SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 226 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  573 HD_B  0.010078 ROLL_MIN  150 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 HD_C  9.8500004e-06 ROLL_MAX  3785 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  226 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  1819 ALTIM_PING_DELTA  5
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1646 ALTIM_FREQUENCY  13
D_TGT  1000 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_ABORT  1100 TGT_DEFAULT_LAT  -4235 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_NO_BLEED  200 TGT_DEFAULT_LON  -200 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  0 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  33 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  250 R_STBD_OVSHOOT  34 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST_BLACKOUT  0 N_FILEKB  4 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.55000001
D_FINISH  0 FILEMGR  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 KERMIT  0 ROLL_GAIN_P  0.5 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  409 DEVICE2  115
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE3  20
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  2862 DEVICE4  134
T_DIVE  333 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  348 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  720 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  4.9999999e-05 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_ALMANAC  0 UNCOM_BLEED  60 COMPASS_DEVICE  33
USE_ICE  0 T_GPS_CHARGE  -5019.3325 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 PHONE_DEVICE  48
D_OFFGRID  100 STROBE  0 AH0_24V  150 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_CORR_THRESH  60 MINV_24V  20 XPDR_DEVICE  24
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 SIM_W  0
MAX_BUOY  125 PITCH_MIN  100 FG_AHR_10V  0 SIM_PITCH  0
COURSE_BIAS  0 PITCH_MAX  3858 FG_AHR_24V  0 SEABIRD_T_G  0.0042828661
GLIDE_SLOPE  30 C_PITCH  3022 PHONE_SUPPLY  2 SEABIRD_T_H  0.00061930995
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -87.947678 SEABIRD_T_I  2.1971719e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011693723 SEABIRD_T_J  2.301111e-06
MASS  52752 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9469662
LENGTH  1.8 PITCH_GAIN  22 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.155618
NAV_MODE  1 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0016006827
DIRECT_CONTROL  0 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_J  0.00019558761
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 EBE_ENABLE  0
KALMAN_USE  1 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  20
