SOSCEx Dec15 * SG542 * Dive index * Mission links * Dive 309 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  542 HD_C  9.8500004e-06 ROLL_MAX  3808 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  12 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  309 ESCAPE_HEADING  0 C_ROLL_DIVE  1995 ALTIM_TOP_MIN_OBSTACLE  1
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1870 ALTIM_PING_DEPTH  20
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  5
D_FLARE  3 TGT_DEFAULT_LAT  4808 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  1000 TGT_DEFAULT_LON  -12223 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1020 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  24 ALTIM_SENSITIVITY  3
D_NO_BLEED  500 SM_CC  230 R_STBD_OVSHOOT  25 XPDR_VALID  2
D_BOOST  5 N_FILEKB  4 ROLL_AD_RATE  350 XPDR_INHIBIT  90
T_BOOST  0 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  2.49
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  9 VBD_MIN  600 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  2 VBD_MAX  3955 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  3 C_VBD  2909 DEVICE1  2
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  166
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.245296 DEVICE3  115
T_DIVE  340 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  133
T_MISSION  355 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_ABORT  720 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  500 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERS  0
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  -1
T_NO_W  120 T_GPS  15 UNCOM_BLEED  60 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_CHARGE  -30091.689 DBDW  0 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
D_OFFGRID  100 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  145 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_HIT_WINDOW  3600 AH0_10V  95 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  190 MINV_24V  19 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3947 MINV_10V  8.1999998 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2570 FG_AHR_10V  0 SEABIRD_T_G  0.0042912085
GLIDE_SLOPE  30 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00061951543
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PHONE_SUPPLY  2 SEABIRD_T_I  2.2019161e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -177.38863 SEABIRD_T_J  2.2998063e-06
MASS  53125 PITCH_GAIN  36 PRESSURE_SLOPE  0.00013904 SEABIRD_C_G  -9.7531137
MASS_COMP  0 PITCH_TIMEOUT  17 AD7714Ch0Gain  32 SEABIRD_C_H  1.1333146
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.00071571622
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00011341914
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  0
HD_A  0.0038360001 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0
