SOSCEx Dec15 * SG542 * Dive index * Mission links * Dive 316 * Log results * Raw log file
prev dive * next dive * dive

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  316 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  27 ALTIM_SENSITIVITY  3
D_NO_BLEED  500 SM_CC  230 R_STBD_OVSHOOT  30 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  -30101.43 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  030216,014804,-4256.997,823.014,74,0.9,74,-25.0 TGT_NAME  SAZ_BUT2
_CALLS  1 TGT_LATLONG  -4256.000,824.000
_XMS_NAKs  0 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.43 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -74.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  030216,015411,-4256.993,823.084,19,1.0,20,-25.0 MHEAD_RNG_PITCHd_Wd  45.7,2219,-27.8,-9.804,-30.00,959
SPEED_LIMITS  0.170,0.259 D_GRID  1000

Post-dive calculations and measurements:
FINISH  0.0,1.026155 _10V_AH  9.9,43.052
SM_CCo  12188,29.02,0.187,0,0,1969,230.09 FG_AHR_24Vo  0.000
SM_GC  2.92,7.28,2.53,29.02,0.048,0.051,0.187,163,2003,1969,-7.41,-0.54,230.09,0,0,0,0,0,0,26.13,25.86,25.38 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4244.98,819.47,291108,111139 MEM  352824
TT8_MAMPS  0.021721,0.021721 DATA_FILE_SIZE  60290,933
HUMID  52.91 CAP_FILE_SIZE  146597,0
INTERNAL_PRESSURE  9.06252 CFSIZE  259248128,232624128
TCM_TEMP  14.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 CURRENT  0.044, 64.6,1
_24V_AH  22.0,53.735 GPS  030216,052003,-4255.578,823.176,71,0.9,71,-25.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1721081.57 SBE_CT65523345.61
Roll_motor12772203.41 QSP215067813.31
VBD_pump_during_apogee24218169686.03 WL_BB2FLVMT5901051364.01
VBD_pump_during_surface29186119.19 AA4330_CNF1421431358.09
VBD_valve000.00 nil000.00
Iridium_during_init262615.27 nil000.00
Iridium_during_connect2316083.08 nil000.00
Iridium_during_xfer187223918.62 nil000.00
Transponder_ping49420455.07 nil000.00
GUMSTIX_24V000.00
GPS20326.68
TT8254113330.42
LPSleep67612146.60
TT8_Active4141353.92
TT8_Sampling2624421100.30
TT8_CF823748113.60
TT8_Kalman000.00
Analog_circuits145111166.56
GPS_charging000.00
Compass217615338.98
RAFOS000.00
Transponder2983088.58

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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.85 -61.2 165 2001 1971 1922 0.0 0.0 0 64 0.00 0.00 -44.35 0.000 16390 0.000 0.000 165 2001 3160 3235 3086 0 0 0 0 0 0 28.83 28.83 26.34
67 -0.89 -95.0 165 2001 3235 3087 3.5 -6.2 6 86 8.07 2.28 -2.85 0.000 18948 0.210 0.064 2284 579 3300 3378 3222 0 0 0 0 0 0 25.02 25.70 26.26
195 -0.89 -95.0 2284 579 3381 3222 36.1 -19.7 25 204 0.00 2.28 0.00 0.000 1030 0.000 0.048 2276 1992 3301 3381 3222 0 0 0 0 0 0 28.83 25.72 28.83
340 -0.89 -95.0 2276 1991 3382 3222 65.1 -18.9 50 346 0.00 2.25 0.00 0.000 516 0.000 0.056 2277 588 3302 3382 3222 0 0 0 0 0 0 28.83 25.67 28.83
