Glider dive log

PN07 DabobBay 26Sep07 * SG116 * Dive index * Mission links * Dive 50 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HD_B 0.0099999998 PITCH_AD_RATE 140 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 50 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 155 ALTIM_PING_DEPTH 90

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1000 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2510 ALTIM_PULSE 2

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 20 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 640 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3893 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3281 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -30090.055 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 10 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 132 AH0_24V 91.800003 SEABIRD_T_G 0.0043755369

SPEED_FACTOR 1 PITCH_MAX 3449 AH0_10V 61.200001 SEABIRD_T_H 0.00063954171

RHO 1.023 C_PITCH 2905 PRESSURE_YINT 0 SEABIRD_T_I 2.7100008e-05

MASS 51361 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_J 3.135212e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8677502

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1239791

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015851235

HD_A 0.003 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021129416

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 12 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3449 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 132 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 2 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158926 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 20

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -30090.055

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 10 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 116 ROLL_MAX 3900 T_TURN_SAMPINT 6

C_PITCH 2905 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2510 INT_PRESSURE_YINT 0 ROLL_MIN 155 UNCOM_BLEED 20

C_ROLL_DIVE 1000 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3281 MASS 51361 R_PORT_OVSHOOT 15 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.8677502 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1239791 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0015851235 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021129416 VBD_MAX 3893

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043755369 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063954171 VBD_MIN 640

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7100008e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 50 PHONE_DEVICE 48 SEABIRD_T_J 3.135212e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 074811,4738.952,-12252.606,9,2.3,28,18.3 TGT_NAME S1

_CALLS 2 TGT_LATLONG 4738.867,-12253.333

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.301,-0.011

_SM_DEPTHo 0.75 KALMAN_X 1574.1,893.0,379.0,-2074.0,42.6

_SM_ANGLEo -65.3 KALMAN_Y 429.2,262.6,123.8,-470.8,-39.4

GPS2 075802,4738.935,-12252.737,12,1.4,17,18.3 MHEAD_RNG_PITCHd_Wd 249.7,754,-26.8,-16.667

SPEED_LIMITS 0.289,0.301 D_GRID 131

Post-dive calculations and measurements:

FINISH 1.1,1.020359 XPDR_PINGS 23

SM_CCo 1855,111.65,0.565,0,0,1650,400.08 _24V_AH 23.9,20.837

SM_GC 0.85,0.00,0.00,111.65,0.000,0.000,0.565,138,1004,1650,-12.73,0.11,400.08 _10V_AH 10.1,12.113

IRIDIUM_FIX 4719.74,-11842.76,280907,111102 DATA_FILE_SIZE 3297,167

TT8_MAMPS 0.067496 CFSIZE 260034560,255754240

HUMID 2161 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 11.5043 GPS 280907,083244,4738.864,-12252.974,8,1.5,13,18.3

TCM_TEMP 19.90

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 223 193.37 SBE_CT 107 24 61.91

Roll_motor 22 143 76.27 nil 0 0 0.00

VBD_pump_during_apogee 338 636 5153.69 nil 0 0 0.00

VBD_pump_during_surface 111 565 1508.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 ARS 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 6 420 62.74

Mmodem_TX 12 1000 297.55

Mmodem_RX 1995 6 305.24

GPS 17 50 8.94

TT8 304 19 60.80

LPSleep 793 2 17.55

TT8_Active 512 19 102.51

TT8_Sampling 349 39 140.68

TT8_CF8 96 45 44.44

TT8_Kalman 33 81 27.53

Analog_circuits 750 12 90.97

GPS_charging 0 0 0.00

Compass 342 8 27.68

RAFOS 0 0 0.00

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

31 -2.41 -146.6 0.0 0.0 0 99 0.00 0.00 -66.25 0.000 2 0.000 0.000 136 987 3136

103 -2.41 -146.6 2.2 -5.4 11 147 14.88 1.73 -22.25 0.000 4 0.223 0.143 2376 163 3878

397 -2.41 -146.6 34.0 -11.9 47 404 0.00 1.52 0.00 0.000 6 0.000 0.048 2376 1002 3880

594 -2.41 -146.6 56.5 -11.9 63 598 0.00 1.67 0.00 0.000 4 0.000 0.098 2376 172 3880

851 -2.41 -146.6 87.7 -11.8 82 857 0.00 1.50 0.00 0.000 6 0.000 0.048 2376 999 3880

971 end dive: TARGET_DEPTH_EXCEEDED

state 971 begin apogee

980 -0.42 0.0 101.2 11.4 92 1158 2.25 0.00 170.30 0.637 6 0.127 0.000 2811 2516 3281

1159 end apogee: CONTROL_FINISHED_OK

state 1159 begin climb

1161 2.41 146.6 105.5 0.0 107 1340 2.78 2.72 168.43 0.610 4 0.054 0.077 3434 3895 2683

1359 2.41 146.6 80.6 18.6 122 1366 0.00 2.50 0.00 0.000 6 0.000 0.039 3434 2500 2683

1555 2.41 146.6 43.9 19.0 138 1559 0.00 2.53 0.00 0.000 4 0.000 0.054 3434 1103 2683

