Parameter values: Sort by alphabetical glider order
ID | 615 | HD_C | 4.3681601e-05 | ROLL_MAX | 3824 | ALTIM_BOTTOM_TURN_MARGIN | 0 |
MISSION | 5 | HEADING | -1 | ROLL_DEG | 40 | ALTIM_TOP_TURN_MARGIN | 0 |
DIVE | 316 | ESCAPE_HEADING | 0 | C_ROLL_DIVE | 2200 | ALTIM_TOP_MIN_OBSTACLE | 1 |
N_DIVES | 0 | ESCAPE_HEADING_DELTA | 10 | C_ROLL_CLIMB | 2140 | ALTIM_PING_DEPTH | 0 |
D_SURF | 3 | FIX_MISSING_TIMEOUT | 0 | HEAD_ERRBAND | 10 | ALTIM_PING_DELTA | 0 |
D_FLARE | 3 | TGT_DEFAULT_LAT | 4743.2002 | ROLL_CNV | 0.028270001 | ALTIM_FREQUENCY | 13 |
D_TGT | 990 | TGT_DEFAULT_LON | -12224.4 | ROLL_TIMEOUT | 15 | ALTIM_PULSE | 5 |
D_ABORT | 1020 | TGT_AUTO_DEFAULT | 0 | R_PORT_OVSHOOT | 36 | ALTIM_SENSITIVITY | 4 |
D_NO_BLEED | 200 | SM_CC | 700 | R_STBD_OVSHOOT | 36 | XPDR_VALID | 2 |
D_BOOST | 110 | N_FILEKB | 4 | ROLL_AD_RATE | 350 | XPDR_INHIBIT | 90 |
T_BOOST | 4 | FILEMGR | 0 | ROLL_MAXERRORS | 1 | INT_PRESSURE_SLOPE | 0.0097660003 |
D_FINISH | 0 | CALL_NDIVES | 1 | ROLL_ADJ_GAIN | 0 | INT_PRESSURE_YINT | 0 |
D_PITCH | 0 | COMM_SEQ | 0 | ROLL_ADJ_DBAND | 0 | DEEPGLIDER | 0 |
D_SAFE | 0 | PROTOCOL | 9 | VBD_MIN | 510 | DEEPGLIDERMB | 0 |
D_CALL | 0 | N_NOCOMM | 1 | VBD_MAX | 3960 | MOTHERBOARD | 4 |
SURFACE_URGENCY | 0 | NOCOMM_ACTION | 161 | C_VBD | 2873 | 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 | 147 |
T_DIVE | 360 | CALL_TRIES | 5 | VBD_TIMEOUT | 720 | DEVICE4 | 133 |
T_MISSION | 390 | CALL_WAIT | 60 | PITCH_VBD_SHIFT | 0.0012300001 | DEVICE5 | -1 |
T_ABORT | 1440 | CAPUPLOAD | 0 | VBD_PUMP_AD_RATE_SURFACE | 5 | DEVICE6 | -1 |
T_TURN | 225 | CAPMAXSIZE | 100000 | VBD_PUMP_AD_RATE_APOGEE | 3 | LOGGERS | 0 |
T_TURN_SAMPINT | -5 | HEAPDBG | 0 | VBD_BLEED_AD_RATE | 8 | LOGGERDEVICE1 | -1 |
T_NO_W | 120 | T_GPS | 5 | 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 | -19710.17 | DBDW | 0 | COMPASS_DEVICE | 33 |
USE_ICE | 0 | T_RSLEEP | 1 | PITCH_W_GAIN | 0 | COMPASS2_DEVICE | -1 |
ICE_FREEZE_MARGIN | 0.30000001 | STROBE | 0 | PITCH_W_DBAND | 0 | PHONE_DEVICE | 49 |
D_OFFGRID | 1000 | RAFOS_PEAK_OFFSET | 0 | CF8_MAXERRORS | 20 | GPS_DEVICE | 48 |
T_WATCHDOG | 10 | RAFOS_CORR_THRESH | 60 | AH0_24V | 350 | RAFOS_DEVICE | -1 |
RELAUNCH | 1 | RAFOS_HIT_WINDOW | 3600 | AH0_10V | 0 | XPDR_DEVICE | 24 |
APOGEE_PITCH | -5 | PITCH_MIN | 191 | MINV_24V | 11.5 | SIM_W | 0 |
MAX_BUOY | 130 | PITCH_MAX | 3898 | MINV_10V | 10.5 | SIM_PITCH | 0 |
COURSE_BIAS | 0 | C_PITCH | 2960 | FG_AHR_10V | 0 | SEABIRD_T_G | 0.0044134618 |
GLIDE_SLOPE | 30 | PITCH_DBAND | 0.1 | FG_AHR_24V | 0 | SEABIRD_T_H | 0.00064964173 |
SPEED_FACTOR | 1 | PITCH_CNV | 0.003125763 | PHONE_SUPPLY | 2 | SEABIRD_T_I | 2.6219326e-05 |
RHO | 1.0275 | P_OVSHOOT | 0.079999998 | PRESSURE_YINT | -156.51088 | SEABIRD_T_J | 3.1475095e-06 |
MASS | 54445 | PITCH_GAIN | 32 | PRESSURE_SLOPE | 0.00013730999 | SEABIRD_C_G | -9.8766012 |
MASS_COMP | 0 | PITCH_TIMEOUT | 18 | AD7714Ch0Gain | 32 | SEABIRD_C_H | 1.1351171 |
NAV_MODE | 2 | PITCH_AD_RATE | 175 | TCM_PITCH_OFFSET | 0 | SEABIRD_C_I | -0.0017266128 |
FERRY_MAX | 45 | PITCH_MAXERRORS | 1 | TCM_ROLL_OFFSET | 0 | SEABIRD_C_J | 0.00019839592 |
KALMAN_USE | 2 | PITCH_ADJ_GAIN | 0 | COMPASS_USE | 4 | ||
HD_A | 0.0035031899 | PITCH_ADJ_DBAND | 0 | ALTIM_BOTTOM_PING_RANGE | 0 | ||
HD_B | 0.0146577 | ROLL_MIN | 192 | ALTIM_TOP_PING_RANGE | 0 |
Pre-dive calculations and measurements:
GPS1 |   061115,141313,1802.525,8922.228,58,34.2,78,-0.9 | TGT_NAME |   NW |
_CALLS |   3 | TGT_LATLONG |   1806.660,8921.600 |
