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 | 73 | 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 | 45 | ALTIM_SENSITIVITY | 4 |
D_NO_BLEED | 200 | SM_CC | 700 | R_STBD_OVSHOOT | 51 | 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 | -18908.01 | 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 | 11.5 | 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 |   170915,075933,1806.333,8921.297,60,0.8,60,-0.9 | TGT_NAME |   SE |
_CALLS |   1 | TGT_LATLONG |   1755.320,8933.540 |
_XMS_NAKs |   0 | TGT_RADIUS |   3000.000 |
_XMS_TOUTs |   0 | KALMAN_CONTROL |   0.000,0.000 |
_SM_DEPTHo |   1.46 | KALMAN_X |   0.0,0.0,0.0,0.0,0.0 |
_SM_ANGLEo |   -74.2 | KALMAN_Y |   0.0,0.0,0.0,0.0,0.0 |
GPS2 |   170915,080647,1806.332,8921.307,19,0.9,19,-0.9 | MHEAD_RNG_PITCHd_Wd |   122.9,29675,-21.4,-9.167,-25.88,2022 |
SPEED_LIMITS |   0.159,0.189 | D_GRID |   990 |
Post-dive calculations and measurements:
FINISH |   0.5,1.017877 | _10V_AH |   12.8,0.000 |
SM_CCo |   17575,0.28,0.424,0,0,508,579.63 | FG_AHR_24Vo |   0.000 |
SM_GC |   3.35,9.05,2.38,0.28,0.061,0.038,0.424,187,2214,508,-8.59,-1.16,579.63,0,0,0,0,0,0,14.64,14.66,14.58 | FG_AHR_10Vo |   0.000 |
IRIDIUM_FIX |   1756.43,8923.72,130708,161655 | MEM |   322244 |
TT8_MAMPS |   0.018725,0.018725 | DATA_FILE_SIZE |   140738,1719 |
HUMID |   43.93 | CAP_FILE_SIZE |   189560,0 |
INTERNAL_PRESSURE |   6.68971 | CFSIZE |   2097086464,2082275328 |
TCM_TEMP |   24.50 | ERRORS |   0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0 |
XPDR_PINGS |   0 | CURRENT |   0.065,218.9,1 |
_24V_AH |   13.2,37.319 | GPS |   170915,130203,1804.862,8922.462,77,0.9,77,-0.9 |
Energy measurements:
device | secs | mA | J | sensor | secs | mA | J |
Pitch_motor | 23 | 361 | 109.74 | SBE_CT | 938 | 23 | 297.01 |
Roll_motor | 192 | 136 | 345.78 | QSP2150 | 627 | 9 | 80.73 |
VBD_pump_during_apogee | 523 | 2367 | 16352.51 | WL_BBFL2 | 1636 | 51 | 1116.27 |
VBD_pump_during_surface | 1 | 423 | 7.27 | AA4831_2 | 999 | 21 | 286.64 |
VBD_valve | 0 | 0 | 0.00 | nil | 0 | 0 | 0.00 |
Iridium_during_init | 25 | 29 | 9.90 | nil | 0 | 0 | 0.00 |
Iridium_during_connect | 18 | 160 | 38.02 | nil | 0 | 0 | 0.00 |
Iridium_during_xfer | 260 | 223 | 765.54 | nil | 0 | 0 | 0.00 |
Transponder_ping | 0 | 420 | 0.00 | nil | 0 | 0 | 0.00 |
GUMSTIX_24V | 0 | 0 | 0.00 | ||||
GPS | 20 | 22 | 5.89 | ||||
TT8 | 3491 | 10 | 459.04 | ||||
LPSleep | 10294 | 2 | 288.58 | ||||
TT8_Active | 647 | 10 | 85.05 | ||||
TT8_Sampling | 3389 | 31 | 1388.03 | ||||
TT8_CF8 | 173 | 37 | 84.50 | ||||
TT8_Kalman | 0 | 0 | 0.00 | ||||
Analog_circuits | 2084 | 15 | 405.57 | ||||
GPS_charging | 0 | 0 | 0.00 | ||||
Compass | 2524 | 17 | 556.84 | ||||
RAFOS | 0 | 0 | 0.00 | ||||
Transponder | 0 | 5 | 0.04 | ||||
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 | 184 | 2183 | 554 | 480 | 0.0 | 0.0 | 0 | 56 | 0.00 | 0.00 | -38.95 | 0.000 | 16386 | 0.000 | 0.000 | 184 | 2183 | 1629 | 1632 | 1626 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
