Parameter values: Sort by alphabetical glider order

ID	574	HD_B	0.010078	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	8	HD_C	9.8500004e-06	ROLL_MAX	3798	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	65	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1000
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1910	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1820	ALTIM_FREQUENCY	13
D_TGT	990	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_ABORT	1020	TGT_DEFAULT_LAT	-4200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	TGT_DEFAULT_LON	-900	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	57	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	85	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-1.812
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0.5	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	396	DEVICE2	115
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE3	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2600	DEVICE4	134
T_DIVE	350	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	390	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	7
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	4.9999999e-05	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-15016.249	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	150	PITCH_MIN	92	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0043017557
GLIDE_SLOPE	30	C_PITCH	3032	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062339538
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-58.423965	SEABIRD_T_I	2.3377639e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011710486	SEABIRD_T_J	2.5612862e-06
MASS	53599	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9136524
LENGTH	1.8	PITCH_GAIN	31	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1456692
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00078246131
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00012677554
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	20
HD_A	0.0038360001	PITCH_ADJ_DBAND	13	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	44

AD7714Ch0Gain	128	D_NO_BLEED	200	N_GPS	20	SEABIRD_T_J	2.5612862e-06
AH0_10V	100	D_OFFGRID	100	N_NOCOMM	1	SIM_PITCH	0
AH0_24V	150	D_PITCH	0	N_NOSURFACE	0	SIM_W	0
ALTIM_BOTTOM_PING_RANGE	0	D_SAFE	0	PHONE_DEVICE	48	SM_CC	210
ALTIM_BOTTOM_TURN_MARGIN	20	D_SURF	3	PHONE_SUPPLY	2	SPEED_FACTOR	1
ALTIM_FREQUENCY	13	D_TGT	990	PITCH_ADJ_DBAND	13	STROBE	0
ALTIM_PING_DELTA	5	EBE_ENABLE	0	PITCH_ADJ_GAIN	0.02	SURFACE_URGENCY	0
ALTIM_PING_DEPTH	1000	ESCAPE_HEADING	0	PITCH_AD_RATE	175	SURFACE_URGENCY_FORCE	0
ALTIM_PULSE	3	ESCAPE_HEADING_DELTA	10	PITCH_CNV	0.003125763	SURFACE_URGENCY_TRY	0
ALTIM_SENSITIVITY	2	FERRY_MAX	45	PITCH_DBAND	0.0099999998	TCM_PITCH_OFFSET	0
ALTIM_TOP_MIN_OBSTACLE	1	FG_AHR_10V	0	PITCH_GAIN	31	TCM_ROLL_OFFSET	0
ALTIM_TOP_PING_RANGE	0	FG_AHR_24V	0	PITCH_MAX	3858	TGT_AUTO_DEFAULT	0
ALTIM_TOP_TURN_MARGIN	0	FILEMGR	0	PITCH_MAXERRORS	1	TGT_DEFAULT_LAT	-4200
APOGEE_PITCH	-5	FIX_MISSING_TIMEOUT	0	PITCH_MIN	92	TGT_DEFAULT_LON	-900
CALL_NDIVES	1	GC_LAST_COLLECTION	44	PITCH_TIMEOUT	16	T_ABORT	720
CALL_TRIES	5	GC_WINDOW	20	PITCH_VBD_SHIFT	4.9999999e-05	T_BOOST	0
CALL_WAIT	60	GLIDE_SLOPE	30	PRESSURE_SLOPE	0.00011710486	T_BOOST_BLACKOUT	0
CAPMAXSIZE	100000	GPS_DEVICE	32	PRESSURE_YINT	-58.423965	T_DIVE	350
CAPUPLOAD	0	HD_A	0.0038360001	P_OVSHOOT	0.039999999	T_GPS	15
CF8_MAXERRORS	20	HD_B	0.010078	RAFOS_CORR_THRESH	60	T_GPS_ALMANAC	0
COMM_SEQ	0	HD_C	9.8500004e-06	RAFOS_DEVICE	-1	T_GPS_CHARGE	-15016.249
COMPASS2_DEVICE	-1	HEADING	-1	RAFOS_HIT_WINDOW	3600	T_LOITER	0
COMPASS_DEVICE	33	HEAD_ERRBAND	15	RAFOS_PEAK_OFFSET	1.5	T_MISSION	390
COMPASS_USE	0	HEAPDBG	0	RELAUNCH	0	T_NO_W	120
COURSE_BIAS	0	ICE_FREEZE_MARGIN	0.30000001	RHO	1.0278	T_RSLEEP	3
C_PITCH	3032	ID	574	ROLL_ADJ_DBAND	0	T_TURN	225
C_ROLL_CLIMB	1820	INT_PRESSURE_SLOPE	0.0097660003	ROLL_ADJ_GAIN	0	T_TURN_SAMPINT	5
C_ROLL_DIVE	1910	INT_PRESSURE_YINT	-1.812	ROLL_AD_RATE	350	T_WATCHDOG	10
C_VBD	2600	KALMAN_USE	2	ROLL_CNV	0.028270001	UNCOM_BLEED	60
DEEPGLIDER	0	KERMIT	0	ROLL_DEG	40	UPLOAD_DIVES_MAX	-1
DEEPGLIDERMB	0	LENGTH	1.8	ROLL_GAIN_P	0.5	USE_BATHY	0
DEVICE1	2	LOGGERDEVICE1	-1	ROLL_MAX	3798	USE_ICE	0
DEVICE2	115	LOGGERDEVICE2	-1	ROLL_MAXERRORS	1	VBD_BLEED_AD_RATE	8
DEVICE3	20	LOGGERDEVICE3	-1	ROLL_MIN	160	VBD_CNV	-0.245296
DEVICE4	134	LOGGERDEVICE4	-1	ROLL_TIMEOUT	15	VBD_DBAND	2
DEVICE5	-1	LOGGERS	7	R_PORT_OVSHOOT	57	VBD_MAX	3960
DEVICE6	-1	MASS	53599	R_STBD_OVSHOOT	85	VBD_MAXERRORS	1
DIRECT_CONTROL	0	MAX_BUOY	150	SEABIRD_C_G	-9.9136524	VBD_MIN	396
DIVE	65	MINV_10V	8	SEABIRD_C_H	1.1456692	VBD_PUMP_AD_RATE_APOGEE	3
D_ABORT	1020	MINV_24V	20	SEABIRD_C_I	-0.00078246131	VBD_PUMP_AD_RATE_SURFACE	4
D_BOOST	0	MISSION	8	SEABIRD_C_J	0.00012677554	VBD_TIMEOUT	720
D_CALL	0	MOTHERBOARD	4	SEABIRD_T_G	0.0043017557	XPDR_DEVICE	24
D_FINISH	0	NAV_MODE	1	SEABIRD_T_H	0.00062339538	XPDR_INHIBIT	90
D_FLARE	3	N_FILEKB	4	SEABIRD_T_I	2.3377639e-05	XPDR_VALID	5