_XMS_NAKs |   0 | TGT_RADIUS |   3000.000 |
_XMS_TOUTs |   0 | KALMAN_CONTROL |   0.000,0.000 |
_SM_DEPTHo |   1.36 | KALMAN_X |   0.0,0.0,0.0,0.0,0.0 |
_SM_ANGLEo |   -71.4 | KALMAN_Y |   0.0,0.0,0.0,0.0,0.0 |
GPS2 |   061115,142902,1802.535,8922.193,24,1.6,32,-0.9 | MHEAD_RNG_PITCHd_Wd |   337.6,7711,-21.4,-9.167,-25.88,2022 |
SPEED_LIMITS |   0.159,0.189 | D_GRID |   990 |
Post-dive calculations and measurements:
FINISH |   0.3,1.008670 | _10V_AH |   11.2,0.000 |
SM_CCo |   17495,0.43,0.315,0,0,508,579.63 | FG_AHR_24Vo |   0.000 |
SM_GC |   3.65,9.07,0.05,0.43,0.069,0.240,0.315,191,2209,508,-8.57,-1.36,579.63,0,0,0,0,0,0,14.60,14.62,14.45 | FG_AHR_10Vo |   0.000 |
IRIDIUM_FIX |   1756.43,8923.72,020908,030303 | MEM |   322212 |
TT8_MAMPS |   0.018725,0.018725 | DATA_FILE_SIZE |   137465,1704 |
HUMID |   48.03 | CAP_FILE_SIZE |   192362,0 |
INTERNAL_PRESSURE |   6.67018 | CFSIZE |   2097086464,2042658816 |
TCM_TEMP |   24.20 | ERRORS |   0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 |
XPDR_PINGS |   0 | CURRENT |   0.050,116.2,1 |
_24V_AH |   13.0,115.660 | GPS |   061115,192233,1803.912,8921.932,51,1.2,51,-0.9 |
Energy measurements:
device | secs | mA | J | sensor | secs | mA | J |
Pitch_motor | 22 | 341 | 101.69 | SBE_CT | 920 | 23 | 286.76 |
Roll_motor | 194 | 240 | 608.70 | QSP2150 | 609 | 9 | 77.22 |
VBD_pump_during_apogee | 513 | 2277 | 15205.04 | WL_BBFL2 | 1612 | 51 | 1083.51 |
VBD_pump_during_surface | 10 | 315 | 42.31 | AA4831_2 | 984 | 21 | 278.06 |
VBD_valve | 0 | 0 | 0.00 | nil | 0 | 0 | 0.00 |
Iridium_during_init | 90 | 29 | 35.24 | nil | 0 | 0 | 0.00 |
Iridium_during_connect | 137 | 160 | 286.18 | nil | 0 | 0 | 0.00 |
Iridium_during_xfer | 398 | 223 | 1155.36 | nil | 0 | 0 | 0.00 |
Transponder_ping | 0 | 420 | 0.00 | nil | 0 | 0 | 0.00 |
GUMSTIX_24V | 0 | 0 | 0.00 | ||||
GPS | 33 | 22 | 8.45 | ||||
TT8 | 3415 | 10 | 392.83 | ||||
LPSleep | 10369 | 2 | 254.33 | ||||
TT8_Active | 673 | 10 | 77.49 | ||||
TT8_Sampling | 3728 | 31 | 1335.82 | ||||
TT8_CF8 | 245 | 37 | 104.60 | ||||
TT8_Kalman | 0 | 0 | 0.00 | ||||
Analog_circuits | 2125 | 15 | 361.81 | ||||
GPS_charging | 0 | 0 | 0.00 | ||||
Compass | 2515 | 17 | 485.43 | ||||
RAFOS | 0 | 0 | 0.00 | ||||
Transponder | 0 | 5 | 0.03 | ||||
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 | -0.82 | -126.5 | 158 | 2196 | 546 | 499 | 0.0 | 0.0 | 0 | 62 | 0.00 | 0.00 | -44.45 | 0.000 | 16386 | 0.000 | 0.000 | 157 | 2195 | 1766 | 1759 | 1773 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
64 | -0.82 | -126.5 | 157 | 2196 | 1759 | 1773 | 3.4 | -8.0 | 7 | 117 | 10.82 | 2.33 | -33.80 | 0.000 | 18692 | 0.342 | 0.074 | 2663 | 3611 | 3390 | 3401 | 3380 | 0 | 0 | 0 | 0 | 0 | 0 | 14.14 | 14.54 | 14.79 |
210 | -0.82 | -126.5 | 2662 | 3611 | 3401 | 3380 | 51.8 | -29.6 | 33 | 219 | 0.08 | 2.28 | 0.00 | 0.000 | 3078 | 0.293 | 0.038 | 2675 | 2180 | 3389 | 3400 | 3379 | 0 | 0 | 0 | 0 | 0 | 0 | 14.38 | 14.62 | 28.83 |
403 | -0.82 | -126.5 | 2675 | 2179 | 3401 | 3379 | 95.0 | -19.8 | 70 | 410 | 0.00 | 2.28 | 0.00 | 0.000 | 516 | 0.000 | 0.056 | 2675 | 813 | 3390 | 3401 | 3379 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.47 | 28.83 |
508 | -0.82 | -126.5 | 2675 | 813 | 3401 | 3379 | 113.0 | -16.4 | 90 | 515 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.041 | 2667 | 2210 | 3390 | 3401 | 3379 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.54 | 28.83 |