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20 GC_LAST_COLLECTION  205

Pre-dive calculations and measurements:
GPS1  201112,075629,-4207.117,-702.947,69,1.4,69,-22.0 TGT_NAME  ACC_WP1n
_CALLS  1 TGT_LATLONG  -4130.000,-550.000
_XMS_NAKs  0 TGT_RADIUS  6000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.161,0.177
_SM_DEPTHo  2.76 KALMAN_X  -335649.0,111.2,306.3,578589.6,-1003.2
_SM_ANGLEo  -73.1 KALMAN_Y  -134522.5,-117.3,-145.6,195231.3,-2003.7
GPS2  201112,080307,-4207.132,-702.886,16,1.4,17,-22.0 MHEAD_RNG_PITCHd_Wd  64.3,122270,-20.1,-10.010
SPEED_LIMITS  0.173,0.239 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.8,1.025775 _10V_AH  10.1,34.521
SM_CCo  19557,0.00,0.000,0,0,1644,298.28 FG_AHR_24Vo  0.000
SM_GC  2.95,8.60,0.00,0.00,0.037,0.000,0.000,90,1815,1644,-9.09,-0.11,298.28 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4152.48,-707.86,201112,020234 MEM  354436
TT8_MAMPS  0.026964 DATA_FILE_SIZE  60342,1022
HUMID  44.52 CAP_FILE_SIZE  176760,0
INTERNAL_PRESSURE  9.06951 CFSIZE  2097086464,2064252928
TCM_TEMP  14.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS  0 GPS  201112,133105,-4206.841,-700.715,33,1.6,33,-22.0
_24V_AH  22.9,36.230

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22236119.36 SBE_CT67824372.78
Roll_motor12167186.65 WL_BB2FLVMT11541052776.84
VBD_pump_during_apogee367129610900.62 SBE_O265919287.05
VBD_pump_during_surface000.00 QSP21508748.76
VBD_valve000.00 nil000.00
Iridium_during_init2610361.68 nil000.00
Iridium_during_connect35160128.71 nil000.00
Iridium_during_xfer2172231109.10 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS19265.21
TT8263714398.54
LPSleep132562293.23
TT8_Active4371462.74
TT8_Sampling3449371303.97
TT8_CF81694780.60
TT8_Kalman335919.94
Analog_circuits176412213.86
GPS_charging000.00
Compass311515495.01
RAFOS000.00
Transponder150.05

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
23 end surface: CONTROL_FINISHED_OK
state 23 begin dive
25 -0.92 -121.6 0.0 0.0 0 70 0.00 0.00 -42.95 0.000 2 0.000 0.000 83 1819 2459 0 0 0 0 0 0
72 -0.92 -121.6 3.1 -0.8 7 128 10.68 2.33 -34.58 0.000 4 0.236 0.067 2726 414 3361 0 0 0 0 0 0
277 -0.81 -121.6 24.4 -12.4 41 285 0.12 2.25 0.00 0.000 6 0.153 0.043 2755 1816 3361 0 0 0 0 0 0
355 -0.79 -121.6 32.7 -10.5 54 362 0.00 1.35 0.00 0.000 4 0.000 0.054 2749 2663 3362 0 0 0 0 0 0
471 -0.75 -121.6 45.0 -11.0 74 479 0.08 1.33 0.00 0.000 6 0.146 0.044 2774 1822 3362 0 0 0 0 0 0
708 -0.75 -121.6 70.9 -10.5 115 712 0.00 2.12 0.00 0.000 4 0.000 0.057 2765 3147 3362 0 0 0 0 0 0
811 -0.75 -121.6 82.5 -11.8 133 815 0.00 2.08 0.00 0.000 6 0.000 0.044 2765 1819 3362 0 0 0 0 0 0
1147 -0.75 -121.6 119.2 -11.5 173 1151 0.00 1.67 0.00 0.000 4 0.000 0.056 2758 2881 3362 0 0 0 0 0 0