1689 2.41 146.6 18.9 19.4 147 1696 0.00 2.53 0.00 0.000 6 0.000 0.042 3434 2519 2683

1799 end climb: SURFACE_DEPTH_REACHED

state 1799 begin surface coast

1820 end surface coast: CONTROL_FINISHED_OK

state 1820 begin surface

ID	116	HD_B	0.0099999998	PITCH_AD_RATE	140	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	50	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	155	ALTIM_PING_DEPTH	90
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1000	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2510	ALTIM_PULSE	2
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	20	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	640	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3893	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3281	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-30090.055	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	10	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	132	AH0_24V	91.800003	SEABIRD_T_G	0.0043755369
SPEED_FACTOR	1	PITCH_MAX	3449	AH0_10V	61.200001	SEABIRD_T_H	0.00063954171
RHO	1.023	C_PITCH	2905	PRESSURE_YINT	0	SEABIRD_T_I	2.7100008e-05
MASS	51361	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_J	3.135212e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8677502
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1239791
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015851235
HD_A	0.003	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021129416

GPS1	074811,4738.952,-12252.606,9,2.3,28,18.3	TGT_NAME	S1
_CALLS	2	TGT_LATLONG	4738.867,-12253.333
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.301,-0.011
_SM_DEPTHo	0.75	KALMAN_X	1574.1,893.0,379.0,-2074.0,42.6
_SM_ANGLEo	-65.3	KALMAN_Y	429.2,262.6,123.8,-470.8,-39.4
GPS2	075802,4738.935,-12252.737,12,1.4,17,18.3	MHEAD_RNG_PITCHd_Wd	249.7,754,-26.8,-16.667
SPEED_LIMITS	0.289,0.301	D_GRID	131

FINISH	1.1,1.020359	XPDR_PINGS	23
SM_CCo	1855,111.65,0.565,0,0,1650,400.08	_24V_AH	23.9,20.837
SM_GC	0.85,0.00,0.00,111.65,0.000,0.000,0.565,138,1004,1650,-12.73,0.11,400.08	_10V_AH	10.1,12.113
IRIDIUM_FIX	4719.74,-11842.76,280907,111102	DATA_FILE_SIZE	3297,167
TT8_MAMPS	0.067496	CFSIZE	260034560,255754240
HUMID	2161	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	11.5043	GPS	280907,083244,4738.864,-12252.974,8,1.5,13,18.3
TCM_TEMP	19.90

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	223	193.37	SBE_CT	107	24	61.91
Roll_motor	22	143	76.27	nil	0	0	0.00
VBD_pump_during_apogee	338	636	5153.69	nil	0	0	0.00
VBD_pump_during_surface	111	565	1508.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	ARS	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	6	420	62.74
Mmodem_TX	12	1000	297.55
Mmodem_RX	1995	6	305.24
GPS	17	50	8.94
TT8	304	19	60.80
LPSleep	793	2	17.55
TT8_Active	512	19	102.51
TT8_Sampling	349	39	140.68
TT8_CF8	96	45	44.44
TT8_Kalman	33	81	27.53
Analog_circuits	750	12	90.97
GPS_charging	0	0	0.00
Compass	342	8	27.68
RAFOS	0	0	0.00

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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
31	-2.41	-146.6	0.0	0.0	0	99	0.00	0.00	-66.25	0.000	2	0.000	0.000	136	987	3136
103	-2.41	-146.6	2.2	-5.4	11	147	14.88	1.73	-22.25	0.000	4	0.223	0.143	2376	163	3878
397	-2.41	-146.6	34.0	-11.9	47	404	0.00	1.52	0.00	0.000	6	0.000	0.048	2376	1002	3880
594	-2.41	-146.6	56.5	-11.9	63	598	0.00	1.67	0.00	0.000	4	0.000	0.098	2376	172	3880
851	-2.41	-146.6	87.7	-11.8	82	857	0.00	1.50	0.00	0.000	6	0.000	0.048	2376	999	3880
971	end dive: TARGET_DEPTH_EXCEEDED
state	971	begin apogee
980	-0.42	0.0	101.2	11.4	92	1158	2.25	0.00	170.30	0.637	6	0.127	0.000	2811	2516	3281
1159	end apogee: CONTROL_FINISHED_OK
state	1159	begin climb
1161	2.41	146.6	105.5	0.0	107	1340	2.78	2.72	168.43	0.610	4	0.054	0.077	3434	3895	2683
1359	2.41	146.6	80.6	18.6	122	1366	0.00	2.50	0.00	0.000	6	0.000	0.039	3434	2500	2683
1555	2.41	146.6	43.9	19.0	138	1559	0.00	2.53	0.00	0.000	4	0.000	0.054	3434	1103	2683
1689	2.41	146.6	18.9	19.4	147	1696	0.00	2.53	0.00	0.000	6	0.000	0.042	3434	2519	2683
1799	end climb: SURFACE_DEPTH_REACHED
state	1799	begin surface coast
1820	end surface coast: CONTROL_FINISHED_OK
state	1820	begin surface