Pre-dive calculations and measurements:

GPS1	151213,025705,-5500.307,-1.582,33,1.0,33,-20.2	TGT_NAME	SBY
_CALLS	1	TGT_LATLONG	-5500.000,0.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.86	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	151213,030448,-5500.339,-1.522,20,0.8,20,-20.2	MHEAD_RNG_PITCHd_Wd	89.0,1734,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

Post-dive calculations and measurements:

FINISH	1.7,1.027195	_10V_AH	10.1,35.069
SM_CCo	14202,71.85,1.042,0,0,1742,210.22	FG_AHR_24Vo	0.000
SM_GC	2.73,0.00,0.00,71.85,0.000,0.000,1.042,75,1946,1742,-9.20,0.85,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,0.00,141213,232327	MEM	354684
TT8_MAMPS	0.026964	DATA_FILE_SIZE	56987,1020
HUMID	62.79	CAP_FILE_SIZE	137928,0
INTERNAL_PRESSURE	9.03803	CFSIZE	2097086464,2086404096
TCM_TEMP	4.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	GPS	151213,070423,-5500.042,2.050,45,0.9,45,-20.3
_24V_AH	22.0,47.429

Energy measurements:

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	276	144.30	SBE_CT	728	24	384.47
Roll_motor	38	100	86.31	WL_BB2FLVMT	746	105	1724.18
VBD_pump_during_apogee	228	1623	8148.87	SBE_O2	680	19	284.60
VBD_pump_during_surface	71	1041	1646.98	QSP2150	72	4	6.94
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	57.81	nil	0	0	0.00
Iridium_during_connect	49	160	174.75	nil	0	0	0.00
Iridium_during_xfer	271	223	1333.56	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	26	6.59
TT8	2630	14	397.51
LPSleep	8363	2	184.99
TT8_Active	378	14	54.38
TT8_Sampling	3231	37	1221.67
TT8_CF8	136	47	65.02
TT8_Kalman	0	0	0.00
Analog_circuits	1600	12	194.02
GPS_charging	0	0	0.00
Compass	2820	15	448.02
RAFOS	0	0	0.00
Transponder	1	5	0.05