58 | -0.82 | -126.5 | 184 | 2184 | 1633 | 1626 | 3.5 | -7.6 | 6 | 111 | 10.77 | 2.40 | -36.33 | 0.000 | 18692 | 0.361 | 0.086 | 2664 | 3595 | 3391 | 3403 | 3380 | 0 | 0 | 0 | 0 | 0 | 0 | 14.33 | 14.57 | 14.78 |
227 | -0.82 | -126.5 | 2664 | 3596 | 3403 | 3380 | 58.1 | -29.7 | 36 | 236 | 0.03 | 2.25 | 0.00 | 0.000 | 3078 | 0.303 | 0.037 | 2669 | 2194 | 3391 | 3403 | 3379 | 0 | 0 | 0 | 0 | 0 | 0 | 14.45 | 14.62 | 28.83 |
424 | -0.82 | -126.5 | 2669 | 2191 | 3403 | 3379 | 100.0 | -16.7 | 73 | 431 | 0.00 | 2.22 | 0.00 | 0.000 | 516 | 0.000 | 0.054 | 2670 | 800 | 3391 | 3403 | 3380 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.66 | 28.83 |
473 | -0.82 | -126.5 | 2669 | 800 | 3403 | 3380 | 109.1 | -17.7 | 82 | 481 | 0.05 | 2.25 | 0.00 | 0.000 | 3078 | 0.289 | 0.041 | 2674 | 2195 | 3391 | 3403 | 3380 | 0 | 0 | 0 | 0 | 0 | 0 | 14.47 | 14.65 | 28.83 |
670 | -0.82 | -126.5 | 2674 | 2195 | 3404 | 3381 | 136.6 | -14.3 | 119 | 677 | 0.00 | 2.28 | 0.00 | 0.000 | 260 | 0.000 | 0.060 | 2665 | 3607 | 3391 | 3403 | 3380 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.71 | 28.83 |
715 | -0.82 | -126.5 | 2664 | 3607 | 3403 | 3381 | 143.4 | -15.3 | 127 | 723 | 0.08 | 2.20 | 0.00 | 0.000 | 3078 | 0.312 | 0.037 | 2677 | 2186 | 3392 | 3404 | 3381 | 0 | 0 | 0 | 0 | 0 | 0 | 14.56 | 14.76 | 28.83 |
910 | -0.82 | -126.5 | 2677 | 2185 | 3404 | 3382 | 170.6 | -14.4 | 164 | 918 | 0.00 | 2.22 | 0.00 | 0.000 | 516 | 0.000 | 0.054 | 2676 | 821 | 3392 | 3404 | 3381 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.66 | 28.83 |
941 | -0.82 | -126.5 | 2677 | 820 | 3404 | 3381 | 174.8 | -14.0 | 169 | 948 | 0.00 | 2.17 | 0.00 | 0.000 | 1030 | 0.000 | 0.041 | 2669 | 2209 | 3392 | 3404 | 3381 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.75 | 28.83 |
1139 | -0.82 | -126.5 | 2669 | 2209 | 3404 | 3381 | 205.1 | -15.7 | 204 | 1144 | 0.00 | 2.25 | 0.00 | 0.000 | 260 | 0.000 | 0.062 | 2658 | 3605 | 3392 | 3404 | 3381 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.74 | 28.83 |
1168 | -0.82 | -126.5 | 2658 | 3605 | 3404 | 3381 | 210.1 | -16.7 | 210 | 1178 | 0.08 | 2.22 | 0.00 | 0.000 | 3078 | 0.240 | 0.034 | 2679 | 2201 | 3392 | 3404 | 3381 | 0 | 0 | 0 | 0 | 0 | 0 | 14.52 | 14.68 | 28.83 |
1477 | -0.82 | -126.5 | 2679 | 2200 | 3404 | 3378 | 253.8 | -14.3 | 241 | 1487 | 0.00 | 2.20 | 0.00 | 0.000 | 516 | 0.000 | 0.057 | 2679 | 809 | 3391 | 3404 | 3378 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.70 | 28.83 |
1552 | -0.82 | -126.5 | 2679 | 810 | 3404 | 3378 | 265.3 | -14.4 | 256 | 1562 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.043 | 2671 | 2192 | 3391 | 3405 | 3377 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.67 | 28.83 |
1861 | -0.82 | -126.5 | 2671 | 2192 | 3404 | 3374 | 309.4 | -14.2 | 287 | 1870 | 0.00 | 2.20 | 0.00 | 0.000 | 516 | 0.000 | 0.059 | 2671 | 819 | 3388 | 3404 | 3373 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.78 | 28.83 |