376 -0.89 -95.0 2277 588 3382 3222 71.8 -18.4 56 385 0.00 2.25 0.00 0.000 1030 0.000 0.047 2268 1990 3302 3382 3222 0 0 0 0 0 0 28.83 25.77 28.83
705 -0.89 -95.0 2268 1990 3384 3222 131.4 -19.0 101 713 0.00 2.22 0.00 0.000 260 0.000 0.052 2258 3409 3303 3384 3222 0 0 0 0 0 0 28.83 25.79 28.83
767 -0.89 -95.0 2257 3409 3384 3222 143.2 -18.6 107 777 0.00 2.20 0.00 0.000 1030 0.000 0.044 2258 1994 3303 3384 3222 0 0 0 0 0 0 28.83 25.84 28.83
1077 -0.89 -95.0 2257 1994 3385 3222 202.1 -19.7 138 1086 0.00 2.25 0.00 0.000 516 0.000 0.057 2257 588 3303 3385 3222 0 0 0 0 0 0 28.83 25.75 28.83
1212 -0.89 -95.0 2258 588 3386 3222 227.7 -18.6 151 1221 0.10 2.25 0.00 0.000 3078 0.168 0.047 2278 1994 3303 3385 3222 0 0 0 0 0 0 25.50 25.90 28.83
1521 -0.89 -95.0 2278 1994 3386 3222 281.4 -17.2 182 1530 0.00 2.20 0.00 0.000 260 0.000 0.053 2268 3406 3305 3387 3223 0 0 0 0 0 0 28.83 25.84 28.83
1543 -0.89 -95.0 2268 3407 3386 3222 285.2 -17.1 184 1552 0.00 2.17 0.00 0.000 1030 0.000 0.044 2269 1997 3304 3386 3222 0 0 0 0 0 0 28.83 25.91 28.83
1852 -0.89 -95.0 2268 1997 3386 3222 338.3 -16.8 215 1861 0.00 2.25 0.00 0.000 516 0.000 0.059 2268 582 3304 3386 3222 0 0 0 0 0 0 28.83 25.77 28.83
1957 -0.89 -95.0 2268 583 3386 3223 356.4 -17.4 225 1966 0.00 2.17 0.00 0.000 1030 0.000 0.047 2259 1992 3304 3386 3223 0 0 0 0 0 0 28.83 25.94 28.83
2277 -0.89 -95.0 2258 1992 3386 3223 411.5 -17.0 254 2282 0.00 2.22 0.00 0.000 516 0.000 0.059 2259 587 3304 3386 3223 0 0 0 0 0 0 28.83 25.77 28.83
2308 -0.89 -95.0 2258 587 3386 3223 415.0 -17.1 255 2317 0.12 2.20 0.00 0.000 3078 0.186 0.047 2277 1994 3303 3385 3222 0 0 0 0 0 0 25.59 25.92 28.83
2616 -0.89 -95.0 2277 1994 3386 3223 466.3 -16.2 271 2621 0.00 2.25 0.00 0.000 516 0.000 0.058 2277 584 3304 3386 3223 0 0 0 0 0 0 28.83 25.77 28.83
2656 -0.89 -95.0 2277 584 3387 3223 473.1 -16.7 273 2662 0.00 2.20 0.00 0.000 1030 0.000 0.048 2268 2000 3304 3386 3222 0 0 0 0 0 0 28.83 25.91 28.83
2977 -0.89 -95.0 2268 2000 3386 3222 527.5 -17.0 289 2978 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2000 3304 3386 3222 0 0 0 0 0 0 28.83 28.83 28.83
3278 -0.89 -95.0 2268 2000 3386 3222 576.9 -16.0 304 3283 0.00 2.25 0.00 0.000 516 0.000 0.060 2268 592 3304 3386 3222 0 0 0 0 0 0 28.83 25.75 28.83
3372 -0.89 -95.0 2268 591 3386 3222 590.5 -16.7 308 3379 0.00 2.22 0.00 0.000 1030 0.000 0.049 2258 2000 3304 3386 3222 0 0 0 0 0 0 28.83 25.89 28.83
3678 -0.89 -95.0 2258 2001 3386 3222 643.2 -16.7 324 3684 0.00 2.28 0.00 0.000 516 0.000 0.060 2259 584 3304 3386 3222 0 0 0 0 0 0 28.83 25.73 28.83
3705 -0.89 -95.0 2258 584 3386 3222 646.6 -16.6 325 3710 0.12 2.22 0.00 0.000 3078 0.183 0.050 2277 1995 3304 3386 3222 0 0 0 0 0 0 25.57 25.89 28.83
4013 -0.89 -95.0 2276 1996 3386 3222 694.7 -15.2 340 4019 0.00 2.28 0.00 0.000 516 0.000 0.060 2277 588 3304 3386 3222 0 0 0 0 0 0 28.83 25.72 28.83
4086 -0.89 -95.0 2277 588 3386 3222 704.3 -16.0 343 4094 0.00 2.22 0.00 0.000 1030 0.000 0.050 2268 1994 3304 3386 3222 0 0 0 0 0 0 28.83 25.87 28.83