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-0.90	-57.8	0.0	0.0	0	46	0.00	0.00	-20.00	0.000	2	0.000	0.000	68	1860	2092	0	0	0	0	0	0
48	-0.90	-123.8	3.1	-2.2	3	133	12.52	1.92	-64.07	0.000	4	0.276	0.082	2733	739	3106	0	0	0	0	0	0
312	-0.90	-123.8	28.2	-18.1	47	317	0.05	1.75	0.00	0.000	6	0.246	0.028	2734	1868	3107	0	0	0	0	0	0
456	-0.90	-123.8	53.2	-16.8	72	462	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1868	3107	0	0	0	0	0	0
803	-0.90	-123.8	114.1	-18.9	127	807	0.00	0.47	0.00	0.000	4	0.000	0.041	2732	2222	3107	0	0	0	0	0	0
1064	-0.90	-123.8	157.2	-16.4	150	1067	0.00	0.43	0.00	0.000	6	0.000	0.041	2732	1914	3107	0	0	0	0	0	0
1397	-0.90	-123.8	207.6	-15.1	181	1401	0.00	0.57	0.00	0.000	4	0.000	0.034	2731	2323	3107	0	0	0	0	0	0
1570	-0.90	-123.8	234.3	-15.3	196	1577	0.00	0.62	0.00	0.000	6	0.000	0.037	2732	1907	3107	0	0	0	0	0	0
1896	-0.90	-123.8	281.5	-14.7	227	1897	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	1907	3107	0	0	0	0	0	0
2216	-0.90	-123.8	325.3	-13.7	257	2220	0.00	0.50	0.00	0.000	4	0.000	0.051	2732	1565	3106	0	0	0	0	0	0
2378	-0.90	-123.8	347.3	-13.4	271	2384	0.00	0.55	0.00	0.000	6	0.000	0.032	2732	1955	3107	0	0	0	0	0	0
2703	-0.90	-123.8	389.1	-13.2	302	2707	0.00	0.35	0.00	0.000	4	0.000	0.045	2729	2236	3107	0	0	0	0	0	0
2960	-0.90	-123.8	422.5	-12.8	317	2965	0.00	0.50	0.00	0.000	6	0.000	0.038	2730	1895	3107	0	0	0	0	0	0
3282	-0.90	-123.8	463.1	-13.0	333	3285	0.00	0.90	0.00	0.000	4	0.000	0.034	2727	2498	3107	0	0	0	0	0	0
3538	-0.90	-123.8	498.3	-14.2	344	3543	0.00	0.90	0.00	0.000	6	0.000	0.035	2727	1915	3107	0	0	0	0	0	0
3860	-0.90	-123.8	539.8	-12.5	360	3864	0.00	0.45	0.00	0.000	4	0.000	0.034	2725	2254	3108	0	0	0	0	0	0
4117	-0.90	-123.8	571.5	-12.8	371	4122	0.05	0.52	0.00	0.000	6	0.231	0.038	2734	1894	3108	0	0	0	0	0	0
4438	-0.90	-123.8	609.1	-11.5	387	4442	0.00	0.57	0.00	0.000	4	0.000	0.034	2733	2310	3109	0	0	0	0	0	0
4633	-0.90	-123.8	632.4	-12.1	395	4639	0.00	0.60	0.00	0.000	6	0.000	0.037	2734	1905	3109	0	0	0	0	0	0
4949	-0.90	-123.8	667.8	-10.9	411	4953	0.00	0.40	0.00	0.000	4	0.000	0.036	2734	2221	3109	0	0	0	0	0	0
5206	-0.90	-123.8	695.1	-10.5	422	5210	0.00	0.45	0.00	0.000	6	0.000	0.040	2734	1905	3109	0	0	0	0	0	0
5527	-0.90	-123.8	728.2	-10.4	438	5531	0.00	0.52	0.00	0.000	4	0.000	0.034	2733	2289	3110	0	0	0	0	0	0
5778	-0.90	-123.8	755.5	-10.2	449	5783	0.00	0.55	0.00	0.000	6	0.000	0.038	2734	1911	3110	0	0	0	0	0	0
6107	-0.90	-123.8	790.3	-10.6	465	6111	0.00	0.62	0.00	0.000	4	0.000	0.034	2733	2354	3110	0	0	0	0	0	0
6364	-0.90	-123.8	817.9	-10.9	476	6368	0.00	0.65	0.00	0.000	6	0.000	0.037	2734	1914	3111	0	0	0	0	0	0
6685	-0.90	-123.8	851.3	-10.4	492	6686	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1914	3111	0	0	0	0	0	0
6994	-0.90	-123.8	882.7	-10.0	507	6998	0.00	0.77	0.00	0.000	4	0.000	0.034	2732	2446	3111	0	0	0	0	0	0
7229	-0.90	-123.8	906.3	-10.3	517	7233	0.00	0.82	0.00	0.000	6	0.000	0.034	2733	1900	3111	0	0	0	0	0	0
