SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 477 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  160 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  3 ESCAPE_HEADING  0 ROLL_MIN  220 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  477 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3792 ALTIM_PING_DEPTH  0
D_SURF  4 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_DIVE  2180 ALTIM_FREQUENCY  12
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  2270 ALTIM_PULSE  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 SM_CC  225 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  0 N_FILEKB  8 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  38 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  39 INT_PRESSURE_YINT  1
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  300 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  2 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0.029999999 DEVICE1  2
T_DIVE  480 UPLOAD_DIVES_MAX  -1 VBD_MIN  490 DEVICE2  20
T_MISSION  540 CALL_TRIES  5 VBD_MAX  3961 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  3046 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  -3 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  1000 T_GPS_CHARGE  -17368.271 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  3 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  120 RAFOS_HIT_WINDOW  3600 AH0_24V  146 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  155 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3934 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2613 PRESSURE_YINT  -22.900637 SEABIRD_T_G  0.0043896637
RHO  1.028 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_H  0.00063842954
MASS  51810 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_T_I  2.5580319e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.7701631e-06
FERRY_MAX  45 PITCH_GAIN  22 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.180033
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1381946
HD_A  0.003 PITCH_AD_RATE  140 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00092952099
HD_B  0.0099999998 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.0001655513
HD_C  9.9999997e-06 PITCH_ADJ_GAIN  0.059999999 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  113430,6405.897,130.160,33,0.9,39,-4.2 TGT_NAME  INSHORE
_CALLS  3 TGT_LATLONG  6300.600,352.100
_XMS_NAKs  4 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.50 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  114644,6406.016,130.090,15,1.3,15,-4.2 MHEAD_RNG_PITCHd_Wd  169.9,170070,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  2190

Post-dive calculations and measurements:
FINISH  2.9,1.007891 _24V_AH  20.9,74.961