698 | -0.82 | -126.5 | 1672 | 2208 | 3386 | 3378 | 141.1 | -14.9 | 127 | 703 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2666 | 2210 | 3390 | 3401 | 3380 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
887 | -0.82 | -126.5 | 2666 | 2210 | 3401 | 3380 | 169.8 | -14.7 | 164 | 894 | 0.00 | 2.33 | 0.00 | 0.000 | 260 | 0.000 | 0.060 | 2656 | 3598 | 3390 | 3401 | 3380 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.54 | 28.83 |
961 | -0.82 | -126.5 | 2656 | 3598 | 3402 | 3380 | 180.1 | -14.3 | 178 | 970 | 0.08 | 2.28 | 0.00 | 0.000 | 3078 | 0.217 | 0.036 | 2686 | 2187 | 3391 | 3402 | 3380 | 0 | 0 | 0 | 0 | 0 | 0 | 14.39 | 14.59 | 28.83 |
1158 | -0.82 | -126.5 | 2686 | 2186 | 3401 | 3380 | 207.4 | -14.0 | 211 | 1167 | 0.00 | 2.22 | 0.00 | 0.000 | 516 | 0.000 | 0.061 | 2686 | 814 | 3390 | 3401 | 3379 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.62 | 28.83 |
1203 | -0.82 | -126.5 | 2686 | 815 | 3401 | 3379 | 214.0 | -13.9 | 220 | 1211 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.047 | 2678 | 2196 | 3390 | 3401 | 3379 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.50 | 28.83 |
1511 | -0.82 | -126.5 | 2679 | 2196 | 3401 | 3376 | 257.1 | -14.7 | 251 | 1521 | 0.00 | 2.28 | 0.00 | 0.000 | 260 | 0.000 | 0.067 | 2668 | 3597 | 3388 | 3401 | 3376 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.45 | 28.83 |
1534 | -0.82 | -126.5 | 2667 | 3597 | 3401 | 3376 | 260.5 | -14.7 | 255 | 1544 | 0.00 | 2.20 | 0.00 | 0.000 | 1030 | 0.000 | 0.040 | 2668 | 2202 | 3388 | 3401 | 3376 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.73 | 28.83 |
1844 | -0.82 | -126.5 | 2667 | 2202 | 3401 | 3372 | 304.8 | -14.1 | 287 | 1854 | 0.00 | 2.28 | 0.00 | 0.000 | 516 | 0.000 | 0.060 | 2668 | 803 | 3386 | 3401 | 3372 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.64 | 28.83 |
1899 | -0.82 | -126.5 | 2668 | 802 | 3401 | 3372 | 313.5 | -15.2 | 298 | 1908 | 0.05 | 2.30 | 0.00 | 0.000 | 3078 | 0.230 | 0.050 | 2673 | 2192 | 3386 | 3401 | 3372 | 0 | 0 | 0 | 0 | 0 | 0 | 14.29 | 14.50 | 28.83 |
2217 | -0.82 | -126.5 | 2674 | 2191 | 3401 | 3367 | 358.9 | -14.3 | 327 | 2218 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2673 | 2191 | 3384 | 3401 | 3367 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
2517 | -0.82 | -126.5 | 2673 | 2192 | 3401 | 3361 | 403.5 | -14.8 | 342 | 2523 | 0.00 | 2.28 | 0.00 | 0.000 | 516 | 0.000 | 0.063 | 2674 | 803 | 3381 | 3401 | 3361 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.65 | 28.83 |
2560 | -0.82 | -126.5 | 2674 | 803 | 3401 | 3361 | 410.4 | -15.1 | 351 | 2564 | 0.00 | 2.30 | 0.00 | 0.000 | 1030 | 0.000 | 0.051 | 2667 | 2198 | 3381 | 3401 | 3362 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.62 | 28.83 |
2879 | -0.82 | -126.5 | 2667 | 2198 | 3400 | 3355 | 457.4 | -14.8 | 369 | 2884 | 0.00 | 2.25 | 0.00 | 0.000 | 516 | 0.000 | 0.063 | 2667 | 816 | 3377 | 3400 | 3355 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.61 | 28.83 |
2910 | -0.82 | -126.5 | 2667 | 816 | 3400 | 3355 | 462.8 | -15.5 | 376 | 2919 | 0.05 | 2.30 | 0.00 | 0.000 | 3078 | 0.235 | 0.052 | 2673 | 2193 | 3377 | 3400 | 3355 | 0 | 0 | 0 | 0 | 0 | 0 | 14.28 | 14.50 | 28.83 |
3237 | -0.82 | -126.5 | 2673 | 2193 | 3400 | 3351 | 508.8 | -14.1 | 392 | 3243 | 0.00 | 2.28 | 0.00 | 0.000 | 516 | 0.000 | 0.064 | 2673 | 808 | 3375 | 3400 | 3351 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.64 | 28.83 |