7550	-0.90	-123.8	938.5	-10.3	533	7554	0.00	0.65	0.00	0.000	4	0.000	0.034	2733	2360	3111	0	0	0	0	0	0
7807	-0.90	-123.8	966.8	-10.5	544	7811	0.00	0.68	0.00	0.000	6	0.000	0.036	2734	1908	3111	0	0	0	0	0	0
8024	end dive: TARGET_DEPTH_EXCEEDED
state	8024	begin apogee
8028	-0.16	0.0	990.3	10.8	555	8140	0.88	0.00	108.60	1.623	6	0.169	0.000	2974	1828	2600	0	0	0	0	0	0
8141	end apogee: CONTROL_FINISHED_OK
state	8141	begin climb
8143	0.90	123.8	992.3	0.0	560	8270	1.12	1.48	119.57	1.553	4	0.102	0.052	3321	1012	2095	0	0	0	0	0	0
8448	0.90	123.8	946.3	16.8	574	8453	0.00	1.27	0.00	0.000	6	0.000	0.024	3321	1801	2088	0	0	0	0	0	0
8770	0.90	123.8	891.5	17.1	590	8774	0.00	0.60	0.00	0.000	4	0.000	0.044	3322	1434	2085	0	0	0	0	0	0
9027	0.90	123.8	846.8	17.3	601	9032	0.00	0.60	0.00	0.000	6	0.000	0.030	3322	1841	2085	0	0	0	0	0	0
9349	0.90	123.8	790.8	17.8	617	9353	0.00	1.55	0.00	0.000	4	0.000	0.052	3328	909	2084	0	0	0	0	0	0
9555	0.90	123.8	752.2	19.0	626	9560	0.00	1.40	0.00	0.000	6	0.000	0.025	3328	1816	2084	0	0	0	0	0	0
9884	0.90	123.8	693.9	17.5	642	9888	0.00	0.65	0.00	0.000	4	0.000	0.044	3330	1404	2084	0	0	0	0	0	0
10141	0.90	123.8	649.7	17.9	653	10145	0.00	0.62	0.00	0.000	6	0.000	0.030	3330	1844	2084	0	0	0	0	0	0
10462	0.90	123.8	596.6	16.4	669	10466	0.00	1.48	0.00	0.000	4	0.000	0.050	3336	941	2084	0	0	0	0	0	0
10692	0.90	123.8	557.4	17.3	679	10696	0.00	1.30	0.00	0.000	6	0.000	0.026	3336	1814	2084	0	0	0	0	0	0
11019	0.90	123.8	500.0	17.9	695	11020	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	1814	2083	0	0	0	0	0	0
11328	0.90	123.8	445.1	17.5	710	11332	0.00	0.82	0.00	0.000	4	0.000	0.047	3338	1294	2084	0	0	0	0	0	0
11585	0.90	123.8	398.8	18.1	721	11590	0.05	0.77	0.00	0.000	6	0.236	0.026	3327	1825	2084	0	0	0	0	0	0
11915	0.90	123.8	342.7	16.7	752	11919	0.00	1.38	0.00	0.000	4	0.000	0.050	3332	979	2084	0	0	0	0	0	0
12099	0.90	123.8	309.7	16.8	768	12108	0.00	1.27	0.00	0.000	6	0.000	0.025	3332	1821	2084	0	0	0	0	0	0
12425	0.90	123.8	251.0	18.5	799	12426	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	1821	2084	0	0	0	0	0	0
12748	0.90	123.8	195.7	16.2	829	12751	0.00	1.00	0.00	0.000	4	0.000	0.049	3336	1196	2083	0	0	0	0	0	0
12872	0.90	123.8	175.4	15.8	840	12875	0.00	0.93	0.00	0.000	6	0.000	0.028	3336	1825	2084	0	0	0	0	0	0
13202	0.90	123.8	130.0	13.1	871	13205	0.00	0.77	0.00	0.000	4	0.000	0.046	3338	1335	2084	0	0	0	0	0	0
13409	0.90	123.8	103.3	12.9	889	13416	0.05	0.73	0.00	0.000	6	0.230	0.028	3328	1847	2084	0	0	0	0	0	0
13756	0.90	123.8	56.7	14.3	947	13761	0.00	0.75	0.00	0.000	4	0.000	0.047	3330	1372	2084	0	0	0	0	0	0
13990	0.90	123.8	23.3	13.8	988	13998	0.00	0.60	0.00	0.000	6	0.000	0.031	3329	1813	2084	0	0	0	0	0	0
14140	0.90	123.8	3.5	12.0	1013	14148	0.00	0.47	0.00	0.000	4	0.000	0.057	3332	1512	2083	0	0	0	0	0	0
14155	end climb: SURFACE_DEPTH_REACHED
state	14155	begin surface coast
14186	end surface coast: CONTROL_FINISHED_OK
state	14186	begin surface