SM_CCo  26380,0.00,0.000,0,0,1974,262.96 _10V_AH  10.3,54.499
SM_GC  3.49,7.32,0.00,0.00,0.047,0.000,0.000,142,2171,1974,-7.64,-0.25,262.96 DATA_FILE_SIZE  47496,943
IRIDIUM_FIX  6337.14,123.59,130998,111149 CAP_FILE_SIZE  187115,0
TT8_MAMPS  0.027612 CFSIZE  260165632,214503424
HUMID  1779 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE  9.17414 CURRENT  0.132, 16.7,1
TCM_TEMP  16.60 GPS  190609,190806,6404.668,132.915,34,0.9,40,-4.2
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor32201138.18 SBE_CT66624334.09
Roll_motor15878259.94 SBE_O268119270.54
VBD_pump_during_apogee353139710317.45 WL_BB2F377105829.35
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init80103173.30 nil000.00
Iridium_during_connect134160449.63 nil000.00
Iridium_during_xfer2592231208.88
Transponder_ping04200.00
Mmodem_TX000.00
Mmodem_RX000.00
GPS16508.64
TT8206319420.88
LPSleep214102482.96
TT8_Active53219108.52
TT8_Sampling217739892.74
TT8_CF891945433.96
TT8_Kalman000.00
Analog_circuits168212207.92
GPS_charging000.00
Compass21448176.71
RAFOS000.00
Transponder050.03

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
16 -0.77 -116.7 0.0 0.0 0 24 0.00 0.00 -6.62 0.000 2 0.000 0.000 131 2161 2090
28 -0.77 -116.7 3.5 -0.0 1 123 8.40 2.35 -77.68 0.000 4 0.202 0.059 2367 3576 3522
155 -0.39 -116.7 6.6 -7.7 20 162 0.38 2.17 0.00 0.000 6 0.123 0.031 2483 2167 3523
502 -0.61 -116.7 26.8 -5.3 81 510 0.20 2.30 0.00 0.000 4 0.058 0.045 2391 3588 3524
545 -0.54 -116.7 30.5 -8.3 88 553 0.15 2.17 0.00 0.000 6 0.123 0.032 2436 2191 3524
894 -0.54 -116.7 55.8 -7.3 149 901 0.00 2.25 0.00 0.000 4 0.000 0.043 2436 761 3525
942 -0.54 -116.7 59.5 -7.8 157 950 0.00 2.20 0.00 0.000 6 0.000 0.033 2436 2176 3525
1260 -0.54 -116.7 81.2 -6.7 173 1261 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2176 3526
1568 -0.61 -116.7 102.7 -7.2 188 1571 0.00 2.28 0.00 0.000 4 0.000 0.048 2436 3589 3526
1608 -0.71 -116.7 105.6 -6.8 189 1616 0.15 2.22 0.00 0.000 6 0.061 0.032 2367 2173 3526
1925 -0.49 -116.7 136.7 -10.1 205 1927 0.28 0.00 0.00 0.000 6 0.116 0.000 2455 2171 3526
2234 -0.64 -116.7 156.7 -6.5 220 2235 0.15 0.00 0.00 0.000 6 0.060 0.000 2388 2171 3527
2544 -0.52 -116.7 185.0 -9.6 235 2546 0.17 0.00 0.00 0.000 6 0.117 0.000 2444 2171 3526
2852 -0.63 -116.7 207.7 -7.1 250 2857 0.10 2.33 0.00 0.000 4 0.073 0.048 2392 3597 3526
2904 -0.56 -116.7 212.2 -8.9 252 2909 0.12 2.22 0.00 0.000 6 0.127 0.032 2430 2184 3527
3226 -0.62 -116.7 235.8 -7.2 268 3228 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2184 3527
3534 -0.62 -116.7 257.3 -7.0 283 3535 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2184 3526
3845 -0.62 -116.7 279.6 -7.3 298 3846 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2184 3526
4154 -0.70 -116.7 300.1 -6.0 313 4158 0.12 2.28 0.00 0.000 4 0.067 0.047 2370 759 3526
