SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 518 * 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  518 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  41 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  -1 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  -18294.346 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  054501,6311.721,327.541,38,1.2,38,-3.0 TGT_NAME  INSHORE
_CALLS  1 TGT_LATLONG  6300.600,352.100
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.68 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  055055,6311.775,327.507,10,1.2,10,-3.0 MHEAD_RNG_PITCHd_Wd  157.9,29250,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  958

Post-dive calculations and measurements:
FINISH  2.7,1.006946 _24V_AH  21.5,80.943
SM_CCo  25073,0.00,0.000,0,0,1656,340.97 _10V_AH  10.3,58.216
SM_GC  4.23,7.38,0.00,0.00,0.047,0.000,0.000,141,2173,1656,-7.65,-0.20,340.97 DATA_FILE_SIZE  47352,898
IRIDIUM_FIX  6244.56,325.07,250998,222217 CAP_FILE_SIZE  173141,0
TT8_MAMPS  0.026845 CFSIZE  260165632,211312640
HUMID  1778 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  9.19367 CURRENT  0.092, 11.4,1
TCM_TEMP  19.10 GPS  020709,125031,6310.116,330.835,40,1.2,40,-3.0
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor30197128.27 SBE_CT62024320.36
Roll_motor17488333.04 SBE_O266619272.28
VBD_pump_during_apogee409138212184.33 WL_BB2F362105817.45
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910365.67 nil000.00
Iridium_during_connect34160118.42 nil000.00
Iridium_during_xfer155223745.82
Transponder_ping04200.00
Mmodem_TX000.00
Mmodem_RX000.00
GPS12506.28
TT8193519394.72
LPSleep201862455.35
TT8_Active56419115.20
TT8_Sampling205039840.48
TT8_CF868145321.47
TT8_Kalman000.00
Analog_circuits167412207.02
GPS_charging000.00
Compass20258166.93
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
15 -0.77 -116.7 0.0 0.0 0 23 0.00 0.00 -6.12 0.000 2 0.000 0.000 139 2169 1885
27 -0.77 -116.7 3.8 -0.0 1 111 8.25 2.42 -68.70 0.000 4 0.198 0.058 2355 3578 3523
164 -0.23 -116.7 12.8 -12.8 22 171 0.57 2.20 0.00 0.000 6 0.123 0.031 2536 2190 3524
511 -0.87 -116.7 32.7 -5.4 83 518 0.52 2.30 0.00 0.000 4 0.052 0.042 2326 3593 3526
722 -0.47 -116.7 55.2 -11.7 120 729 0.43 2.20 0.00 0.000 6 0.120 0.031 2458 2200 3527
1059 -0.60 -116.7 76.8 -6.2 144 1061 0.12 0.00 0.00 0.000 6 0.064 0.000 2396 2201 3528
1365 -0.48 -116.7 103.4 -8.9 159 1370 0.20 2.35 0.00 0.000 4 0.115 0.044 2465 763 3528
1400 -0.61 -116.7 106.0 -6.5 160 1405 0.15 2.30 0.00 0.000 6 0.061 0.033 2394 2219 3528
1717 -0.48 -116.7 134.6 -9.3 175 1719 0.20 0.00 0.00 0.000 6 0.112 0.000 2458 2219 3528
2026 -0.64 -116.7 154.6 -6.3 190 2028 0.15 0.00 0.00 0.000 6 0.057 0.000 2383 2220 3528
2336 -0.48 -116.7 183.7 -9.6 205 2341 0.20 2.38 0.00 0.000 4 0.115 0.040 2452 764 3528
2377 -0.59 -116.7 187.0 -6.9 207 2381 0.00 2.28 0.00 0.000 6 0.000 0.033 2450 2208 3528
2704 -0.70 -116.7 207.7 -6.2 223 2706 0.17 0.00 0.00 0.000 6 0.054 0.000 2365 2210 3528
