QPE May09 * SG166 * Dive index * Mission links * Dive 290 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  166 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  2 ESCAPE_HEADING  0 ROLL_MIN  197 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  290 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3786 ALTIM_PING_DEPTH  200
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_DIVE  1800 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  1350 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_NO_BLEED  100 SM_CC  450 ROLL_CNV  0.028270001 XPDR_VALID  1
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  43 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  56 INT_PRESSURE_YINT  2.7
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  413 UPLOAD_DIVES_MAX  -1 VBD_MIN  455 DEVICE2  53
T_MISSION  495 CALL_TRIES  5 VBD_MAX  3960 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  2945 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  -4 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  1001 T_GPS_CHARGE  -11105.313 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  2 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  150 RAFOS_HIT_WINDOW  3600 AH0_24V  150 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  160 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3938 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2780 PRESSURE_YINT  -27.273609 SEABIRD_T_G  0.0043153614
RHO  1.0273 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001160501 SEABIRD_T_H  0.00063164165
MASS  51956 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_T_I  2.3580644e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.4654264e-06
FERRY_MAX  45 PITCH_GAIN  17 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -9.9826469
KALMAN_USE  2 PITCH_TIMEOUT  16 COMPASS_USE  0 SEABIRD_C_H  1.1204658
HD_A  0.0038360001 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.0010752195
HD_B  0.010078 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00016642714
HD_C  9.8500004e-06 PITCH_ADJ_GAIN  0.034000002 ALTIM_BOTTOM_TURN_MARGIN  25

Pre-dive calculations and measurements:
GPS1  025030,2517.150,12340.105,38,1.4,43,-3.7 TGT_NAME  OFF_5
_CALLS  4 TGT_LATLONG  2447.200,12418.000
_XMS_NAKs  2 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.51 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  030913,2517.400,12340.769,12,1.8,17,-3.8 MHEAD_RNG_PITCHd_Wd  180.6,83948,-14.9,-7.990
SPEED_LIMITS  0.138,0.241 D_GRID  1903

Post-dive calculations and measurements:
FINISH  0.9,1.009203 _24V_AH  22.7,64.100
SM_CCo  22957,44.95,0.690,0,0,1110,450.13 _10V_AH  10.7,39.300
SM_GC  1.55,0.00,0.00,44.95,0.000,0.000,0.690,168,1787,1110,-8.16,-0.37,450.13 DATA_FILE_SIZE  123111,2115