3276 | -0.82 | -126.5 | 2673 | 807 | 3399 | 3351 | 514.7 | -14.2 | 400 | 3280 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.053 | 2667 | 2210 | 3375 | 3399 | 3351 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.69 | 28.83 |
3593 | -0.82 | -126.5 | 2667 | 2210 | 3397 | 3347 | 560.2 | -14.6 | 413 | 3599 | 0.00 | 2.28 | 0.00 | 0.000 | 516 | 0.000 | 0.064 | 2667 | 814 | 3372 | 3397 | 3347 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.59 | 28.83 |
3615 | -0.82 | -126.5 | 2667 | 814 | 3398 | 3347 | 564.1 | -15.8 | 418 | 3624 | 0.05 | 2.33 | 0.00 | 0.000 | 3078 | 0.239 | 0.054 | 2673 | 2201 | 3372 | 3397 | 3347 | 0 | 0 | 0 | 0 | 0 | 0 | 14.30 | 14.50 | 28.83 |
3923 | -0.82 | -126.5 | 2673 | 2201 | 3396 | 3345 | 606.3 | -13.7 | 429 | 3929 | 0.00 | 2.30 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 2672 | 807 | 3370 | 3396 | 3344 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.59 | 28.83 |
3945 | -0.82 | -126.5 | 2673 | 807 | 3395 | 3345 | 609.8 | -14.3 | 434 | 3953 | 0.00 | 2.33 | 0.00 | 0.000 | 1030 | 0.000 | 0.054 | 2668 | 2191 | 3369 | 3395 | 3344 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.50 | 28.83 |
4253 | -0.82 | -126.5 | 2666 | 2190 | 3394 | 3343 | 652.6 | -14.3 | 445 | 4259 | 0.00 | 2.28 | 0.00 | 0.000 | 516 | 0.000 | 0.066 | 2668 | 811 | 3367 | 3393 | 3342 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.63 | 28.83 |
4291 | -0.82 | -126.5 | 2668 | 812 | 3393 | 3342 | 658.3 | -13.9 | 453 | 4296 | 0.10 | 2.28 | 0.00 | 0.000 | 3078 | 0.284 | 0.054 | 2679 | 2213 | 3368 | 3394 | 3343 | 0 | 0 | 0 | 0 | 0 | 0 | 14.42 | 14.68 | 28.83 |
4608 | -0.82 | -126.5 | 2679 | 2212 | 3391 | 3340 | 699.9 | -13.2 | 466 | 4614 | 0.00 | 2.33 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 2679 | 806 | 3365 | 3391 | 3340 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.62 | 28.83 |
4661 | -0.82 | -126.5 | 2679 | 806 | 3390 | 3340 | 707.3 | -12.7 | 477 | 4668 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.053 | 2678 | 2201 | 3365 | 3391 | 3340 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.68 | 28.83 |
4968 | -0.82 | -126.5 | 2678 | 2201 | 3390 | 3338 | 746.4 | -12.7 | 488 | 4969 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2678 | 2202 | 3363 | 3390 | 3337 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
5268 | -0.82 | -126.5 | 2678 | 2202 | 3389 | 3336 | 784.3 | -12.6 | 498 | 5272 | 0.00 | 2.33 | 0.00 | 0.000 | 516 | 0.000 | 0.070 | 2678 | 809 | 3362 | 3389 | 3336 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.60 | 28.83 |
5318 | -0.82 | -126.5 | 2678 | 810 | 3389 | 3337 | 790.8 | -12.5 | 508 | 5322 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.054 | 2678 | 2203 | 3362 | 3389 | 3336 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.66 | 28.83 |
5626 | -0.82 | -126.5 | 2678 | 2204 | 3388 | 3336 | 828.5 | -12.6 | 519 | 5632 | 0.00 | 2.30 | 0.00 | 0.000 | 516 | 0.000 | 0.069 | 2677 | 820 | 3362 | 3388 | 3336 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.54 | 28.83 |
5677 | -0.82 | -126.5 | 2678 | 820 | 3387 | 3335 | 835.7 | -12.6 | 530 | 5685 | 0.00 | 2.33 | 0.00 | 0.000 | 1030 | 0.000 | 0.054 | 2678 | 2194 | 3361 | 3387 | 3336 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.43 | 28.83 |
5985 | -0.82 | -126.5 | 2678 | 2195 | 3386 | 3334 | 875.0 | -13.0 | 541 | 5987 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2678 | 2195 | 3359 | 3385 | 3334 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