HD_B  0.010078 ROLL_MIN  182 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  010216,192617,-4304.851,822.934,271,1.3,271,-25.0 TGT_NAME  SAZ_BUT1
_CALLS  1 TGT_LATLONG  -4304.000,824.000
_XMS_NAKs  0 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.20 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  010216,193336,-4304.826,823.043,25,0.9,27,-25.0 MHEAD_RNG_PITCHd_Wd  78.1,2004,-27.8,-9.804,-30.00,959
SPEED_LIMITS  0.170,0.259 D_GRID  1000

Post-dive calculations and measurements:
FINISH  -0.1,1.003438 _10V_AH  9.9,42.172
SM_CCo  11752,15.18,0.200,0,0,1968,230.09 FG_AHR_24Vo  0.000
SM_GC  3.94,7.18,0.20,15.18,0.041,0.077,0.200,170,2001,1968,-7.40,-0.85,230.09,0,0,0,0,0,0,26.11,26.22,25.33 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4244.98,822.81,281108,040459 MEM  352816
TT8_MAMPS  0.021721,0.021721 DATA_FILE_SIZE  56956,866
HUMID  54.13 CAP_FILE_SIZE  143746,0
INTERNAL_PRESSURE  9.05275 CFSIZE  259248128,233213952
TCM_TEMP  13.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  0 CURRENT  0.040, 36.9,1
_24V_AH  22.0,52.658 GPS  010216,225327,-4303.498,824.192,158,1.2,158,-25.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1721584.36 SBE_CT60523319.56
Roll_motor12777216.56 QSP215054810.85
VBD_pump_during_apogee257182010296.24 WL_BB2FLVMT5011051158.54
VBD_pump_during_surface1520066.91 AA4330_CNF1300431242.86
VBD_valve000.00 nil000.00
Iridium_during_init262614.97 nil000.00
Iridium_during_connect2516091.32 nil000.00
Iridium_during_xfer2332231143.80 nil000.00
Transponder_ping49420455.07 nil000.00
GUMSTIX_24V000.00
GPS28329.03
TT8239213311.00
LPSleep66252143.65
TT8_Active4051352.71
TT8_Sampling2528421059.91
TT8_CF824948119.38
TT8_Kalman000.00
Analog_circuits140611161.41
GPS_charging000.00
Compass202215314.92
RAFOS000.00
Transponder3003089.38

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -0.85 -61.2 137 1998 1985 1923 0.0 0.0 0 64 0.00 0.00 -43.88 0.000 16390 0.000 0.000 137 1998 3159 3235 3083 0 0 0 0 0 0 28.83 28.83 26.30
67 -0.87 -78.6 137 1998 3236 3084 3.9 -7.9 6 85 8.32 2.28 -1.40 0.000 18948 0.216 0.063 2292 578 3231 3309 3153 0 0 0 0 0 0 25.02 25.69 26.15
346 -0.87 -78.6 2291 577 3313 3152 67.3 -17.3 52 355 0.00 2.28 0.00 0.000 1030 0.000 0.047 2283 1993 3232 3313 3152 0 0 0 0 0 0 28.83 25.76 28.83
682 -0.87 -78.6 2282 1994 3315 3153 124.6 -16.7 100 693 0.00 2.28 0.00 0.000 516 0.000 0.056 2283 578 3233 3314 3153 0 0 0 0 0 0 28.83 25.72 28.83
706 -0.87 -78.6 2282 578 3314 3153 129.3 -18.3 102 715 0.00 2.22 0.00 0.000 1030 0.000 0.047 2273 1998 3233 3314 3153 0 0 0 0 0 0 28.83 25.83 28.83
1018 -0.87 -78.6 2272 1999 3316 3153 184.0 -17.1 133 1019 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 1998 3234 3316 3153 0 0 0 0 0 0 28.83 28.83 28.83