IRIDIUM_FIX  2507.97,12341.40,290998,030307 CAP_FILE_SIZE  260336,0
TT8_MAMPS  0.026845 CFSIZE  260165632,212688896
HUMID  1536 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
INTERNAL_PRESSURE  9.93661 CURRENT  0.309, 75.6,1
TCM_TEMP  25.00 GPS  050709,093406,2516.854,12345.326,33,1.1,33,-3.8
XPDR_PINGS  199

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor38233206.17 SBE_CT144124785.32
Roll_motor21764318.06 Optode1472331103.01
VBD_pump_during_apogee509149417292.69 WL_BB2F24741055898.93
VBD_pump_during_surface44689703.58 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init97103227.70 nil000.00
Iridium_during_connect216160787.96 nil000.00
Iridium_during_xfer4292232171.66
Transponder_ping57420550.59
Mmodem_TX000.00
Mmodem_RX000.00
GPS17509.17
TT8391419829.41
LPSleep136262319.31
TT8_Active76419162.03
TT8_Sampling4522391925.83
TT8_CF8126945621.97
TT8_Kalman000.00
Analog_circuits276712355.28
GPS_charging000.00
Compass44738382.92
RAFOS000.00
Transponder543017.47

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 -1.06 -146.0 0.0 0.0 0 76 0.00 0.00 -56.70 0.000 2 0.000 0.000 171 1821 2439
79 -1.06 -146.0 3.3 -4.9 9 126 9.27 2.08 -29.88 0.000 4 0.234 0.052 2422 3201 3541
201 -0.56 -146.0 26.9 -22.0 29 208 0.57 2.05 0.00 0.000 6 0.144 0.031 2591 1789 3541
547 -0.72 -146.0 62.5 -9.5 90 553 0.12 0.00 0.00 0.000 6 0.061 0.000 2520 1789 3542
890 -0.54 -146.0 103.1 -11.5 151 898 0.25 2.08 0.00 0.000 4 0.131 0.039 2583 407 3541
946 -0.54 -146.0 108.9 -10.2 160 953 0.00 2.03 0.00 0.000 6 0.000 0.027 2581 1831 3542
1290 -0.77 -146.0 140.2 -9.3 221 1297 0.15 2.03 0.00 0.000 4 0.058 0.038 2493 3188 3542
1367 -0.66 -146.0 148.8 -11.3 234 1374 0.25 2.03 0.00 0.000 6 0.126 0.028 2570 1761 3542
1710 -0.81 -146.0 176.6 -6.6 295 1719 0.15 2.12 0.00 0.000 4 0.057 0.038 2490 3200 3542
1799 -0.74 -146.0 185.0 -10.6 310 1806 0.17 2.03 0.00 0.000 6 0.124 0.029 2543 1778 3542
2146 -0.85 -146.0 218.5 -9.5 371 2154 0.12 2.10 0.00 0.000 4 0.064 0.039 2486 3192 3542
2245 -0.72 -146.0 228.9 -10.5 388 2252 0.15 2.03 0.00 0.000 6 0.127 0.029 2542 1795 3542
2591 -0.81 -146.0 258.1 -8.0 449 2597 0.00 2.08 0.00 0.000 4 0.000 0.041 2539 3192 3541
2693 -0.99 -146.0 266.4 -8.1 467 2701 0.22 2.00 0.00 0.000 6 0.046 0.030 2427 1795 3540
3042 -0.71 -146.0 305.0 -11.9 525 3047 0.35 2.05 0.00 0.000 4 0.136 0.042 2540 406 3538
3133 -0.71 -146.0 313.7 -9.5 532 3139 0.00 2.03 0.00 0.000 6 0.000 0.029 2544 1818 3539
3462 -0.82 -146.0 339.6 -7.0 563 3465 0.00 2.12 0.00 0.000 4 0.000 0.044 2549 400 3537
3575 -0.88 -146.0 348.1 -7.4 573 3580 0.15 2.03 0.00 0.000 6 0.065 0.030 2474 1807 3536
3907 -0.83 -146.0 377.2 -8.9 604 3912 0.17 2.10 0.00 0.000 4 0.130 0.044 2514 414 3534
3939 -0.83 -146.0 380.4 -8.5 606 3946 0.00 2.03 0.00 0.000 6 0.000 0.031 2509 1791 3534