4183 -0.51 -116.7 302.4 -8.3 314 4188 0.25 2.20 0.00 0.000 6 0.122 0.036 2445 2192 3526
4525 -0.65 -116.7 320.3 -5.0 325 4530 0.12 2.30 0.00 0.000 4 0.067 0.045 2388 764 3526
4555 -0.56 -116.7 322.2 -8.0 326 4560 0.15 2.22 0.00 0.000 6 0.129 0.036 2432 2179 3526
4892 -0.65 -116.7 342.5 -6.2 337 4893 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2179 3526
5198 -0.75 -116.7 362.1 -6.4 347 5200 0.17 0.00 0.00 0.000 6 0.058 0.000 2353 2179 3525
5504 -0.51 -116.7 390.9 -9.7 357 5506 0.30 0.00 0.00 0.000 6 0.117 0.000 2447 2179 3525
5809 -0.67 -116.7 409.1 -5.8 367 5811 0.15 0.00 0.00 0.000 6 0.062 0.000 2381 2179 3524
6115 -0.56 -116.7 434.1 -8.3 377 6117 0.17 0.00 0.00 0.000 6 0.120 0.000 2435 2179 3523
6421 -0.67 -116.7 452.9 -6.1 387 6423 0.12 0.00 0.00 0.000 6 0.071 0.000 2377 2179 3523
6728 -0.54 -116.7 478.2 -8.5 397 6732 0.20 2.33 0.00 0.000 4 0.120 0.052 2444 3580 3521
6761 -0.74 -116.7 480.6 -6.1 398 6766 0.20 2.25 0.00 0.000 6 0.056 0.038 2362 2185 3521
7121 -0.55 -116.7 513.1 -9.2 408 7125 0.20 2.33 0.00 0.000 4 0.123 0.049 2430 765 3520
7184 -0.62 -116.7 517.8 -7.1 409 7188 0.00 2.25 0.00 0.000 6 0.000 0.038 2430 2181 3520
7556 -0.72 -116.7 542.0 -6.5 415 7558 0.15 0.00 0.00 0.000 6 0.064 0.000 2363 2181 3518
7858 -0.54 -116.7 568.8 -8.9 420 7860 0.25 0.00 0.00 0.000 6 0.118 0.000 2442 2181 3517
8163 -0.69 -116.7 586.4 -5.7 425 8165 0.15 0.00 0.00 0.000 6 0.064 0.000 2378 2181 3517
8465 -0.58 -116.7 610.5 -8.0 430 8467 0.17 0.00 0.00 0.000 6 0.120 0.000 2432 2181 3515
8768 -0.70 -116.7 628.7 -6.0 435 8770 0.12 0.00 0.00 0.000 6 0.072 0.000 2376 2181 3515
9072 -0.58 -116.7 653.0 -8.2 440 9073 0.17 0.00 0.00 0.000 6 0.121 0.000 2430 2181 3514
9374 -0.69 -116.7 671.5 -6.0 445 9376 0.12 0.00 0.00 0.000 6 0.070 0.000 2375 2181 3513
9678 -0.57 -116.7 694.6 -7.7 450 9680 0.17 0.00 0.00 0.000 6 0.123 0.000 2429 2181 3513
9980 -0.69 -116.7 712.7 -5.9 455 9982 0.12 0.00 0.00 0.000 6 0.071 0.000 2375 2181 3512
10284 -0.58 -116.7 735.9 -7.8 460 10286 0.17 0.00 0.00 0.000 6 0.123 0.000 2429 2181 3512
10587 -0.69 -116.7 754.0 -5.9 465 10588 0.12 0.00 0.00 0.000 6 0.071 0.000 2375 2181 3511
10890 -0.57 -116.7 778.2 -8.0 470 10892 0.17 0.00 0.00 0.000 6 0.123 0.000 2429 2181 3511
11194 -0.69 -116.7 796.6 -6.0 475 11198 0.12 2.38 0.00 0.000 4 0.071 0.056 2375 3597 3510
11227 -0.61 -116.7 799.2 -7.9 475 11232 0.15 2.30 0.00 0.000 6 0.130 0.038 2419 2173 3510
11554 -0.69 -116.7 819.8 -6.2 481 11558 0.00 2.30 0.00 0.000 4 0.000 0.052 2418 773 3509
11583 -0.69 -116.7 821.7 -6.0 481 11587 0.00 2.28 0.00 0.000 6 0.000 0.043 2419 2186 3509
11922 -0.77 -116.7 842.7 -6.2 487 11924 0.17 0.00 0.00 0.000 6 0.062 0.000 2346 2186 3509
12225 -0.53 -116.7 869.2 -8.9 492 12227 0.30 0.00 0.00 0.000 6 0.123 0.000 2440 2186 3509