1266 -0.75 -121.6 132.3 -10.9 180 1270 0.08 1.67 0.00 0.000 6 0.189 0.044 2775 1797 3363 0 0 0 0 0 0
1597 -0.75 -121.6 168.1 -10.5 201 1601 0.00 2.28 0.00 0.000 4 0.000 0.057 2766 3223 3363 0 0 0 0 0 0
1789 -0.75 -121.6 189.5 -10.4 212 1794 0.00 2.20 0.00 0.000 6 0.000 0.042 2766 1824 3363 0 0 0 0 0 0
2116 -0.75 -121.6 223.2 -10.0 233 2120 0.00 2.20 0.00 0.000 4 0.000 0.057 2756 3224 3363 0 0 0 0 0 0
2290 -0.75 -121.6 239.7 -8.9 243 2297 0.05 2.22 0.00 0.000 6 0.166 0.042 2773 1806 3363 0 0 0 0 0 0
2610 -0.75 -121.6 266.2 -9.0 261 2614 0.00 0.65 0.00 0.000 4 0.000 0.052 2771 2240 3363 0 0 0 0 0 0
2658 -0.75 -121.6 270.1 -7.5 263 2661 0.00 0.65 0.00 0.000 6 0.000 0.048 2771 1806 3364 0 0 0 0 0 0
2992 -0.75 -121.6 299.5 -9.3 279 2996 0.00 1.67 0.00 0.000 4 0.000 0.055 2763 2873 3363 0 0 0 0 0 0
3115 -0.75 -121.6 311.5 -9.6 284 3120 0.03 1.65 0.00 0.000 6 0.185 0.043 2773 1822 3364 0 0 0 0 0 0
3436 -0.75 -121.6 343.2 -10.3 300 3440 0.00 2.22 0.00 0.000 4 0.000 0.056 2764 3226 3363 0 0 0 0 0 0
3592 -0.75 -121.6 358.5 -9.8 307 3597 0.05 2.17 0.00 0.000 6 0.219 0.042 2776 1817 3363 0 0 0 0 0 0
3922 -0.79 -121.6 389.1 -9.2 323 3925 0.00 2.22 0.00 0.000 4 0.000 0.057 2766 3222 3363 0 0 0 0 0 0
4062 -0.79 -121.6 402.9 -9.2 329 4066 0.00 2.17 0.00 0.000 6 0.000 0.042 2766 1818 3363 0 0 0 0 0 0
4391 -0.79 -121.6 436.7 -10.7 340 4395 0.00 2.20 0.00 0.000 4 0.000 0.057 2756 3223 3364 0 0 0 0 0 0
4524 -0.79 -121.6 451.8 -10.6 344 4528 0.00 2.20 0.00 0.000 6 0.000 0.043 2756 1822 3363 0 0 0 0 0 0
4859 -0.79 -121.6 489.1 -11.2 355 4863 0.00 2.22 0.00 0.000 4 0.000 0.057 2746 3224 3363 0 0 0 0 0 0
4981 -0.79 -121.6 503.5 -12.1 358 4986 0.05 2.20 0.00 0.000 6 0.163 0.043 2762 1817 3363 0 0 0 0 0 0
5300 -0.79 -121.6 537.5 -10.6 369 5304 0.00 2.22 0.00 0.000 4 0.000 0.057 2753 3229 3362 0 0 0 0 0 0
5429 -0.79 -121.6 551.3 -10.8 373 5433 0.00 2.20 0.00 0.000 6 0.000 0.043 2753 1807 3363 0 0 0 0 0 0
5763 -0.79 -121.6 587.1 -10.6 384 5767 0.00 2.22 0.00 0.000 4 0.000 0.057 2743 3223 3362 0 0 0 0 0 0
5934 -0.79 -121.6 605.0 -10.2 389 5940 0.05 2.20 0.00 0.000 6 0.162 0.043 2760 1826 3361 0 0 0 0 0 0
6264 -0.79 -121.6 636.7 -9.4 400 6268 0.00 2.22 0.00 0.000 4 0.000 0.057 2751 3223 3361 0 0 0 0 0 0
6381 -0.79 -121.6 647.8 -9.6 403 6385 0.00 2.20 0.00 0.000 6 0.000 0.044 2751 1821 3360 0 0 0 0 0 0
6700 -0.79 -121.6 676.8 -9.0 414 6704 0.05 2.22 0.00 0.000 4 0.230 0.058 2752 3223 3359 0 0 0 0 0 0
6855 -0.79 -121.6 691.5 -9.1 418 6861 0.00 2.20 0.00 0.000 6 0.000 0.044 2751 1821 3359 0 0 0 0 0 0
7168 -0.79 -121.6 719.4 -8.8 429 7173 0.05 2.22 0.00 0.000 4 0.229 0.059 2753 3222 3358 0 0 0 0 0 0
7298 -0.79 -121.6 730.9 -8.6 433 7303 0.00 2.20 0.00 0.000 6 0.000 0.044 2752 1804 3358 0 0 0 0 0 0
7633 -0.79 -121.6 762.5 -9.6 444 7637 0.00 2.28 0.00 0.000 4 0.000 0.057 2742 3230 3357 0 0 0 0 0 0