6285 | -0.82 | -126.5 | 2678 | 2195 | 3385 | 3333 | 913.8 | -12.8 | 551 | 6291 | 0.00 | 2.30 | 0.00 | 0.000 | 516 | 0.000 | 0.070 | 2678 | 813 | 3358 | 3385 | 3332 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.57 | 28.83 |
6337 | -0.82 | -126.5 | 2678 | 813 | 3384 | 3333 | 920.9 | -13.0 | 562 | 6346 | 0.00 | 2.35 | 0.00 | 0.000 | 1030 | 0.000 | 0.055 | 2678 | 2197 | 3358 | 3384 | 3333 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.41 | 28.83 |
6645 | -0.82 | -126.5 | 2678 | 2197 | 3383 | 3332 | 958.4 | -12.2 | 573 | 6651 | 0.00 | 2.40 | 0.00 | 0.000 | 260 | 0.000 | 0.077 | 2678 | 3608 | 3357 | 3383 | 3331 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.57 | 28.83 |
6667 | -0.82 | -126.5 | 2678 | 3608 | 3383 | 3332 | 961.4 | -12.6 | 578 | 6675 | 0.00 | 2.35 | 0.00 | 0.000 | 1030 | 0.000 | 0.044 | 2678 | 2211 | 3357 | 3383 | 3331 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.45 | 28.83 |
6913 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||||
state | 6913 | begin apogee | |||||||||||||||||||||||||||||
6918 | -0.16 | 0.0 | 2678 | 2132 | 3383 | 3330 | 990.2 | -11.6 | 587 | 7036 | 0.82 | 0.00 | 107.30 | 2.238 | 10246 | 0.295 | 0.000 | 2883 | 2130 | 2865 | 2914 | 2816 | 0 | 0 | 0 | 0 | 0 | 0 | 13.96 | 28.83 | 13.09 |
7038 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||||
state | 7038 | begin climb | |||||||||||||||||||||||||||||
7039 | 0.82 | 126.5 | 2883 | 2130 | 2914 | 2814 | 994.4 | 0.0 | 611 | 7160 | 1.05 | 2.58 | 110.12 | 2.277 | 10500 | 0.164 | 0.073 | 3203 | 3544 | 2348 | 2406 | 2291 | 0 | 0 | 0 | 0 | 0 | 0 | 14.07 | 13.88 | 12.97 |
7272 | 0.82 | 126.5 | 3204 | 3544 | 2403 | 2285 | 977.7 | 11.5 | 658 | 7279 | 0.00 | 2.40 | 0.00 | 0.000 | 1030 | 0.000 | 0.045 | 3215 | 2145 | 2344 | 2403 | 2285 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.21 | 28.83 |
7579 | 0.82 | 126.5 | 3215 | 2144 | 2402 | 2283 | 945.1 | 10.5 | 669 | 7585 | 0.00 | 2.38 | 0.00 | 0.000 | 516 | 0.000 | 0.069 | 3226 | 733 | 2343 | 2402 | 2284 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.50 | 28.83 |
7708 | 0.82 | 126.5 | 3226 | 733 | 2402 | 2284 | 931.7 | 9.8 | 695 | 7713 | 0.00 | 2.33 | 0.00 | 0.000 | 1030 | 0.000 | 0.049 | 3226 | 2154 | 2343 | 2402 | 2284 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.59 | 28.83 |
8025 | 0.82 | 126.5 | 3226 | 2154 | 2398 | 2283 | 899.8 | 10.3 | 708 | 8031 | 0.00 | 2.38 | 0.00 | 0.000 | 516 | 0.000 | 0.068 | 3237 | 736 | 2340 | 2398 | 2283 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.57 | 28.83 |
8078 | 0.82 | 126.5 | 3237 | 736 | 2399 | 2284 | 894.1 | 10.5 | 719 | 8085 | 0.00 | 2.30 | 0.00 | 0.000 | 1030 | 0.000 | 0.049 | 3237 | 2147 | 2340 | 2397 | 2283 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.64 | 28.83 |
8385 | 0.82 | 126.5 | 3237 | 2147 | 2397 | 2283 | 862.7 | 10.3 | 730 | 8391 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 3247 | 736 | 2340 | 2398 | 2283 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.58 | 28.83 |
8448 | 0.82 | 126.5 | 3247 | 736 | 2397 | 2283 | 855.5 | 10.8 | 743 | 8452 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.049 | 3247 | 2140 | 2340 | 2397 | 2283 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.65 | 28.83 |
8775 | 0.82 | 126.5 | 3247 | 2140 | 2396 | 2282 | 820.5 | 10.8 | 758 | 8781 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.068 | 3257 | 733 | 2339 | 2396 | 2282 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.59 | 28.83 |
8828 | 0.82 | 126.5 | 3257 | 733 | 2396 | 2282 | 814.5 | 11.3 | 769 | 8835 | 0.08 | 2.30 | 0.00 | 0.000 | 5126 | 0.291 | 0.048 | 3244 | 2146 | 2339 | 2396 | 2282 | 0 | 0 | 0 | 0 | 0 | 0 | 14.45 | 14.66 | 28.83 |