4266 -0.96 -146.0 407.2 -7.5 637 4270 0.12 2.10 0.00 0.000 4 0.066 0.044 2457 3195 3532
4328 -0.84 -146.0 412.5 -8.5 642 4332 0.20 2.03 0.00 0.000 6 0.133 0.032 2507 1800 3531
4654 -0.92 -146.0 437.5 -8.4 672 4657 0.00 2.12 0.00 0.000 4 0.000 0.048 2519 3208 3528
4721 -1.01 -146.0 443.2 -8.5 678 4726 0.17 2.08 0.00 0.000 6 0.053 0.034 2428 1791 3528
5047 -0.77 -146.0 477.2 -10.7 708 5052 0.30 2.15 0.00 0.000 4 0.136 0.048 2529 3202 3525
5179 -0.85 -146.0 488.1 -7.9 719 5182 0.00 2.08 0.00 0.000 6 0.000 0.035 2522 1789 3524
5505 -0.92 -146.0 516.4 -8.6 741 5509 0.12 2.15 0.00 0.000 4 0.063 0.048 2460 3196 3522
5582 -0.79 -146.0 524.4 -10.3 744 5590 0.22 2.10 0.00 0.000 6 0.135 0.036 2526 1770 3522
5899 -0.90 -146.0 551.0 -8.3 760 5904 0.12 2.17 0.00 0.000 4 0.066 0.049 2459 3191 3519
5985 -0.79 -146.0 559.3 -9.8 764 5990 0.22 2.08 0.00 0.000 6 0.132 0.041 2526 1798 3518
6312 -0.90 -146.0 587.6 -8.8 780 6316 0.12 2.15 0.00 0.000 4 0.067 0.051 2451 3197 3516
6420 -0.80 -146.0 598.3 -10.0 785 6424 0.20 2.10 0.00 0.000 6 0.132 0.042 2519 1793 3515
6749 -0.91 -146.0 626.1 -8.2 801 6753 0.00 2.15 0.00 0.000 4 0.000 0.053 2507 3192 3513
6851 -1.02 -146.0 634.4 -7.9 805 6855 0.17 2.10 0.00 0.000 6 0.054 0.044 2432 1793 3512
7167 -0.82 -146.0 664.2 -8.9 820 7171 0.25 2.15 0.00 0.000 4 0.140 0.053 2516 400 3510
7278 -0.78 -146.0 673.1 -8.0 825 7282 0.00 2.10 0.00 0.000 6 0.000 0.042 2505 1796 3510
7606 -0.87 -146.0 697.3 -7.9 841 7610 0.00 2.17 0.00 0.000 4 0.000 0.055 2496 3209 3508
7624 -0.98 -146.0 698.8 -7.8 841 7630 0.12 2.12 0.00 0.000 6 0.062 0.040 2434 1800 3508
7940 -0.83 -146.0 729.3 -10.0 857 7945 0.22 2.17 0.00 0.000 4 0.140 0.055 2497 3198 3506
7966 -0.83 -146.0 731.7 -8.1 858 7971 0.00 2.12 0.00 0.000 6 0.000 0.040 2501 1800 3506
8289 -0.94 -146.0 756.3 -7.4 874 8293 0.00 2.17 0.00 0.000 4 0.000 0.056 2494 3201 3505
8351 -1.04 -146.0 761.1 -7.8 876 8358 0.10 2.12 0.00 0.000 6 0.048 0.040 2433 1803 3504
8667 -0.89 -146.0 789.3 -8.9 892 8672 0.17 2.20 0.00 0.000 4 0.144 0.056 2491 392 3502
8762 -0.83 -146.0 797.2 -7.9 896 8766 0.00 2.15 0.00 0.000 6 0.000 0.048 2484 1807 3502
9084 -0.93 -146.0 822.9 -8.2 912 9087 0.00 2.17 0.00 0.000 4 0.000 0.058 2481 3210 3501
9122 -1.00 -146.0 826.1 -8.3 913 9128 0.00 2.12 0.00 0.000 6 0.000 0.041 2482 1798 3500
9439 -1.08 -146.0 852.6 -8.2 929 9444 0.15 2.20 0.00 0.000 4 0.061 0.058 2409 3200 3498
9512 -0.91 -146.0 860.1 -10.1 932 9517 0.25 2.12 0.00 0.000 6 0.143 0.043 2483 1795 3498
9828 -1.02 -146.0 886.4 -8.5 947 9831 0.00 2.20 0.00 0.000 4 0.000 0.058 2482 388 3497
9934 -1.02 -146.0 895.6 -8.4 951 9941 0.00 2.15 0.00 0.000 6 0.000 0.041 2482 1809 3496
10251 -1.13 -146.0 920.8 -7.7 967 10256 0.20 2.22 0.00 0.000 4 0.057 0.056 2386 391 3495