7743 -0.79 -121.6 773.9 -10.6 447 7749 0.05 2.20 0.00 0.000 6 0.159 0.043 2760 1829 3357 0 0 0 0 0 0
8068 -0.79 -121.6 806.7 -10.1 458 8072 0.00 2.20 0.00 0.000 4 0.000 0.058 2750 3222 3357 0 0 0 0 0 0
8206 -0.79 -121.6 821.4 -10.3 462 8212 0.03 2.20 0.00 0.000 6 0.181 0.044 2760 1819 3356 0 0 0 0 0 0
8536 -0.79 -121.6 854.7 -10.4 473 8540 0.00 1.83 0.00 0.000 4 0.000 0.057 2752 2968 3356 0 0 0 0 0 0
8641 -0.79 -121.6 865.8 -10.8 476 8646 0.00 1.80 0.00 0.000 6 0.000 0.045 2752 1825 3356 0 0 0 0 0 0
8977 -0.79 -121.6 900.7 -10.4 487 8981 0.00 2.22 0.00 0.000 4 0.000 0.058 2742 3223 3355 0 0 0 0 0 0
9104 -0.79 -121.6 913.8 -10.6 490 9111 0.05 2.22 0.00 0.000 6 0.158 0.044 2760 1811 3355 0 0 0 0 0 0
9418 -0.81 -121.6 943.2 -9.4 501 9422 0.00 1.40 0.00 0.000 4 0.000 0.056 2754 2694 3355 0 0 0 0 0 0
9524 -0.81 -121.6 953.5 -8.8 504 9528 0.00 1.38 0.00 0.000 6 0.000 0.046 2755 1821 3355 0 0 0 0 0 0
9859 -0.81 -121.6 986.5 -10.2 515 9862 0.00 1.73 0.00 0.000 4 0.000 0.057 2747 2910 3355 0 0 0 0 0 0
9979 end dive: TARGET_DEPTH_EXCEEDED
state 9979 begin apogee
9986 -0.23 0.0 1000.6 11.4 518 10090 0.60 0.00 101.40 1.297 6 0.135 0.000 2940 1640 2862 0 0 0 0 0 0
10091 end apogee: CONTROL_FINISHED_OK
state 10091 begin climb
10093 0.92 121.6 1007.3 0.0 522 10205 1.10 1.92 104.60 1.262 4 0.088 0.054 3316 554 2365 0 0 0 0 0 0
10289 0.89 214.7 1004.6 4.9 528 10380 0.00 1.85 84.15 1.242 6 0.000 0.042 3316 1644 1985 0 0 0 0 0 0
10709 0.89 244.8 972.9 8.3 542 10740 0.00 0.82 27.35 1.205 4 0.000 0.050 3316 2143 1863 0 0 0 0 0 0
10796 0.92 256.4 964.7 9.4 544 10812 0.00 0.80 11.88 1.114 6 0.000 0.050 3319 1650 1816 0 0 0 0 0 0
11142 0.96 277.6 932.9 8.8 556 11167 0.00 0.73 20.27 1.167 4 0.000 0.053 3323 1200 1729 0 0 0 0 0 0
11225 1.01 283.8 925.2 9.7 558 11236 0.03 0.73 6.97 0.960 6 0.101 0.048 3348 1654 1704 0 0 0 0 0 0
11542 1.01 283.8 891.6 10.8 568 11544 0.00 0.00 0.00 0.000 6 0.000 0.000 3348 1654 1701 0 0 0 0 0 0
11849 1.01 283.8 856.9 11.5 578 11850 0.00 0.00 0.00 0.000 6 0.000 0.000 3348 1654 1699 0 0 0 0 0 0
12155 1.01 283.8 819.1 12.8 588 12159 0.00 0.60 0.00 0.000 4 0.000 0.057 3351 1274 1699 0 0 0 0 0 0
12222 1.01 283.8 810.4 13.2 590 12226 0.00 0.57 0.00 0.000 6 0.000 0.049 3351 1645 1699 0 0 0 0 0 0
12562 1.01 283.8 766.8 12.5 601 12563 0.00 0.00 0.00 0.000 6 0.000 0.000 3351 1645 1699 0 0 0 0 0 0
12869 1.01 283.8 730.8 11.5 611 12872 0.00 1.08 0.00 0.000 4 0.000 0.057 3356 985 1698 0 0 0 0 0 0
12945 1.01 283.8 722.1 11.6 613 12950 0.00 1.08 0.00 0.000 6 0.000 0.044 3356 1656 1698 0 0 0 0 0 0
13275 1.01 283.8 686.4 10.7 624 13279 0.00 0.47 0.00 0.000 4 0.000 0.060 3358 1346 1698 0 0 0 0 0 0
13343 1.01 283.8 679.2 10.9 626 13346 0.00 0.45 0.00 0.000 6 0.000 0.052 3358 1645 1698 0 0 0 0 0 0