1895 | -0.82 | -126.5 | 2671 | 819 | 3404 | 3373 | 314.9 | -14.6 | 294 | 1905 | 0.05 | 2.22 | 0.00 | 0.000 | 3078 | 0.268 | 0.045 | 2676 | 2192 | 3387 | 3403 | 3372 | 0 | 0 | 0 | 0 | 0 | 0 | 14.51 | 14.69 | 28.83 |
2214 | -0.82 | -126.5 | 2675 | 2193 | 3404 | 3370 | 359.0 | -14.3 | 323 | 2220 | 0.00 | 2.20 | 0.00 | 0.000 | 516 | 0.000 | 0.060 | 2675 | 820 | 3386 | 3403 | 3369 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.78 | 28.83 |
2246 | -0.82 | -126.5 | 2675 | 820 | 3403 | 3369 | 364.1 | -14.3 | 330 | 2255 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.046 | 2667 | 2192 | 3386 | 3403 | 3369 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.73 | 28.83 |
2553 | -0.82 | -126.5 | 2667 | 2192 | 3403 | 3364 | 407.3 | -14.4 | 346 | 2559 | 0.00 | 2.20 | 0.00 | 0.000 | 516 | 0.000 | 0.060 | 2668 | 820 | 3383 | 3403 | 3364 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.80 | 28.83 |
2581 | -0.82 | -126.5 | 2667 | 820 | 3403 | 3364 | 411.7 | -14.7 | 352 | 2586 | 0.10 | 2.20 | 0.00 | 0.000 | 3078 | 0.295 | 0.047 | 2677 | 2212 | 3383 | 3403 | 3364 | 0 | 0 | 0 | 0 | 0 | 0 | 14.64 | 14.83 | 28.83 |
2895 | -0.82 | -126.5 | 2677 | 2213 | 3403 | 3358 | 454.0 | -13.6 | 369 | 2896 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2677 | 2213 | 3380 | 3403 | 3358 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
3194 | -0.82 | -126.5 | 2677 | 2213 | 3403 | 3354 | 494.7 | -13.5 | 384 | 3200 | 0.00 | 2.25 | 0.00 | 0.000 | 516 | 0.000 | 0.062 | 2677 | 818 | 3378 | 3403 | 3354 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.81 | 28.83 |
3262 | -0.82 | -126.5 | 2678 | 818 | 3401 | 3354 | 504.4 | -13.1 | 398 | 3267 | 0.00 | 2.20 | 0.00 | 0.000 | 1030 | 0.000 | 0.050 | 2670 | 2198 | 3378 | 3402 | 3354 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.83 | 28.83 |
3584 | -0.82 | -126.5 | 2670 | 2200 | 3401 | 3352 | 548.5 | -13.9 | 412 | 3588 | 0.00 | 2.25 | 0.00 | 0.000 | 516 | 0.000 | 0.066 | 2669 | 820 | 3376 | 3401 | 3352 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.81 | 28.83 |
3618 | -0.82 | -126.5 | 2670 | 820 | 3400 | 3352 | 553.6 | -14.3 | 419 | 3623 | 0.10 | 2.20 | 0.00 | 0.000 | 3078 | 0.292 | 0.050 | 2680 | 2201 | 3376 | 3400 | 3352 | 0 | 0 | 0 | 0 | 0 | 0 | 14.65 | 14.84 | 28.83 |
3941 | -0.82 | -126.5 | 2680 | 2201 | 3399 | 3349 | 595.2 | -12.9 | 433 | 3942 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2679 | 2201 | 3374 | 3399 | 3349 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
4241 | -0.82 | -126.5 | 2680 | 2201 | 3397 | 3346 | 633.3 | -12.6 | 443 | 4247 | 0.00 | 2.25 | 0.00 | 0.000 | 516 | 0.000 | 0.065 | 2679 | 813 | 3371 | 3397 | 3346 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.82 | 28.83 |
4301 | -0.82 | -126.5 | 2679 | 813 | 3396 | 3346 | 640.9 | -12.2 | 455 | 4305 | 0.00 | 2.22 | 0.00 | 0.000 | 1030 | 0.000 | 0.050 | 2672 | 2205 | 3371 | 3396 | 3346 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.85 | 28.83 |