9135 | 0.82 | 126.5 | 3243 | 2146 | 2395 | 2281 | 781.7 | 10.5 | 780 | 9141 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 3253 | 736 | 2337 | 2395 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.59 | 28.83 |
9183 | 0.82 | 126.5 | 3254 | 736 | 2395 | 2281 | 776.3 | 10.8 | 790 | 9187 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.048 | 3254 | 2142 | 2338 | 2395 | 2281 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.66 | 28.83 |
9495 | 0.82 | 126.5 | 3254 | 2142 | 2395 | 2281 | 742.0 | 11.4 | 802 | 9496 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 3253 | 2142 | 2337 | 2394 | 2281 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
9795 | 0.82 | 126.5 | 3254 | 2142 | 2394 | 2280 | 708.7 | 10.9 | 812 | 9799 | 0.00 | 2.38 | 0.00 | 0.000 | 260 | 0.000 | 0.070 | 3254 | 3548 | 2337 | 2394 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.61 | 28.83 |
9819 | 0.82 | 126.5 | 3254 | 3548 | 2394 | 2280 | 705.8 | 11.2 | 817 | 9828 | 0.10 | 2.30 | 0.00 | 0.000 | 5126 | 0.320 | 0.044 | 3245 | 2132 | 2337 | 2394 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 14.33 | 14.69 | 28.83 |
10126 | 0.82 | 126.5 | 3245 | 2132 | 2394 | 2280 | 676.1 | 9.3 | 828 | 10130 | 0.00 | 2.30 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 3255 | 742 | 2337 | 2394 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.52 | 28.83 |
10181 | 0.82 | 126.5 | 3255 | 741 | 2393 | 2280 | 670.9 | 9.3 | 839 | 10189 | 0.08 | 2.28 | 0.00 | 0.000 | 5126 | 0.303 | 0.048 | 3242 | 2140 | 2337 | 2394 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 14.42 | 14.66 | 28.83 |
10487 | 0.82 | 126.5 | 3243 | 2140 | 2394 | 2279 | 643.1 | 9.3 | 850 | 10493 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 3252 | 734 | 2337 | 2394 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.56 | 28.83 |
10548 | 0.82 | 126.5 | 3252 | 735 | 2393 | 2279 | 637.4 | 9.5 | 862 | 10554 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.047 | 3252 | 2139 | 2337 | 2394 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.65 | 28.83 |
10878 | 0.82 | 126.5 | 3252 | 2140 | 2393 | 2279 | 606.9 | 9.5 | 878 | 10884 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.068 | 3262 | 735 | 2336 | 2394 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.55 | 28.83 |
11001 | 0.82 | 126.5 | 3262 | 734 | 2394 | 2280 | 594.5 | 9.6 | 903 | 11006 | 0.10 | 2.28 | 0.00 | 0.000 | 5126 | 0.272 | 0.048 | 3241 | 2140 | 2336 | 2393 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 14.37 | 14.64 | 28.83 |
11325 | 0.83 | 129.3 | 3241 | 2140 | 2393 | 2280 | 565.1 | 9.0 | 917 | 11326 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 3241 | 2140 | 2336 | 2393 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
11625 | 0.84 | 137.8 | 3241 | 2140 | 2393 | 2279 | 538.1 | 8.7 | 927 | 11636 | 0.00 | 2.40 | 3.72 | 1.126 | 8708 | 0.000 | 0.068 | 3251 | 736 | 2316 | 2374 | 2259 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.67 | 13.32 |
11656 | 0.84 | 137.8 | 3251 | 736 | 2383 | 2269 | 534.9 | 9.5 | 934 | 11663 | 0.00 | 2.30 | 2.08 | 0.293 | 9222 | 0.000 | 0.049 | 3251 | 2129 | 2310 | 2368 | 2252 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.60 | 13.02 |
11981 | 0.84 | 141.9 | 3251 | 2129 | 2383 | 2268 | 505.4 | 9.0 | 948 | 11998 | 0.00 | 2.38 | 9.52 | 1.574 | 8708 | 0.000 | 0.069 | 3261 | 739 | 2286 | 2344 | 2229 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.68 | 13.64 |