1317 -0.87 -78.6 2272 1999 3317 3153 236.4 -18.0 163 1325 0.00 2.25 0.00 0.000 516 0.000 0.057 2273 583 3235 3317 3153 0 0 0 0 0 0 28.83 25.77 28.83
1359 -0.87 -78.6 2272 583 3317 3153 244.4 -18.4 167 1368 0.00 2.20 0.00 0.000 1030 0.000 0.047 2263 1996 3235 3317 3153 0 0 0 0 0 0 28.83 25.89 28.83
1670 -0.87 -78.6 2262 1996 3317 3153 300.8 -18.2 198 1678 0.00 2.22 0.00 0.000 516 0.000 0.057 2262 586 3234 3316 3153 0 0 0 0 0 0 28.83 25.79 28.83
1713 -0.87 -78.6 2262 586 3317 3153 308.9 -18.4 202 1723 0.15 2.20 0.00 0.000 3078 0.181 0.047 2288 1997 3235 3317 3153 0 0 0 0 0 0 25.51 25.91 28.83
2025 -0.87 -78.6 2288 1997 3317 3153 357.9 -15.6 233 2033 0.00 2.20 0.00 0.000 260 0.000 0.054 2279 3399 3235 3317 3153 0 0 0 0 0 0 28.83 25.84 28.83
2049 -0.87 -78.6 2279 3399 3317 3153 361.4 -15.8 235 2057 0.00 2.25 0.00 0.000 1030 0.000 0.046 2279 1987 3235 3317 3153 0 0 0 0 0 0 28.83 25.92 28.83
2367 -0.87 -78.6 2279 1986 3317 3153 414.4 -16.6 263 2373 0.00 2.25 0.00 0.000 516 0.000 0.059 2279 581 3235 3318 3153 0 0 0 0 0 0 28.83 25.77 28.83
2519 -0.87 -78.6 2279 581 3317 3152 439.5 -17.3 270 2524 0.00 2.22 0.00 0.000 1030 0.000 0.047 2269 1996 3235 3317 3153 0 0 0 0 0 0 28.83 25.91 28.83
2827 -0.87 -78.6 2268 1997 3317 3152 493.8 -17.2 285 2833 0.00 2.28 0.00 0.000 516 0.000 0.060 2269 582 3235 3317 3153 0 0 0 0 0 0 28.83 25.76 28.83
2877 -0.87 -78.6 2269 582 3317 3152 501.0 -17.2 287 2882 0.12 2.25 0.00 0.000 3078 0.177 0.049 2288 2004 3234 3317 3152 0 0 0 0 0 0 25.60 25.89 28.83
3184 -0.87 -78.6 2287 2004 3317 3153 548.4 -14.6 302 3189 0.00 2.28 0.00 0.000 516 0.000 0.060 2288 588 3234 3317 3152 0 0 0 0 0 0 28.83 25.75 28.83
3269 -0.87 -78.6 2288 588 3317 3152 561.3 -15.4 306 3274 0.00 2.20 0.00 0.000 1030 0.000 0.050 2279 1997 3234 3317 3152 0 0 0 0 0 0 28.83 25.89 28.83
3588 -0.87 -78.6 2279 1998 3317 3153 609.4 -15.3 322 3589 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1998 3234 3317 3152 0 0 0 0 0 0 28.83 28.83 28.83
3888 -0.87 -78.6 2278 1998 3317 3152 653.1 -14.1 337 3894 0.00 2.28 0.00 0.000 516 0.000 0.062 2279 585 3234 3317 3152 0 0 0 0 0 0 28.83 25.72 28.83
3912 -0.87 -78.6 2279 585 3317 3152 656.0 -14.3 338 3916 0.00 2.28 0.00 0.000 1030 0.000 0.050 2269 1993 3234 3317 3152 0 0 0 0 0 0 28.83 25.87 28.83
4229 -0.87 -78.6 2269 1993 3317 3153 704.0 -14.9 354 4235 0.00 2.28 0.00 0.000 516 0.000 0.062 2269 584 3234 3317 3152 0 0 0 0 0 0 28.83 25.71 28.83
4272 -0.87 -78.6 2269 584 3318 3152 710.2 -15.1 356 4277 0.00 2.20 0.00 0.000 1030 0.000 0.051 2259 1992 3235 3317 3153 0 0 0 0 0 0 28.83 25.86 28.83
4589 -0.87 -78.6 2259 1992 3317 3153 759.4 -15.1 372 4596 0.12 2.28 0.00 0.000 2564 0.177 0.061 2301 589 3234 3317 3152 0 0 0 0 0 0 25.98 25.69 28.83
4645 -0.87 -78.6 2301 589 3317 3152 765.2 -14.7 374 4652 0.00 2.25 0.00 0.000 1030 0.000 0.052 2293 2003 3234 3316 3153 0 0 0 0 0 0 28.83 25.83 28.83