4633 | -0.82 | -126.5 | 2672 | 2205 | 3395 | 3345 | 683.7 | -12.9 | 471 | 4634 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2672 | 2205 | 3370 | 3395 | 3345 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
4933 | -0.82 | -126.5 | 2672 | 2205 | 3394 | 3344 | 722.3 | -12.7 | 481 | 4937 | 0.00 | 2.25 | 0.00 | 0.000 | 516 | 0.000 | 0.065 | 2672 | 818 | 3369 | 3394 | 3344 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.79 | 28.83 |
4988 | -0.82 | -126.5 | 2672 | 818 | 3394 | 3344 | 729.7 | -13.2 | 492 | 4997 | 0.05 | 2.28 | 0.00 | 0.000 | 3078 | 0.283 | 0.053 | 2676 | 2203 | 3368 | 3393 | 3344 | 0 | 0 | 0 | 0 | 0 | 0 | 14.59 | 14.79 | 28.83 |
5294 | -0.82 | -126.5 | 2676 | 2203 | 3392 | 3342 | 768.1 | -12.6 | 503 | 5298 | 0.00 | 2.25 | 0.00 | 0.000 | 516 | 0.000 | 0.066 | 2676 | 822 | 3367 | 3392 | 3342 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.81 | 28.83 |
5326 | -0.82 | -126.5 | 2676 | 821 | 3392 | 3342 | 772.1 | -12.7 | 509 | 5332 | 0.00 | 2.20 | 0.00 | 0.000 | 1030 | 0.000 | 0.052 | 2668 | 2202 | 3367 | 3393 | 3342 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.85 | 28.83 |
5656 | -0.82 | -126.5 | 2668 | 2202 | 3390 | 3340 | 815.1 | -13.0 | 525 | 5657 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 2667 | 2202 | 3365 | 3391 | 3340 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
5956 | -0.82 | -126.5 | 2668 | 2202 | 3390 | 3338 | 853.7 | -12.7 | 535 | 5962 | 0.00 | 2.25 | 0.00 | 0.000 | 516 | 0.000 | 0.067 | 2669 | 820 | 3363 | 3389 | 3338 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.81 | 28.83 |
5987 | -0.82 | -126.5 | 2669 | 820 | 3389 | 3338 | 858.3 | -13.4 | 542 | 5993 | 0.05 | 2.25 | 0.00 | 0.000 | 3078 | 0.283 | 0.054 | 2673 | 2195 | 3363 | 3389 | 3338 | 0 | 0 | 0 | 0 | 0 | 0 | 14.57 | 14.79 | 28.83 |
6316 | -0.82 | -126.5 | 2673 | 2197 | 3388 | 3337 | 898.4 | -12.3 | 557 | 6322 | 0.00 | 2.33 | 0.00 | 0.000 | 260 | 0.000 | 0.077 | 2664 | 3607 | 3363 | 3389 | 3337 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.81 | 28.83 |
6333 | -0.82 | -126.5 | 2665 | 3607 | 3388 | 3337 | 900.9 | -12.4 | 561 | 6338 | 0.08 | 2.20 | 0.00 | 0.000 | 3078 | 0.317 | 0.045 | 2675 | 2217 | 3362 | 3388 | 3337 | 0 | 0 | 0 | 0 | 0 | 0 | 14.64 | 14.87 | 28.83 |
6646 | -0.82 | -126.5 | 2675 | 2216 | 3387 | 3336 | 937.9 | -12.1 | 573 | 6652 | 0.00 | 2.30 | 0.00 | 0.000 | 516 | 0.000 | 0.069 | 2676 | 806 | 3361 | 3387 | 3336 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.79 | 28.83 |
6749 | -0.82 | -126.5 | 2676 | 806 | 3387 | 3336 | 951.0 | -12.0 | 594 | 6754 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.053 | 2667 | 2211 | 3361 | 3386 | 3336 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.83 | 28.83 |
7066 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||||
state | 7066 | begin apogee | |||||||||||||||||||||||||||||