12529 -0.71 -116.7 886.1 -5.5 497 12531 0.17 0.00 0.00 0.000 6 0.067 0.000 2367 2186 3508
12832 -0.58 -116.7 910.7 -8.3 502 12833 0.20 0.00 0.00 0.000 6 0.122 0.000 2429 2186 3507
13134 -0.72 -116.7 928.1 -5.6 507 13136 0.15 0.00 0.00 0.000 6 0.067 0.000 2364 2187 3508
13437 -0.57 -116.7 951.7 -8.0 512 13439 0.20 0.00 0.00 0.000 6 0.122 0.000 2426 2187 3507
13741 -0.69 -116.7 969.2 -5.6 517 13743 0.12 0.00 0.00 0.000 6 0.077 0.000 2373 2187 3507
14040 end dive: TARGET_DEPTH_EXCEEDED
state 14041 begin apogee
14048 -0.23 0.0 991.9 7.5 522 14152 0.52 0.00 100.53 1.397 6 0.121 0.000 2539 2282 3046
14152 end apogee: CONTROL_FINISHED_OK
state 14152 begin climb
14156 0.77 116.7 994.0 0.0 523 14286 0.95 2.67 113.35 1.351 4 0.076 0.051 2854 3668 2570
14324 0.43 135.2 991.2 6.1 526 14357 0.40 2.47 20.58 1.186 6 0.131 0.034 2752 2258 2495
14659 0.74 197.8 976.1 4.4 532 14723 0.25 2.45 56.28 1.359 4 0.061 0.048 2856 856 2237
14802 0.64 197.8 964.7 9.0 534 14807 0.15 2.28 0.00 0.000 6 0.127 0.037 2813 2263 2232
15156 0.72 197.8 939.6 7.0 540 15160 0.00 2.30 0.00 0.000 4 0.000 0.051 2813 3687 2230
15213 0.72 197.8 935.1 7.9 540 15217 0.00 2.25 0.00 0.000 6 0.000 0.035 2813 2256 2230
15529 0.81 197.8 912.6 7.1 546 15534 0.17 2.20 0.00 0.000 4 0.061 0.045 2891 867 2229
15619 0.59 197.8 903.7 9.9 547 15624 0.30 2.20 0.00 0.000 6 0.124 0.036 2799 2277 2228
15958 0.76 204.2 881.0 6.6 553 15966 0.17 0.00 5.35 1.025 6 0.064 0.000 2873 2278 2212
16260 0.61 204.2 852.3 9.7 558 16265 0.20 2.30 0.00 0.000 4 0.121 0.054 2805 3683 2212
16305 0.61 204.2 848.5 7.5 558 16310 0.00 2.28 0.00 0.000 6 0.000 0.036 2809 2248 2212
16621 0.72 204.2 826.7 7.0 564 16626 0.10 2.22 0.00 0.000 4 0.078 0.052 2856 867 2211
16711 0.65 204.2 818.9 9.0 565 16716 0.12 2.17 0.00 0.000 6 0.130 0.038 2819 2249 2211
17055 0.73 204.2 794.1 7.0 571 17059 0.00 2.33 0.00 0.000 4 0.000 0.052 2819 3679 2211
17105 0.73 204.2 790.0 7.1 571 17109 0.00 2.28 0.00 0.000 6 0.000 0.037 2821 2239 2211
17420 0.81 204.2 767.9 7.0 577 17425 0.15 2.20 0.00 0.000 4 0.066 0.047 2891 856 2211
17494 0.60 204.2 760.8 9.6 578 17499 0.28 2.20 0.00 0.000 6 0.123 0.038 2806 2259 2211
17854 0.74 204.4 735.5 6.9 584 17856 0.12 0.00 0.00 0.000 6 0.076 0.000 2861 2259 2211
18157 0.65 204.4 708.9 8.8 589 18162 0.15 2.30 0.00 0.000 4 0.124 0.052 2814 3672 2210
18225 0.65 204.6 703.6 6.9 590 18229 0.00 2.25 0.00 0.000 6 0.000 0.038 2814 2248 2210
18591 0.76 208.3 678.7 6.7 596 18601 0.12 2.25 5.00 0.933 4 0.070 0.051 2878 850 2196
18676 0.61 208.3 671.2 8.7 597 18681 0.22 2.20 0.00 0.000 6 0.121 0.036 2810 2259 2196
19019 0.76 221.0 648.7 6.4 603 19040 0.15 2.38 12.88 1.125 4 0.067 0.054 2875 3675 2143
19092 0.55 221.0 641.7 11.7 604 19096 0.28 2.30 0.00 0.000 6 0.124 0.039 2794 2240 2143
19458 0.80 236.9 618.3 6.2 610 19479 0.20 2.25 15.10 1.114 4 0.058 0.048 2891 854 2079