4952 -0.87 -78.6 2293 2003 3315 3153 807.5 -13.1 390 4958 0.00 2.30 0.00 0.000 516 0.000 0.063 2293 584 3233 3315 3152 0 0 0 0 0 0 28.83 25.67 28.83
5001 -0.87 -78.6 2293 584 3314 3152 813.0 -13.4 392 5005 0.00 2.25 0.00 0.000 1030 0.000 0.052 2282 2003 3233 3314 3152 0 0 0 0 0 0 28.83 25.82 28.83
5309 -0.87 -78.6 2282 2003 3313 3152 856.4 -14.0 407 5314 0.00 2.28 0.00 0.000 516 0.000 0.063 2282 589 3233 3313 3153 0 0 0 0 0 0 28.83 25.66 28.83
5349 -0.87 -78.6 2282 589 3313 3152 862.3 -14.2 409 5354 0.00 2.20 0.00 0.000 1030 0.000 0.052 2273 1989 3232 3312 3152 0 0 0 0 0 0 28.83 25.82 28.83
5670 -0.87 -78.6 2271 1993 3312 3151 887.1 -13.1 425 5675 0.00 2.25 0.00 0.000 260 0.000 0.059 2261 3401 3232 3312 3152 0 0 0 0 0 0 28.83 25.74 28.83
6137 -0.87 -78.6 2261 3402 3311 3150 948.3 -13.1 447 6146 0.00 2.25 0.00 0.000 1030 0.000 0.051 2261 1987 3230 3311 3150 0 0 0 0 0 0 28.83 25.79 28.83
6444 -0.87 -78.6 2261 1986 3311 3149 991.7 -13.4 463 6447 0.00 2.30 0.00 0.000 516 0.000 0.063 2261 582 3230 3311 3149 0 0 0 0 0 0 28.83 25.63 28.83
6499 -0.87 -78.6 2261 582 3311 3149 997.7 -13.7 465 6510 0.15 2.25 0.00 0.000 3078 0.178 0.051 2286 1997 3230 3311 3149 0 0 0 0 0 0 25.41 25.80 28.83
6524 end dive: TARGET_DEPTH_EXCEEDED
state 6524 begin apogee
6529 -0.14 0.0 2286 1857 3310 3149 1003.0 -13.5 467 6606 0.77 0.00 71.22 1.821 10246 0.151 0.000 2517 1856 2909 2996 2823 0 0 0 0 0 0 25.06 28.83 23.20
6607 end apogee: CONTROL_FINISHED_OK
state 6607 begin climb
6609 0.87 78.6 2516 1857 2996 2823 1004.7 0.0 471 6690 0.95 2.55 74.10 1.784 10500 0.051 0.057 2865 3282 2588 2657 2519 0 0 0 0 0 0 24.72 23.49 22.19
6717 1.01 190.7 2865 3282 2655 2519 1006.2 -2.2 476 6836 0.00 2.42 111.72 1.756 9222 0.000 0.048 2875 1880 2131 2196 2067 0 0 0 0 0 0 28.83 23.99 22.01
7139 1.01 190.7 2875 1880 2188 2057 923.3 21.6 497 7144 0.00 2.30 0.00 0.000 260 0.000 0.058 2870 3284 2122 2188 2056 0 0 0 0 0 0 28.83 25.22 28.83
7251 1.01 190.7 2869 3285 2187 2055 901.0 22.5 502 7258 0.00 2.33 0.00 0.000 1030 0.000 0.051 2878 1863 2121 2187 2055 0 0 0 0 0 0 28.83 25.46 28.83
7560 1.01 190.7 2878 1863 2186 2053 832.8 20.7 518 7565 0.00 2.28 0.00 0.000 260 0.000 0.058 2878 3283 2119 2187 2052 0 0 0 0 0 0 28.83 25.72 28.83
7632 1.01 190.7 2878 3283 2186 2052 820.0 21.6 521 7639 0.00 2.28 0.00 0.000 1030 0.000 0.052 2889 1867 2119 2186 2052 0 0 0 0 0 0 28.83 25.75 28.83
7938 1.01 190.7 2889 1867 2186 2051 754.3 20.4 537 7945 0.00 2.28 0.00 0.000 260 0.000 0.058 2889 3286 2118 2186 2051 0 0 0 0 0 0 28.83 25.83 28.83
7966 1.01 190.7 2888 3286 2185 2050 749.9 21.0 538 7971 0.00 2.25 0.00 0.000 1030 0.000 0.051 2899 1872 2117 2185 2050 0 0 0 0 0 0 28.83 25.84 28.83
8273 1.01 190.7 2899 1872 2185 2050 684.9 20.9 553 8279 0.00 2.28 0.00 0.000 260 0.000 0.058 2897 3291 2117 2184 2050 0 0 0 0 0 0 28.83 25.87 28.83