7070 | -0.16 | 0.0 | 2668 | 2129 | 3384 | 3334 | 990.6 | -12.8 | 607 | 7188 | 0.80 | 0.00 | 113.03 | 2.291 | 10246 | 0.273 | 0.000 | 2884 | 2126 | 2870 | 2915 | 2825 | 0 | 0 | 0 | 0 | 0 | 0 | 14.49 | 28.83 | 13.24 |
7190 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||||
state | 7190 | begin climb | |||||||||||||||||||||||||||||
7191 | 0.82 | 126.5 | 2884 | 2126 | 2911 | 2819 | 995.5 | 0.0 | 631 | 7312 | 1.08 | 2.58 | 111.15 | 2.368 | 10500 | 0.190 | 0.074 | 3198 | 3547 | 2347 | 2403 | 2291 | 0 | 0 | 0 | 0 | 0 | 0 | 13.98 | 13.90 | 13.24 |
7342 | 0.82 | 126.5 | 3198 | 3547 | 2398 | 2286 | 987.9 | 10.1 | 662 | 7347 | 0.00 | 2.40 | 0.00 | 0.000 | 1030 | 0.000 | 0.047 | 3208 | 2158 | 2342 | 2398 | 2286 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.13 | 28.83 |
7670 | 0.82 | 126.5 | 3208 | 2157 | 2397 | 2283 | 953.6 | 10.5 | 677 | 7674 | 0.00 | 2.42 | 0.00 | 0.000 | 516 | 0.000 | 0.080 | 3214 | 738 | 2340 | 2398 | 2283 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.50 | 28.83 |
7800 | 0.82 | 126.5 | 3214 | 738 | 2397 | 2283 | 939.6 | 10.1 | 703 | 7804 | 0.00 | 2.30 | 0.00 | 0.000 | 1030 | 0.000 | 0.050 | 3214 | 2145 | 2340 | 2397 | 2283 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.59 | 28.83 |
8117 | 0.82 | 126.5 | 3214 | 2145 | 2396 | 2282 | 906.8 | 10.5 | 716 | 8123 | 0.00 | 2.38 | 0.00 | 0.000 | 516 | 0.000 | 0.077 | 3224 | 734 | 2338 | 2395 | 2282 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.64 | 28.83 |
8199 | 0.82 | 126.5 | 3224 | 733 | 2395 | 2282 | 897.8 | 11.0 | 733 | 8207 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.050 | 3223 | 2143 | 2338 | 2395 | 2282 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.70 | 28.83 |
8506 | 0.82 | 126.5 | 3223 | 2142 | 2394 | 2282 | 865.6 | 10.6 | 744 | 8508 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 3223 | 2142 | 2337 | 2394 | 2281 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
8806 | 0.82 | 126.5 | 3223 | 2142 | 2394 | 2282 | 833.2 | 10.9 | 754 | 8811 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.076 | 3232 | 736 | 2337 | 2394 | 2281 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.71 | 28.83 |
8851 | 0.82 | 126.5 | 3232 | 736 | 2394 | 2280 | 828.0 | 10.9 | 763 | 8855 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.051 | 3232 | 2148 | 2337 | 2394 | 2281 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.77 | 28.83 |
9164 | 0.82 | 126.5 | 3232 | 2148 | 2393 | 2280 | 792.4 | 11.6 | 775 | 9165 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 3232 | 2148 | 2336 | 2393 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
9464 | 0.82 | 126.5 | 3232 | 2147 | 2392 | 2280 | 758.6 | 11.2 | 785 | 9468 | 0.00 | 2.38 | 0.00 | 0.000 | 516 | 0.000 | 0.077 | 3241 | 735 | 2336 | 2393 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.74 | 28.83 |
9594 | 0.82 | 126.5 | 3242 | 735 | 2392 | 2279 | 743.6 | 11.3 | 811 | 9598 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.051 | 3241 | 2145 | 2335 | 2392 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.80 | 28.83 |