10336 -0.81 -146.0 930.9 -13.5 971 10341 0.45 2.15 0.00 0.000 6 0.153 0.044 2516 1804 3495
10666 -1.01 -146.0 953.9 -6.8 987 10671 0.17 2.20 0.00 0.000 4 0.055 0.058 2431 3212 3494
10761 -0.90 -146.0 962.4 -8.9 991 10765 0.20 2.15 0.00 0.000 6 0.140 0.042 2487 1795 3494
11083 -1.00 -146.0 986.4 -7.7 1007 11086 0.00 2.22 0.00 0.000 4 0.000 0.060 2487 3205 3493
11116 -1.09 -146.0 989.3 -8.2 1008 11121 0.17 2.15 0.00 0.000 6 0.056 0.043 2406 1788 3493
11141 end dive: TARGET_DEPTH_EXCEEDED
state 11141 begin apogee
11147 -0.29 0.0 991.7 9.0 1009 11284 0.90 0.00 123.78 1.495 6 0.142 0.000 2678 1349 2945
11285 end apogee: CONTROL_FINISHED_OK
state 11285 begin climb
11288 1.06 146.0 998.7 0.0 1016 11430 1.23 2.42 133.35 1.470 4 0.059 0.054 3122 2755 2348
11532 0.47 146.0 982.2 12.9 1026 11538 0.73 2.25 0.00 0.000 6 0.181 0.048 2936 1347 2344
11848 0.36 162.7 958.6 7.4 1041 11871 0.15 2.25 15.65 1.368 4 0.148 0.054 2892 2762 2280
11933 0.39 182.3 952.5 7.3 1044 11960 0.00 2.22 18.58 1.378 6 0.000 0.049 2901 1341 2200
12270 0.48 204.3 928.4 7.2 1061 12297 0.10 2.28 21.08 1.399 4 0.074 0.054 2952 2762 2111
12448 0.34 204.3 911.8 8.8 1069 12453 0.25 2.22 0.00 0.000 6 0.153 0.056 2894 1345 2107
12770 0.52 240.9 890.8 6.6 1085 12816 0.15 1.88 35.75 1.358 4 0.060 0.064 2971 202 1961
12946 0.39 240.9 874.2 10.4 1093 12951 0.15 1.80 0.00 0.000 6 0.144 0.043 2909 1363 1956
13279 0.53 245.3 848.1 7.8 1109 13289 0.12 1.90 4.15 0.904 4 0.066 0.064 2977 196 1944
13387 0.39 245.3 837.2 9.8 1113 13393 0.25 1.75 0.00 0.000 6 0.146 0.044 2905 1352 1943
13703 0.56 251.1 812.8 7.8 1129 13715 0.15 1.90 6.75 1.157 4 0.059 0.064 2985 192 1921
13818 0.39 251.1 800.9 10.2 1134 13822 0.28 1.77 0.00 0.000 6 0.143 0.045 2906 1362 1920
14144 0.60 265.1 775.6 7.5 1150 14171 0.20 1.85 16.62 1.187 4 0.053 0.062 3014 202 1863
14283 0.38 265.1 759.5 11.1 1156 14288 0.38 1.75 0.00 0.000 6 0.146 0.044 2905 1356 1861
14605 0.59 266.7 734.5 7.9 1172 14609 0.20 1.85 0.00 0.000 4 0.052 0.064 3014 193 1860
14743 0.39 266.7 718.8 11.3 1178 14748 0.30 1.77 0.00 0.000 6 0.139 0.047 2907 1343 1860
15075 0.61 284.2 692.9 7.3 1194 15106 0.20 2.22 20.48 1.195 4 0.052 0.053 3007 2757 1785
15241 0.44 284.2 674.1 12.0 1201 15248 0.32 2.20 0.00 0.000 6 0.146 0.048 2925 1343 1783
15558 0.60 284.2 647.4 8.4 1217 15562 0.15 1.80 0.00 0.000 4 0.059 0.061 3006 200 1782
15674 0.45 284.2 634.7 10.2 1222 15679 0.28 1.75 0.00 0.000 6 0.142 0.044 2926 1363 1781
16002 0.67 310.3 609.6 7.0 1238 16047 0.17 2.25 28.73 1.114 4 0.056 0.052 3020 2756 1679
16075 0.50 310.3 602.0 11.7 1241 16080 0.30 2.22 0.00 0.000 6 0.147 0.048 2946 1337 1677
16398 0.65 310.3 576.5 8.1 1257 16402 0.12 1.80 0.00 0.000 4 0.064 0.061 3021 196 1675