19542 0.66 236.9 610.4 9.6 611 19547 0.22 2.20 0.00 0.000 6 0.120 0.036 2822 2246 2077
19891 0.78 236.9 584.5 7.3 617 19896 0.12 2.35 0.00 0.000 4 0.076 0.051 2877 3677 2076
19992 0.61 236.9 574.1 10.7 618 19997 0.22 2.28 0.00 0.000 6 0.123 0.037 2809 2255 2076
20320 0.81 248.6 552.6 6.4 624 20339 0.17 2.30 11.48 1.057 4 0.060 0.045 2890 861 2031
20386 0.68 248.6 546.5 9.7 625 20390 0.20 2.20 0.00 0.000 6 0.123 0.035 2829 2266 2030
20752 0.80 248.6 519.1 7.4 631 20757 0.12 2.33 0.00 0.000 4 0.071 0.050 2884 3684 2029
20803 0.62 248.6 514.0 9.9 631 20808 0.25 2.30 0.00 0.000 6 0.123 0.035 2808 2237 2029
21114 0.84 261.8 493.8 6.3 637 21134 0.20 2.22 12.73 1.032 4 0.060 0.046 2900 870 1978
21191 0.72 261.8 486.2 10.0 639 21196 0.20 2.15 0.00 0.000 6 0.124 0.034 2840 2265 1975
21521 0.81 261.8 459.9 7.8 650 21523 0.10 0.00 0.00 0.000 6 0.081 0.000 2885 2266 1974
21827 0.73 261.8 429.0 10.2 660 21829 0.15 0.00 0.00 0.000 6 0.123 0.000 2840 2265 1974
22134 0.83 261.8 402.4 8.8 670 22135 0.12 0.00 0.00 0.000 6 0.072 0.000 2895 2265 1973
22439 0.74 261.8 368.1 11.5 680 22441 0.15 0.00 0.00 0.000 6 0.125 0.000 2849 2265 1973
22747 0.80 261.8 338.7 9.3 690 22750 0.00 2.30 0.00 0.000 4 0.000 0.048 2850 3673 1972
22816 0.80 261.8 331.3 11.0 692 22820 0.00 2.28 0.00 0.000 6 0.000 0.037 2851 2252 1973
23151 0.87 261.8 298.4 9.7 703 23156 0.12 2.22 0.00 0.000 4 0.070 0.046 2908 859 1972
23247 0.74 261.8 287.0 14.2 707 23252 0.20 2.20 0.00 0.000 6 0.123 0.035 2847 2261 1972
23564 0.84 261.8 257.9 9.1 722 23566 0.10 0.00 0.00 0.000 6 0.081 0.000 2893 2261 1972
23873 0.74 261.8 224.6 10.5 737 23877 0.15 2.33 0.00 0.000 4 0.123 0.049 2846 3677 1972
23918 0.74 261.8 220.2 9.6 739 23922 0.00 2.30 0.00 0.000 6 0.000 0.036 2848 2234 1971
24252 0.83 261.8 192.4 8.4 755 24256 0.00 2.20 0.00 0.000 4 0.000 0.045 2851 852 1972
24348 0.92 261.8 184.0 7.1 759 24353 0.17 2.17 0.00 0.000 6 0.060 0.034 2928 2243 1972
24670 0.70 261.8 143.5 12.6 775 24675 0.28 2.33 0.00 0.000 4 0.123 0.045 2837 3690 1972
24740 0.78 261.8 136.7 10.1 778 24744 0.00 2.28 0.00 0.000 6 0.000 0.032 2838 2232 1972
25069 0.92 261.8 109.9 8.1 794 25074 0.20 2.17 0.00 0.000 4 0.055 0.042 2931 860 1972
25171 0.72 261.8 97.4 10.9 798 25178 0.30 2.15 0.00 0.000 6 0.122 0.032 2839 2250 1972
25488 0.86 261.8 70.4 8.2 814 25492 0.15 2.33 0.00 0.000 4 0.063 0.047 2908 3676 1973
25552 0.65 261.8 62.6 13.1 817 25557 0.30 2.25 0.00 0.000 6 0.119 0.030 2822 2235 1973
25897 0.90 261.8 36.3 7.2 873 25904 0.20 2.17 0.00 0.000 4 0.054 0.041 2918 856 1973
26038 0.76 261.8 20.9 11.2 897 26046 0.20 2.15 0.00 0.000 6 0.119 0.032 2856 2245 1973
26236 end climb: SURFACE_DEPTH_REACHED
state 26236 begin surface coast
26300 end surface coast: CONTROL_FINISHED_OK
state 26300 begin surface