9911 | 0.82 | 126.5 | 3241 | 2145 | 2391 | 2280 | 710.2 | 10.6 | 824 | 9917 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.076 | 3251 | 734 | 2336 | 2392 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.75 | 28.83 |
10013 | 0.82 | 126.5 | 3251 | 735 | 2392 | 2280 | 699.0 | 10.4 | 845 | 10018 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.050 | 3251 | 2148 | 2336 | 2392 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.80 | 28.83 |
10330 | 0.82 | 126.5 | 3251 | 2148 | 2391 | 2279 | 665.9 | 10.4 | 858 | 10334 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.075 | 3261 | 735 | 2335 | 2391 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.76 | 28.83 |
10364 | 0.82 | 126.5 | 3261 | 735 | 2391 | 2279 | 662.1 | 11.0 | 865 | 10369 | 0.10 | 2.25 | 0.00 | 0.000 | 5126 | 0.296 | 0.050 | 3241 | 2141 | 2335 | 2391 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 14.61 | 14.81 | 28.83 |
10687 | 0.82 | 126.5 | 3241 | 2141 | 2391 | 2279 | 631.2 | 9.3 | 879 | 10688 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 3241 | 2141 | 2335 | 2391 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
10987 | 0.82 | 126.5 | 3241 | 2140 | 2391 | 2279 | 601.4 | 9.8 | 889 | 10991 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.072 | 3251 | 725 | 2335 | 2391 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.77 | 28.83 |
11031 | 0.82 | 126.5 | 3251 | 725 | 2391 | 2279 | 596.6 | 10.3 | 898 | 11036 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.050 | 3250 | 2141 | 2335 | 2391 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.81 | 28.83 |
11350 | 0.82 | 126.5 | 3251 | 2142 | 2390 | 2279 | 562.7 | 10.8 | 911 | 11356 | 0.00 | 2.30 | 0.00 | 0.000 | 516 | 0.000 | 0.073 | 3261 | 738 | 2334 | 2390 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.73 | 28.83 |
11401 | 0.82 | 126.5 | 3261 | 738 | 2391 | 2279 | 556.5 | 11.5 | 922 | 11410 | 0.05 | 2.30 | 0.00 | 0.000 | 5126 | 0.253 | 0.050 | 3246 | 2136 | 2334 | 2390 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 14.52 | 14.71 | 28.83 |
11710 | 0.82 | 126.5 | 3246 | 2136 | 2390 | 2279 | 524.1 | 10.8 | 933 | 11711 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 3246 | 2136 | 2334 | 2390 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
12009 | 0.82 | 126.5 | 3246 | 2136 | 2390 | 2279 | 491.8 | 10.8 | 944 | 12015 | 0.00 | 2.33 | 0.00 | 0.000 | 516 | 0.000 | 0.073 | 3255 | 733 | 2334 | 2391 | 2278 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.76 | 28.83 |
12072 | 0.82 | 126.5 | 3255 | 733 | 2391 | 2279 | 484.8 | 10.8 | 957 | 12078 | 0.05 | 2.33 | 0.00 | 0.000 | 5126 | 0.277 | 0.050 | 3241 | 2149 | 2335 | 2391 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 14.56 | 14.77 | 28.83 |
12390 | 0.82 | 126.5 | 3241 | 2149 | 2391 | 2279 | 453.5 | 9.9 | 975 | 12397 | 0.00 | 2.35 | 0.00 | 0.000 | 516 | 0.000 | 0.072 | 3250 | 731 | 2335 | 2391 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.75 | 28.83 |