13683 1.01 283.8 642.9 10.9 637 13684 0.00 0.00 0.00 0.000 6 0.000 0.000 3358 1645 1698 0 0 0 0 0 0
13989 1.01 283.8 609.0 11.2 647 13993 0.00 0.43 0.00 0.000 4 0.000 0.061 3360 1368 1698 0 0 0 0 0 0
14049 1.01 283.8 602.2 10.6 648 14055 0.05 0.45 0.00 0.000 6 0.223 0.051 3349 1654 1698 0 0 0 0 0 0
14361 1.01 283.8 568.3 11.1 659 14362 0.00 0.00 0.00 0.000 6 0.000 0.000 3349 1654 1698 0 0 0 0 0 0
14668 1.03 283.8 534.8 10.8 669 14669 0.00 0.00 0.00 0.000 6 0.000 0.000 3349 1654 1697 0 0 0 0 0 0
14974 1.05 283.8 501.5 10.8 679 14978 0.00 0.38 0.00 0.000 4 0.000 0.063 3350 1404 1697 0 0 0 0 0 0
15076 1.07 283.8 490.5 11.0 682 15079 0.00 0.35 0.00 0.000 6 0.000 0.056 3350 1642 1697 0 0 0 0 0 0
15416 1.09 283.8 452.9 11.1 693 15418 0.08 0.00 0.00 0.000 6 0.127 0.000 3387 1642 1697 0 0 0 0 0 0
15722 1.07 283.8 413.6 13.0 703 15727 0.08 0.95 0.00 0.000 4 0.198 0.056 3374 1060 1697 0 0 0 0 0 0
15799 1.07 283.8 403.6 12.8 705 15804 0.00 0.95 0.00 0.000 6 0.000 0.044 3373 1659 1698 0 0 0 0 0 0
16122 1.07 283.8 364.3 12.0 720 16125 0.00 0.75 0.00 0.000 4 0.000 0.055 3377 1182 1697 0 0 0 0 0 0
16237 1.07 283.8 350.5 12.3 725 16241 0.00 0.70 0.00 0.000 6 0.000 0.047 3377 1640 1697 0 0 0 0 0 0
16571 1.07 283.8 309.8 12.0 741 16575 0.00 1.60 0.00 0.000 4 0.000 0.054 3377 2648 1697 0 0 0 0 0 0
16648 1.04 283.8 300.3 12.4 744 16653 0.08 1.58 0.00 0.000 6 0.155 0.047 3360 1653 1697 0 0 0 0 0 0
16969 1.04 283.8 267.7 10.2 760 16970 0.00 0.00 0.00 0.000 6 0.000 0.000 3359 1653 1697 0 0 0 0 0 0
17282 1.04 283.8 235.6 10.1 777 17286 0.00 2.03 0.00 0.000 4 0.000 0.057 3369 387 1697 0 0 0 0 0 0
17367 1.04 283.8 226.0 10.7 782 17371 0.00 1.98 0.00 0.000 6 0.000 0.042 3369 1654 1697 0 0 0 0 0 0
17699 1.04 283.8 190.4 10.8 803 17702 0.00 0.43 0.00 0.000 4 0.000 0.059 3371 1374 1697 0 0 0 0 0 0
17735 1.04 286.6 186.5 9.9 805 17738 0.00 0.40 0.00 0.000 6 0.000 0.052 3370 1645 1697 0 0 0 0 0 0
18066 1.04 286.6 149.6 11.4 826 18069 0.00 0.52 0.00 0.000 4 0.000 0.052 3370 2006 1697 0 0 0 0 0 0
18109 1.04 286.6 144.2 11.5 828 18117 0.05 0.57 0.00 0.000 6 0.236 0.052 3361 1637 1697 0 0 0 0 0 0
18431 1.04 286.6 108.8 10.9 849 18432 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 1636 1697 0 0 0 0 0 0
18760 1.04 286.6 73.2 10.4 899 18764 0.00 0.70 0.00 0.000 4 0.000 0.055 3365 1180 1697 0 0 0 0 0 0
18809 1.04 286.6 67.8 11.2 908 18815 0.00 0.73 0.00 0.000 6 0.000 0.046 3365 1647 1697 0 0 0 0 0 0
19161 1.04 293.7 31.1 9.6 969 19173 0.00 0.00 8.90 0.606 6 0.000 0.000 3365 1646 1664 0 0 0 0 0 0
19410 1.04 296.8 5.1 9.8 1011 19418 0.00 1.35 1.58 0.086 4 0.000 0.054 3371 820 1649 0 0 0 0 0 0
19436 end climb: SURFACE_DEPTH_REACHED
state 19436 begin surface coast
19479 end surface coast: CONTROL_FINISHED_OK
state 19479 begin surface