8321 1.01 190.7 2897 3292 2184 2050 676.8 20.8 555 8325 0.00 2.28 0.00 0.000 1030 0.000 0.051 2905 1864 2117 2184 2050 0 0 0 0 0 0 28.83 25.88 28.83
8628 1.01 190.7 2905 1863 2184 2049 612.3 20.6 570 8634 0.00 2.28 0.00 0.000 260 0.000 0.057 2897 3286 2116 2184 2049 0 0 0 0 0 0 28.83 25.89 28.83
8736 1.01 190.7 2896 3286 2183 2049 591.3 21.0 575 8740 0.00 2.25 0.00 0.000 1030 0.000 0.050 2905 1868 2116 2183 2049 0 0 0 0 0 0 28.83 25.90 28.83
9043 1.01 190.7 2905 1867 2183 2048 524.6 21.4 590 9050 0.00 2.28 0.00 0.000 260 0.000 0.058 2897 3290 2115 2183 2048 0 0 0 0 0 0 28.83 25.89 28.83
9091 1.01 190.7 2896 3290 2183 2048 515.8 21.4 592 9095 0.00 2.25 0.00 0.000 1030 0.000 0.050 2906 1870 2115 2183 2048 0 0 0 0 0 0 28.83 25.91 28.83
9398 1.01 190.7 2905 1870 2183 2048 448.9 20.9 607 9404 0.00 2.28 0.00 0.000 260 0.000 0.057 2896 3293 2115 2183 2048 0 0 0 0 0 0 28.83 25.90 28.83
9418 1.01 190.7 2897 3293 2183 2048 444.8 21.0 608 9423 0.00 2.25 0.00 0.000 1030 0.000 0.050 2906 1870 2115 2182 2048 0 0 0 0 0 0 28.83 25.91 28.83
9728 1.01 190.7 2906 1870 2183 2047 381.4 20.4 628 9739 0.00 2.28 0.00 0.000 260 0.000 0.057 2897 3293 2115 2182 2048 0 0 0 0 0 0 28.83 25.90 28.83
9805 1.01 190.7 2897 3293 2182 2048 366.5 20.6 635 9811 0.00 2.28 0.00 0.000 1030 0.000 0.050 2906 1863 2115 2182 2048 0 0 0 0 0 0 28.83 25.91 28.83
10111 1.01 190.7 2906 1863 2182 2047 304.8 20.5 666 10120 0.00 2.28 0.00 0.000 260 0.000 0.057 2897 3287 2114 2181 2048 0 0 0 0 0 0 28.83 25.89 28.83
10268 1.01 190.7 2897 3287 2182 2048 272.3 20.0 681 10276 0.00 2.28 0.00 0.000 1030 0.000 0.050 2906 1876 2114 2182 2047 0 0 0 0 0 0 28.83 25.91 28.83
10575 1.01 190.7 2906 1876 2181 2047 210.9 19.8 712 10587 0.00 2.25 0.00 0.000 260 0.000 0.057 2901 3287 2114 2182 2047 0 0 0 0 0 0 28.83 25.89 28.83
10691 1.01 190.7 2901 3287 2181 2047 188.8 18.5 723 10700 0.00 2.25 0.00 0.000 1030 0.000 0.050 2910 1863 2114 2182 2047 0 0 0 0 0 0 28.83 25.91 28.83
11001 1.01 190.7 2910 1863 2182 2047 131.9 18.6 754 11010 0.00 2.28 0.00 0.000 260 0.000 0.057 2910 3290 2114 2182 2047 0 0 0 0 0 0 28.83 25.89 28.83
11138 1.01 190.7 1968 3288 2141 2041 106.9 17.8 767 11145 0.00 2.25 0.00 0.000 1030 0.000 0.050 2918 1869 2114 2182 2047 0 0 0 0 0 0 28.83 25.89 28.83
11473 1.01 190.7 2919 1869 2182 2047 45.1 15.8 825 11480 0.00 2.30 0.00 0.000 260 0.000 0.055 2910 3290 2114 2181 2047 0 0 0 0 0 0 28.83 25.90 28.83
11640 1.01 190.7 2910 3290 2181 2047 15.8 19.3 852 11650 0.00 2.28 0.00 0.000 1030 0.000 0.048 2919 1873 2114 2182 2047 0 0 0 0 0 0 28.83 25.91 28.83
11701 1.01 190.7 2919 1873 2181 2047 4.1 19.4 861 11709 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 1873 2114 2181 2047 0 0 0 0 0 0 28.83 28.83 28.83
11716 end climb: SURFACE_DEPTH_REACHED
state 11716 begin surface coast
11736 end surface coast: CONTROL_FINISHED_OK
state 11736 begin surface