3015 -0.47 -116.7 237.6 -10.1 238 3017 0.30 0.00 0.00 0.000 6 0.113 0.000 2461 2210 3528
3323 -0.66 -116.7 257.2 -6.3 253 3328 0.17 2.38 0.00 0.000 4 0.055 0.044 2382 769 3527
3364 -0.44 -116.7 260.8 -10.2 255 3369 0.28 2.30 0.00 0.000 6 0.118 0.036 2465 2213 3527
3692 -0.66 -116.7 282.5 -6.6 271 3693 0.20 0.00 0.00 0.000 6 0.054 0.000 2378 2214 3526
4001 -0.49 -116.7 312.0 -9.8 284 4003 0.25 0.00 0.00 0.000 6 0.114 0.000 2458 2214 3526
4309 -0.67 -116.7 330.8 -5.9 294 4313 0.17 2.38 0.00 0.000 4 0.054 0.044 2378 772 3526
4365 -0.47 -116.7 336.0 -9.8 295 4372 0.28 2.22 0.00 0.000 6 0.120 0.036 2462 2205 3526
4680 -0.68 -116.7 353.1 -5.1 306 4682 0.20 0.00 0.00 0.000 6 0.054 0.000 2374 2206 3526
4984 -0.50 -116.7 378.4 -8.3 316 4986 0.25 0.00 0.00 0.000 6 0.115 0.000 2454 2205 3525
5291 -0.68 -116.7 393.4 -4.9 326 5293 0.17 0.00 0.00 0.000 6 0.056 0.000 2375 2206 3525
5597 -0.51 -116.7 420.4 -9.2 336 5602 0.20 2.33 0.00 0.000 4 0.117 0.044 2444 774 3524
5661 -0.60 -116.7 425.5 -7.6 338 5665 0.00 2.22 0.00 0.000 6 0.000 0.037 2444 2213 3524
6002 -0.74 -116.7 449.9 -7.4 349 6007 0.20 2.25 0.00 0.000 4 0.053 0.049 2347 3584 3523
6025 -0.63 -116.7 452.1 -9.7 349 6034 0.20 2.25 0.00 0.000 6 0.123 0.035 2408 2189 3523
6339 -0.63 -116.7 477.8 -7.8 360 6343 0.00 2.30 0.00 0.000 4 0.000 0.044 2408 765 3523
6413 -0.63 -116.7 483.5 -7.8 362 6418 0.00 2.28 0.00 0.000 6 0.000 0.034 2408 2200 3523
6744 -0.63 -116.7 504.4 -6.2 372 6748 0.00 2.35 0.00 0.000 4 0.000 0.044 2408 763 3523
6783 -0.63 -116.7 507.3 -7.0 372 6787 0.00 2.28 0.00 0.000 6 0.000 0.035 2408 2198 3523
7105 -0.63 -116.7 528.7 -6.6 378 7106 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2197 3522
7407 -0.63 -116.7 550.3 -7.2 383 7408 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2197 3522
7711 -0.63 -116.7 572.0 -7.2 388 7714 0.00 2.35 0.00 0.000 4 0.000 0.044 2408 768 3520
7772 -0.63 -116.7 576.7 -7.4 388 7779 0.00 2.22 0.00 0.000 6 0.000 0.037 2408 2197 3520
8083 -0.63 -116.7 597.8 -6.8 394 8084 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2197 3519
8385 -0.63 -116.7 619.0 -7.0 399 8389 0.00 2.33 0.00 0.000 4 0.000 0.045 2408 758 3518
8424 -0.63 -116.7 622.0 -7.8 399 8428 0.00 2.28 0.00 0.000 6 0.000 0.038 2408 2180 3518
8757 -0.63 -116.7 645.7 -7.2 405 8758 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2179 3516
9060 -0.63 -116.7 668.4 -7.6 410 9062 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2179 3515
9363 -0.63 -116.7 690.7 -7.3 415 9364 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2180 3514
9667 -0.63 -116.7 712.3 -7.1 420 9668 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2179 3512
9969 -0.63 -116.7 733.0 -6.8 425 9971 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2179 3511
10273 -0.63 -116.7 754.8 -7.2 430 10274 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2180 3510
10575 -0.63 -116.7 776.4 -7.1 435 10576 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2179 3510
10878 -0.63 -116.7 798.1 -7.1 440 10879 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2179 3509