16493 0.49 310.3 566.1 11.0 1261 16497 0.28 1.75 0.00 0.000 6 0.144 0.044 2941 1355 1675
16820 0.68 310.3 537.8 8.3 1277 16824 0.17 1.83 0.00 0.000 4 0.054 0.061 3045 200 1674
16860 0.46 310.3 533.6 11.1 1278 16867 0.35 1.75 0.00 0.000 6 0.143 0.044 2926 1344 1674
17175 0.75 327.2 510.6 7.4 1294 17206 0.22 1.88 18.33 1.052 4 0.046 0.060 3052 198 1611
17274 0.53 327.2 499.3 12.3 1298 17278 0.35 1.75 0.00 0.000 6 0.144 0.043 2951 1352 1609
17604 0.72 327.2 469.8 9.0 1329 17608 0.17 1.83 0.00 0.000 4 0.054 0.060 3053 198 1608
17650 0.50 327.2 464.5 12.5 1333 17655 0.32 1.75 0.00 0.000 6 0.140 0.044 2943 1339 1607
17980 0.74 327.2 434.6 8.8 1364 17985 0.17 1.80 0.00 0.000 4 0.053 0.059 3046 198 1607
18065 0.55 327.2 425.1 11.2 1371 18074 0.30 1.75 0.00 0.000 6 0.145 0.042 2959 1366 1607
18389 0.74 327.2 396.7 9.3 1402 18394 0.17 1.83 0.00 0.000 4 0.053 0.058 3062 201 1607
18485 0.51 327.2 384.6 13.5 1410 18492 0.35 1.75 0.00 0.000 6 0.143 0.042 2941 1350 1607
18810 0.78 339.7 356.3 7.5 1441 18833 0.22 2.22 12.38 1.004 4 0.085 0.048 3053 2765 1560
18906 0.61 339.7 345.9 10.5 1449 18913 0.30 2.20 0.00 0.000 6 0.148 0.051 2977 1336 1559
19232 0.77 339.7 316.0 9.5 1480 19236 0.15 1.77 0.00 0.000 4 0.058 0.064 3060 204 1558
19304 0.58 339.7 306.9 14.6 1486 19311 0.25 1.75 0.00 0.000 6 0.142 0.040 2966 1358 1558
19644 0.83 364.3 279.4 7.1 1540 19676 0.20 1.88 23.33 0.975 4 0.078 0.058 3075 198 1458
19759 0.65 364.3 267.8 11.6 1559 19767 0.30 1.75 0.00 0.000 6 0.140 0.041 2986 1362 1456
20105 0.87 364.3 236.7 9.2 1620 20112 0.17 2.12 0.00 0.000 4 0.051 0.044 3082 2760 1456
20159 0.69 364.3 230.8 11.9 1629 20165 0.30 2.15 0.00 0.000 6 0.148 0.042 3004 1348 1455
20505 0.86 364.3 200.5 8.3 1690 20512 0.15 1.80 0.00 0.000 4 0.055 0.055 3092 204 1454
20619 0.71 364.3 188.4 10.4 1710 20626 0.25 1.73 0.00 0.000 6 0.135 0.038 3011 1355 1454
20962 0.91 364.3 159.7 8.3 1771 20970 0.17 1.83 0.00 0.000 4 0.052 0.053 3118 196 1454
21063 0.70 364.3 149.0 11.1 1788 21070 0.35 1.73 0.00 0.000 6 0.136 0.035 3006 1358 1454
21407 0.89 364.3 124.9 9.8 1849 21415 0.17 1.80 0.00 0.000 4 0.053 0.052 3109 205 1454
21502 0.74 364.3 113.7 12.5 1865 21509 0.25 1.67 0.00 0.000 6 0.130 0.035 3026 1345 1454
21848 1.02 396.0 88.0 6.8 1926 21890 0.20 1.83 30.67 0.736 4 0.046 0.051 3148 200 1329
21972 0.83 396.0 75.9 9.5 1946 21979 0.30 1.70 0.00 0.000 6 0.133 0.033 3053 1348 1328
22318 1.10 396.0 47.6 8.2 2007 22326 0.20 1.80 0.00 0.000 4 0.046 0.051 3168 174 1328
22457 0.94 396.0 34.7 8.9 2031 22466 0.25 1.73 0.00 0.000 6 0.130 0.031 3086 1354 1328
22805 1.10 396.0 11.0 8.0 2092 22812 0.15 2.03 0.00 0.000 4 0.057 0.035 3168 2745 1328
22897 end climb: SURFACE_DEPTH_REACHED
state 22897 begin surface coast
22938 end surface coast: CONTROL_FINISHED_OK
state 22938 begin surface