12028 | 0.84 | 141.9 | 3260 | 739 | 2343 | 2229 | 500.8 | 9.5 | 958 | 12032 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.049 | 3261 | 2139 | 2286 | 2343 | 2229 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.66 | 28.83 |
12341 | 0.84 | 141.9 | 3261 | 2139 | 2343 | 2228 | 468.9 | 10.3 | 975 | 12342 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 3261 | 2140 | 2285 | 2343 | 2228 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
12641 | 0.84 | 141.9 | 3261 | 2140 | 2343 | 2228 | 438.3 | 10.3 | 990 | 12647 | 0.00 | 2.33 | 0.00 | 0.000 | 516 | 0.000 | 0.068 | 3270 | 740 | 2285 | 2343 | 2228 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.49 | 28.83 |
12809 | 0.84 | 141.9 | 3271 | 740 | 2342 | 2228 | 420.6 | 10.1 | 1024 | 12814 | 0.10 | 2.28 | 0.00 | 0.000 | 5126 | 0.285 | 0.048 | 3249 | 2140 | 2284 | 2341 | 2228 | 0 | 0 | 0 | 0 | 0 | 0 | 14.34 | 14.62 | 28.83 |
13117 | 0.84 | 142.2 | 3249 | 2140 | 2343 | 2228 | 392.5 | 9.1 | 1040 | 13118 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 3249 | 2140 | 2285 | 2343 | 2228 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
13418 | 0.85 | 144.6 | 3249 | 2140 | 2342 | 2228 | 365.1 | 9.0 | 1055 | 13423 | 0.00 | 2.33 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 3259 | 733 | 2285 | 2343 | 2228 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.47 | 28.83 |
13465 | 0.85 | 144.6 | 3260 | 733 | 2342 | 2228 | 360.3 | 9.5 | 1065 | 13469 | 0.00 | 2.30 | 0.00 | 0.000 | 1030 | 0.000 | 0.048 | 3259 | 2147 | 2285 | 2343 | 2228 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.62 | 28.83 |
13773 | 0.85 | 144.6 | 3260 | 2147 | 2343 | 2228 | 329.9 | 10.0 | 1091 | 13783 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 3269 | 735 | 2285 | 2343 | 2228 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.26 | 28.83 |
13828 | 0.85 | 144.6 | 3270 | 735 | 2342 | 2228 | 324.1 | 9.9 | 1102 | 13837 | 0.08 | 2.35 | 0.00 | 0.000 | 5126 | 0.240 | 0.047 | 3249 | 2141 | 2285 | 2343 | 2228 | 0 | 0 | 0 | 0 | 0 | 0 | 14.12 | 14.39 | 28.83 |
14137 | 0.85 | 146.2 | 3249 | 2141 | 2343 | 2228 | 295.8 | 9.1 | 1133 | 14146 | 0.00 | 2.33 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 3258 | 745 | 2285 | 2343 | 2228 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.28 | 28.83 |
14251 | 0.85 | 146.2 | 3258 | 744 | 2343 | 2229 | 284.8 | 9.4 | 1155 | 14261 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.047 | 3258 | 2138 | 2285 | 2342 | 2228 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.45 | 28.83 |
14561 | 0.85 | 146.2 | 3258 | 2137 | 2343 | 2228 | 255.9 | 9.2 | 1187 | 14571 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 3268 | 736 | 2285 | 2343 | 2228 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.49 | 28.83 |
14687 | 0.86 | 154.9 | 3269 | 736 | 2344 | 2228 | 244.5 | 8.7 | 1211 | 14708 | 0.05 | 2.28 | 12.27 | 1.295 | 13318 | 0.246 | 0.047 | 3254 | 2147 | 2235 | 2293 | 2177 | 0 | 0 | 0 | 0 | 0 | 0 | 14.06 | 14.39 | 13.80 |
15006 | 0.87 | 166.8 | 3254 | 2147 | 2288 | 2174 | 216.6 | 8.6 | 1245 | 15026 | 0.00 | 2.30 | 10.65 | 1.257 | 8452 | 0.000 | 0.066 | 3254 | 3539 | 2183 | 2243 | 2123 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.52 | 13.81 |
15123 | 0.87 | 166.8 | 3254 | 3538 | 2242 | 2122 | 204.3 | 11.1 | 1267 | 15133 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.044 | 3264 | 2145 | 2181 | 2242 | 2121 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.54 | 28.83 |