4393 -0.89 -95.0 2268 1994 3385 3222 756.3 -16.3 359 4399 0.00 2.28 0.00 0.000 516 0.000 0.060 2268 586 3304 3386 3222 0 0 0 0 0 0 28.83 25.71 28.83
4441 -0.89 -95.0 2268 585 3386 3222 763.1 -16.6 361 4445 0.00 2.22 0.00 0.000 1030 0.000 0.050 2258 1994 3304 3386 3222 0 0 0 0 0 0 28.83 25.86 28.83
4749 -0.89 -95.0 2258 1994 3385 3222 816.6 -17.0 376 4754 0.00 2.22 0.00 0.000 516 0.000 0.061 2258 593 3303 3385 3222 0 0 0 0 0 0 28.83 25.69 28.83
4770 -0.89 -95.0 2258 593 3385 3222 820.1 -17.0 377 4775 0.12 2.22 0.00 0.000 3078 0.181 0.050 2277 1999 3303 3385 3222 0 0 0 0 0 0 25.55 25.84 28.83
5083 -0.89 -95.0 2276 2000 3385 3222 868.8 -14.9 393 5089 0.00 2.28 0.00 0.000 516 0.000 0.062 2277 591 3303 3385 3222 0 0 0 0 0 0 28.83 25.67 28.83
5138 -0.89 -95.0 2277 590 3385 3222 875.1 -15.4 395 5146 0.00 2.22 0.00 0.000 1030 0.000 0.051 2268 1993 3304 3385 3223 0 0 0 0 0 0 28.83 25.82 28.83
5446 -0.89 -95.0 2268 1994 3384 3222 923.4 -14.9 411 5447 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 1995 3303 3384 3222 0 0 0 0 0 0 28.83 28.83 28.83
5747 -0.89 -95.0 2268 1994 3384 3222 967.0 -14.1 426 5752 0.00 2.25 0.00 0.000 516 0.000 0.063 2268 595 3302 3383 3222 0 0 0 0 0 0 28.83 25.65 28.83
5806 -0.89 -95.0 2268 595 3383 3222 975.7 -14.5 429 5812 0.00 2.22 0.00 0.000 1030 0.000 0.051 2258 2001 3302 3383 3222 0 0 0 0 0 0 28.83 25.82 28.83
5984 end dive: TARGET_DEPTH_EXCEEDED
state 5984 begin apogee
5990 -0.14 0.0 2258 1859 3382 3222 1001.2 -14.2 438 6085 0.88 0.00 87.03 1.817 10246 0.148 0.000 2519 1858 2908 2993 2824 0 0 0 0 0 0 25.06 28.83 22.99
6086 end apogee: CONTROL_FINISHED_OK
state 6086 begin climb
6088 0.89 95.0 2518 1859 2993 2824 1004.1 0.0 443 6187 0.93 2.65 91.05 1.773 10500 0.049 0.057 2869 3283 2521 2581 2461 0 0 0 0 0 0 24.52 23.34 22.02
6242 0.97 159.5 2869 3283 2577 2460 1003.4 2.9 450 6313 0.00 2.42 64.25 1.746 9222 0.000 0.048 2879 1876 2258 2317 2199 0 0 0 0 0 0 28.83 24.15 21.95
6625 0.97 159.5 2879 1876 2312 2189 927.4 20.7 470 6631 0.00 2.33 0.00 0.000 260 0.000 0.057 2879 3285 2250 2312 2189 0 0 0 0 0 0 28.83 25.27 28.83
6707 0.97 159.5 1984 3283 2271 2183 910.9 20.6 474 6711 0.00 2.35 0.00 0.000 1030 0.000 0.050 2889 1867 2250 2311 2189 0 0 0 0 0 0 28.83 25.44 28.83
7025 0.97 159.5 2889 1867 2311 2187 845.8 20.3 490 7031 0.00 2.30 0.00 0.000 260 0.000 0.057 2889 3290 2249 2311 2187 0 0 0 0 0 0 28.83 25.73 28.83
7248 0.97 159.5 2889 3290 2310 2186 801.0 19.8 501 7252 0.00 2.30 0.00 0.000 1030 0.000 0.050 2899 1875 2248 2310 2186 0 0 0 0 0 0 28.83 25.83 28.83
7567 0.97 159.5 2899 1875 2310 2184 739.2 19.3 517 7572 0.00 2.25 0.00 0.000 260 0.000 0.058 2896 3287 2247 2310 2184 0 0 0 0 0 0 28.83 25.86 28.83
7773 0.97 159.5 2896 3288 2309 2184 701.5 18.3 527 7777 0.00 2.28 0.00 0.000 1030 0.000 0.050 2905 1861 2246 2309 2184 0 0 0 0 0 0 28.83 25.89 28.83
8081 0.97 159.5 2905 1861 2309 2183 645.6 17.7 542 8087 0.00 2.30 0.00 0.000 260 0.000 0.057 2897 3294 2246 2309 2183 0 0 0 0 0 0 28.83 25.91 28.83