11182 -0.63 -116.7 819.1 -6.9 445 11186 0.00 2.38 0.00 0.000 4 0.000 0.055 2408 3597 3507
11210 -0.63 -116.7 821.1 -7.6 445 11214 0.00 2.30 0.00 0.000 6 0.000 0.037 2408 2191 3507
11548 -0.63 -116.7 843.6 -6.7 451 11552 0.00 2.35 0.00 0.000 4 0.000 0.049 2408 764 3507
11587 -0.63 -116.7 846.6 -7.9 451 11591 0.00 2.30 0.00 0.000 6 0.000 0.038 2408 2199 3506
11909 -0.63 -116.7 868.2 -6.8 457 11910 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2199 3506
12212 -0.63 -116.7 888.9 -6.9 462 12213 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2199 3505
12514 -0.63 -116.7 909.4 -6.7 467 12515 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2199 3505
12817 -0.63 -116.7 929.3 -6.5 472 12818 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2199 3504
13121 -0.63 -116.7 949.3 -6.6 477 13125 0.00 2.40 0.00 0.000 4 0.000 0.049 2408 760 3504
13160 -0.63 -116.7 952.2 -7.2 477 13164 0.00 2.30 0.00 0.000 6 0.000 0.041 2408 2196 3504
13295 end dive: TARGET_DEPTH_EXCEEDED
state 13295 begin apogee
13303 -0.23 0.0 961.6 6.7 480 13405 0.40 0.00 98.78 1.383 6 0.119 0.000 2536 2279 3046
13405 end apogee: CONTROL_FINISHED_OK
state 13405 begin climb
13410 0.77 116.7 963.7 0.0 481 13523 0.98 0.00 109.95 1.356 6 0.076 0.000 2856 2279 2569
13784 0.55 124.0 947.6 6.6 488 13799 0.20 2.42 7.03 1.118 4 0.132 0.049 2795 850 2540
13856 0.59 153.2 943.7 5.7 489 13890 0.00 2.28 26.83 1.321 6 0.000 0.035 2795 2279 2420
14218 0.71 182.4 923.4 5.7 495 14246 0.15 0.00 26.40 1.316 6 0.069 0.000 2859 2280 2302
14520 0.58 182.4 898.7 8.3 500 14522 0.20 0.00 0.00 0.000 6 0.122 0.000 2799 2280 2297
14825 0.74 208.7 880.7 5.8 505 14851 0.15 0.00 23.98 1.300 6 0.066 0.000 2866 2280 2195
15127 0.61 208.7 854.3 8.9 510 15129 0.20 0.00 0.00 0.000 6 0.116 0.000 2803 2280 2189
15430 0.76 216.2 834.0 6.6 515 15444 0.15 2.38 7.43 1.129 4 0.064 0.054 2870 3684 2164
15480 0.53 216.2 829.3 10.7 515 15485 0.30 2.30 0.00 0.000 6 0.123 0.036 2785 2253 2163
15796 0.76 237.6 809.7 6.0 521 15820 0.20 0.00 20.38 1.260 6 0.058 0.000 2878 2252 2075
16165 0.64 237.6 772.7 10.3 527 16167 0.20 0.00 0.00 0.000 6 0.117 0.000 2815 2252 2071
16469 0.76 237.6 750.0 7.4 532 16474 0.12 2.38 0.00 0.000 4 0.068 0.053 2872 3683 2070
16520 0.57 237.6 744.7 10.1 532 16525 0.28 2.28 0.00 0.000 6 0.121 0.038 2793 2260 2070
16830 0.81 247.4 723.9 6.5 537 16845 0.20 2.28 9.05 1.130 4 0.058 0.047 2891 864 2036
16880 0.64 247.4 719.1 9.8 537 16885 0.25 2.25 0.00 0.000 6 0.119 0.037 2814 2285 2035
17196 0.78 247.4 695.9 7.2 543 17200 0.15 2.28 0.00 0.000 4 0.063 0.051 2880 3682 2034
17269 0.58 247.4 687.9 10.7 544 17274 0.28 2.25 0.00 0.000 6 0.120 0.037 2796 2276 2034
17631 0.82 252.9 663.2 6.7 550 17642 0.20 2.28 6.20 1.016 4 0.057 0.045 2891 855 2015
17700 0.67 252.9 656.3 10.5 551 17705 0.20 2.25 0.00 0.000 6 0.120 0.035 2830 2285 2014
18066 0.77 252.9 626.4 8.1 557 18070 0.00 2.28 0.00 0.000 4 0.000 0.051 2830 3683 2013
18116 0.77 252.9 621.8 9.7 557 18120 0.00 2.25 0.00 0.000 6 0.000 0.035 2830 2274 2013