15434 | 0.90 | 188.1 | 3263 | 2145 | 2242 | 2122 | 175.2 | 8.1 | 1326 | 15460 | 0.00 | 2.38 | 17.73 | 1.222 | 8708 | 0.000 | 0.067 | 3274 | 728 | 2096 | 2158 | 2034 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.56 | 13.84 |
15522 | 0.90 | 188.1 | 3274 | 728 | 2155 | 2032 | 166.5 | 10.4 | 1342 | 15530 | 0.00 | 2.38 | 0.00 | 0.000 | 1030 | 0.000 | 0.047 | 3274 | 2157 | 2094 | 2155 | 2033 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.50 | 28.83 |
15714 | 0.94 | 220.3 | 3274 | 2158 | 2155 | 2032 | 147.9 | 7.5 | 1379 | 15746 | 0.00 | 2.40 | 25.92 | 1.193 | 8452 | 0.000 | 0.067 | 3274 | 3546 | 1965 | 2029 | 1901 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.50 | 13.81 |
15775 | 0.94 | 220.3 | 3274 | 3548 | 2025 | 1897 | 142.4 | 10.3 | 1389 | 15782 | 0.00 | 2.30 | 0.00 | 0.000 | 1030 | 0.000 | 0.041 | 3284 | 2133 | 1960 | 2024 | 1897 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.50 | 28.83 |
15968 | 0.95 | 227.4 | 3284 | 2133 | 2023 | 1895 | 122.8 | 8.8 | 1426 | 15976 | 0.00 | 2.40 | 1.85 | 0.171 | 8452 | 0.000 | 0.061 | 3284 | 3554 | 1948 | 2010 | 1887 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.49 | 14.22 |
15983 | 0.95 | 230.6 | 3285 | 3554 | 2014 | 1894 | 121.4 | 9.0 | 1428 | 15991 | 0.00 | 2.35 | 3.35 | 0.925 | 9222 | 0.000 | 0.040 | 3294 | 2146 | 1932 | 1995 | 1870 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.48 | 13.35 |
16175 | 1.01 | 280.5 | 3294 | 2146 | 2011 | 1887 | 108.0 | 6.6 | 1465 | 16220 | 0.00 | 2.40 | 34.80 | 0.518 | 8452 | 0.000 | 0.063 | 3294 | 3547 | 1737 | 1797 | 1677 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.44 | 14.04 |
16414 | 1.01 | 280.5 | 3295 | 3547 | 1800 | 1681 | 85.4 | 9.6 | 1510 | 16422 | 0.00 | 2.35 | 1.55 | 0.186 | 9222 | 0.000 | 0.041 | 3305 | 2142 | 1728 | 1789 | 1668 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.48 | 14.34 |
16607 | 1.15 | 390.0 | 3305 | 2142 | 1800 | 1678 | 74.2 | 3.6 | 1547 | 16683 | 0.00 | 2.42 | 66.10 | 0.389 | 8452 | 0.000 | 0.063 | 3305 | 3550 | 1290 | 1340 | 1240 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.33 | 14.12 |
16807 | 1.16 | 402.9 | 3305 | 3549 | 1341 | 1241 | 53.5 | 8.5 | 1583 | 16821 | 0.00 | 2.30 | 8.93 | 0.286 | 9222 | 0.000 | 0.041 | 3315 | 2135 | 1229 | 1282 | 1177 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.54 | 14.11 |
17005 | 1.31 | 521.5 | 3315 | 2134 | 1294 | 1189 | 42.5 | 3.1 | 1621 | 17083 | 0.12 | 2.35 | 70.40 | 0.266 | 10756 | 0.149 | 0.065 | 3380 | 730 | 751 | 811 | 691 | 0 | 0 | 0 | 0 | 0 | 0 | 14.50 | 14.45 | 14.21 |
17166 | 1.31 | 521.5 | 3380 | 730 | 814 | 697 | 29.0 | 10.6 | 1649 | 17174 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.042 | 3380 | 2146 | 755 | 814 | 696 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.53 | 28.83 |
17357 | 1.35 | 555.1 | 3380 | 2146 | 814 | 693 | 9.0 | 7.5 | 1686 | 17384 | 0.00 | 2.40 | 20.83 | 0.155 | 8708 | 0.000 | 0.062 | 3390 | 740 | 610 | 675 | 545 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.48 | 14.35 |
17406 | 1.36 | 564.6 | 3391 | 740 | 681 | 552 | 5.1 | 8.7 | 1694 | 17420 | 0.00 | 2.33 | 6.45 | 0.145 | 9222 | 0.000 | 0.041 | 3391 | 2145 | 570 | 635 | 506 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.46 | 14.38 |
17431 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||||
state | 17431 | begin surface coast | |||||||||||||||||||||||||||||
17462 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||||
state | 17462 | begin surface |