8222 0.97 159.5 2896 3294 2309 2183 620.3 18.1 549 8227 0.00 2.25 0.00 0.000 1030 0.000 0.051 2905 1866 2245 2308 2183 0 0 0 0 0 0 28.83 25.91 28.83
8541 0.97 159.5 2905 1866 2308 2183 563.1 17.6 565 8547 0.00 2.28 0.00 0.000 260 0.000 0.057 2896 3289 2245 2308 2183 0 0 0 0 0 0 28.83 25.91 28.83
8628 0.97 159.5 2897 3289 2308 2183 548.7 17.9 569 8633 0.00 2.25 0.00 0.000 1030 0.000 0.050 2905 1867 2245 2308 2183 0 0 0 0 0 0 28.83 25.93 28.83
8935 0.97 159.5 2905 1867 2308 2183 493.6 17.2 584 8941 0.00 2.28 0.00 0.000 260 0.000 0.057 2897 3293 2245 2307 2183 0 0 0 0 0 0 28.83 25.91 28.83
9086 0.97 159.5 2897 3293 2307 2183 469.2 17.5 591 9095 0.00 2.25 0.00 0.000 1030 0.000 0.050 2906 1863 2244 2307 2182 0 0 0 0 0 0 28.83 25.96 28.83
9395 0.97 159.5 2905 1863 2307 2182 415.2 16.9 607 9399 0.00 2.28 0.00 0.000 260 0.000 0.057 2897 3286 2244 2307 2182 0 0 0 0 0 0 28.83 25.91 28.83
9470 0.97 159.5 2897 3286 2307 2182 404.7 16.9 610 9477 0.00 2.25 0.00 0.000 1030 0.000 0.050 2906 1868 2244 2307 2182 0 0 0 0 0 0 28.83 25.93 28.83
9777 0.97 159.5 2905 1867 2307 2182 350.3 17.0 640 9787 0.00 2.28 0.00 0.000 260 0.000 0.057 2897 3294 2244 2306 2182 0 0 0 0 0 0 28.83 25.91 28.83
9874 0.97 159.5 2897 3294 2307 2182 334.5 17.1 649 9882 0.00 2.22 0.00 0.000 1030 0.000 0.050 2906 1875 2244 2306 2182 0 0 0 0 0 0 28.83 25.92 28.83
10182 0.97 159.5 2906 1875 2306 2182 285.7 15.5 680 10192 0.00 2.22 0.00 0.000 260 0.000 0.057 2897 3281 2244 2307 2182 0 0 0 0 0 0 28.83 25.90 28.83
10339 0.97 159.5 2000 3280 2268 2177 260.9 15.5 695 10346 0.00 2.30 0.00 0.000 1030 0.000 0.050 2906 1864 2244 2307 2182 0 0 0 0 0 0 28.83 25.94 28.83
10647 0.97 159.5 2907 1864 2307 2182 212.7 15.6 726 10656 0.00 2.28 0.00 0.000 260 0.000 0.056 2898 3290 2244 2306 2182 0 0 0 0 0 0 28.83 25.90 28.83
10713 0.97 159.5 2897 3290 2306 2182 202.5 16.4 732 10721 0.00 2.28 0.00 0.000 1030 0.000 0.048 2907 1862 2244 2307 2182 0 0 0 0 0 0 28.83 25.91 28.83
11020 0.97 159.5 2906 1862 2307 2182 154.0 16.1 763 11021 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 1862 2244 2307 2182 0 0 0 0 0 0 28.83 28.83 28.83
11323 0.97 159.5 2906 1862 2307 2182 108.6 13.9 793 11331 0.00 2.25 0.00 0.000 260 0.000 0.055 2898 3289 2244 2306 2182 0 0 0 0 0 0 28.83 25.89 28.83
11720 0.97 159.5 2898 3289 2306 2182 51.6 10.3 860 11730 0.00 2.28 0.00 0.000 1030 0.000 0.047 2906 1870 2244 2307 2182 0 0 0 0 0 0 28.83 25.92 28.83
12088 0.97 159.5 2906 1870 2306 2182 10.3 12.8 921 12096 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 1870 2244 2306 2182 0 0 0 0 0 0 28.83 28.83 28.83
12147 0.97 159.5 2907 1870 2306 2182 3.4 11.3 930 12156 0.00 2.33 0.00 0.000 516 0.000 0.060 2918 452 2244 2306 2182 0 0 0 0 0 0 28.83 25.79 28.83
12163 end climb: SURFACE_DEPTH_REACHED
state 12163 begin surface coast
12171 end surface coast: CONTROL_FINISHED_OK
state 12171 begin surface