18439 0.86 252.9 596.4 7.9 563 18444 0.17 2.30 0.00 0.000 4 0.058 0.047 2907 855 2013
18529 0.69 252.9 586.7 10.8 564 18533 0.25 2.25 0.00 0.000 6 0.119 0.035 2829 2282 2013
18873 0.80 252.9 559.9 7.7 570 18877 0.12 2.30 0.00 0.000 4 0.069 0.052 2884 3671 2012
18931 0.59 252.9 553.9 10.1 570 18936 0.28 2.25 0.00 0.000 6 0.121 0.036 2801 2274 2012
19242 0.83 257.7 532.1 6.7 575 19253 0.20 2.30 5.85 0.937 4 0.056 0.047 2895 862 1994
19322 0.70 257.7 524.0 12.2 576 19327 0.20 2.25 0.00 0.000 6 0.119 0.036 2834 2282 1992
19672 0.80 257.7 496.3 7.9 582 19677 0.12 2.28 0.00 0.000 4 0.070 0.052 2890 3677 1992
19717 0.59 257.7 491.3 11.5 583 19722 0.30 2.25 0.00 0.000 6 0.120 0.036 2798 2271 1992
20037 0.84 257.7 467.9 7.2 594 20041 0.20 2.30 0.00 0.000 4 0.056 0.048 2892 853 1992
20149 0.74 257.7 455.5 10.5 597 20154 0.15 2.22 0.00 0.000 6 0.117 0.034 2847 2267 1992
20468 0.74 257.7 425.4 9.2 608 20471 0.00 2.30 0.00 0.000 4 0.000 0.049 2847 3677 1991
20518 0.74 257.7 420.1 10.0 609 20522 0.00 2.28 0.00 0.000 6 0.000 0.035 2850 2257 1991
20836 0.74 257.7 389.9 9.4 620 20840 0.00 2.25 0.00 0.000 4 0.000 0.045 2851 863 1992
20922 0.81 257.7 382.1 9.9 622 20925 0.00 2.22 0.00 0.000 6 0.000 0.035 2851 2267 1992
21246 0.81 257.7 352.7 8.9 633 21249 0.00 2.33 0.00 0.000 4 0.000 0.048 2851 3684 1991
21285 0.81 257.7 348.8 9.3 634 21289 0.00 2.30 0.00 0.000 6 0.000 0.033 2851 2242 1991
21615 0.81 257.7 319.5 8.8 645 21619 0.00 2.28 0.00 0.000 4 0.000 0.047 2851 856 1991
21717 0.89 257.7 310.7 8.6 648 21722 0.15 2.22 0.00 0.000 6 0.061 0.033 2921 2264 1992
22042 0.65 257.7 272.0 12.0 662 22047 0.30 2.33 0.00 0.000 4 0.114 0.045 2818 3677 1992
22104 0.78 257.7 266.2 7.8 664 22111 0.12 2.30 0.00 0.000 6 0.064 0.034 2880 2239 1992
22420 0.78 257.7 234.3 10.3 680 22423 0.00 2.22 0.00 0.000 4 0.000 0.043 2881 871 1992
22482 0.78 257.7 227.8 10.5 682 22488 0.00 2.20 0.00 0.000 6 0.000 0.033 2881 2266 1992
22799 0.78 257.7 194.2 10.6 698 22803 0.00 2.33 0.00 0.000 4 0.000 0.046 2881 3687 1993
22856 0.65 257.7 187.7 11.4 700 22863 0.20 2.28 0.00 0.000 6 0.117 0.031 2819 2247 1994
23174 0.85 257.7 164.4 7.0 716 23178 0.20 2.25 0.00 0.000 4 0.053 0.043 2918 858 1994
23286 0.67 257.7 151.5 11.6 721 23291 0.30 2.20 0.00 0.000 6 0.111 0.031 2824 2263 1994
23609 0.87 257.7 126.5 7.7 737 23611 0.20 0.00 0.00 0.000 6 0.052 0.000 2913 2263 1994
23917 0.68 257.7 90.7 11.6 752 23922 0.25 2.33 0.00 0.000 4 0.113 0.044 2827 3683 1995
23963 0.82 257.7 86.4 8.9 754 23967 0.15 2.30 0.00 0.000 6 0.056 0.031 2895 2236 1995
24287 0.73 257.7 52.4 10.4 777 24295 0.17 2.22 0.00 0.000 4 0.115 0.040 2842 858 1996
24330 0.84 257.7 48.3 8.7 784 24337 0.08 2.22 0.00 0.000 6 0.054 0.031 2892 2246 1996
24677 0.85 264.5 16.1 6.6 845 24692 0.00 2.35 8.27 0.615 4 0.000 0.045 2892 3683 1967
24718 0.94 337.3 14.5 4.0 851 24783 0.00 2.28 59.67 0.650 6 0.000 0.030 2892 2237 1669
24906 end climb: SURFACE_DEPTH_REACHED
state 24906 begin surface coast
24992 end surface coast: CONTROL_FINISHED_OK
state 24992 begin surface