	13.2	731	8020	0.00	2.47	0.00	0.000	4	0.000	0.041	3449	1125	1189
8044	1.85	426.5	104.9	14.0	733	8048	0.00	2.47	0.00	0.000	6	0.000	0.038	3449	2531	1190
8115	1.85	426.5	95.6	13.2	739	8119	0.00	2.47	0.00	0.000	4	0.000	0.040	3449	1131	1189
8147	1.85	426.5	91.0	12.4	741	8154	0.00	2.47	0.00	0.000	6	0.000	0.036	3449	2526	1189
8218	1.85	426.5	82.1	13.4	748	8223	0.00	2.47	0.00	0.000	4	0.000	0.038	3449	1122	1189
8258	1.85	426.5	76.8	12.3	751	8262	0.00	2.47	0.00	0.000	6	0.000	0.036	3449	2534	1189
8329	1.85	426.5	68.0	12.7	757	8333	0.00	2.50	0.00	0.000	4	0.000	0.064	3449	3888	1189
8360	1.85	426.5	63.7	12.4	759	8368	0.00	2.35	0.00	0.000	6	0.000	0.032	3449	2528	1189
8431	1.85	429.6	55.4	12.1	766	8436	0.00	2.53	0.00	0.000	4	0.000	0.063	3449	3894	1188
8471	1.92	486.3	51.1	10.3	769	8554	0.00	2.33	74.65	0.576	6	0.000	0.032	3449	2525	953
8617	1.99	542.4	37.5	10.3	782	8680	0.00	2.50	56.75	0.548	4	0.000	0.038	3449	1139	769
8754	2.03	575.9	22.2	11.1	794	8759	0.00	2.42	0.00	0.000	6	0.000	0.033	3449	2532	764
8827	2.06	593.7	14.1	11.6	804	8833	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	2532	769
8902	2.14	661.8	5.8	9.9	817	8908	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	2532	768
8918	end climb: SURFACE_DEPTH_REACHED
state	8918	begin surface coast
8958	end surface coast: CONTROL_FINISHED_OK
state	8958	begin surface