12459 | 0.82 | 126.5 | 3251 | 731 | 2391 | 2279 | 446.4 | 10.1 | 989 | 12463 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.050 | 3251 | 2143 | 2335 | 2391 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.80 | 28.83 |
12772 | 0.82 | 126.5 | 3250 | 2143 | 2390 | 2279 | 417.0 | 9.6 | 1006 | 12773 | 0.00 | 0.00 | 0.00 | 0.000 | 6 | 0.000 | 0.000 | 3250 | 2144 | 2334 | 2390 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 28.83 | 28.83 |
13073 | 0.83 | 130.8 | 3250 | 2143 | 2390 | 2279 | 389.9 | 8.9 | 1021 | 13079 | 0.00 | 2.33 | 0.00 | 0.000 | 516 | 0.000 | 0.073 | 3261 | 729 | 2335 | 2391 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.71 | 28.83 |
13161 | 0.83 | 130.8 | 3261 | 729 | 2391 | 2279 | 381.5 | 9.3 | 1039 | 13166 | 0.10 | 2.28 | 0.00 | 0.000 | 5126 | 0.295 | 0.051 | 3240 | 2144 | 2335 | 2391 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 14.56 | 14.78 | 28.83 |
13474 | 0.83 | 132.8 | 3241 | 2145 | 2391 | 2279 | 353.7 | 9.1 | 1056 | 13480 | 0.00 | 2.28 | 0.00 | 0.000 | 260 | 0.000 | 0.073 | 3240 | 3541 | 2334 | 2390 | 2279 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.71 | 28.83 |
13501 | 0.83 | 132.8 | 3240 | 3540 | 2390 | 2280 | 350.7 | 10.4 | 1062 | 13506 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.047 | 3250 | 2128 | 2335 | 2390 | 2280 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.79 | 28.83 |
13814 | 0.84 | 136.2 | 3249 | 2128 | 2390 | 2279 | 322.1 | 9.0 | 1094 | 13824 | 0.00 | 2.30 | 3.45 | 0.859 | 8708 | 0.000 | 0.070 | 3261 | 733 | 2317 | 2373 | 2262 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.78 | 14.02 |
13920 | 0.85 | 145.7 | 3261 | 733 | 2379 | 2272 | 312.4 | 8.7 | 1115 | 13938 | 0.00 | 2.28 | 12.30 | 1.297 | 9222 | 0.000 | 0.049 | 3261 | 2145 | 2274 | 2330 | 2219 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.78 | 14.16 |
14237 | 0.85 | 145.7 | 3261 | 2145 | 2321 | 2212 | 281.7 | 9.2 | 1148 | 14246 | 0.00 | 2.33 | 0.00 | 0.000 | 516 | 0.000 | 0.072 | 3270 | 740 | 2266 | 2320 | 2212 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.62 | 28.83 |
14281 | 0.85 | 145.7 | 3270 | 741 | 2321 | 2213 | 277.3 | 9.6 | 1157 | 14289 | 0.10 | 2.25 | 0.00 | 0.000 | 5126 | 0.282 | 0.049 | 3250 | 2139 | 2266 | 2321 | 2212 | 0 | 0 | 0 | 0 | 0 | 0 | 14.54 | 14.73 | 28.83 |
14588 | 0.85 | 145.7 | 3250 | 2140 | 2321 | 2212 | 247.9 | 9.8 | 1188 | 14592 | 0.00 | 2.33 | 0.00 | 0.000 | 260 | 0.000 | 0.073 | 3250 | 3544 | 2267 | 2322 | 2212 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.71 | 28.83 |
14627 | 0.85 | 145.7 | 3250 | 3544 | 2320 | 2212 | 244.1 | 10.7 | 1195 | 14636 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.044 | 3259 | 2135 | 2267 | 2321 | 2213 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.69 | 28.83 |
14934 | 0.85 | 145.7 | 3260 | 2135 | 2320 | 2213 | 213.5 | 9.4 | 1227 | 14945 | 0.00 | 2.33 | 0.00 | 0.000 | 516 | 0.000 | 0.073 | 3270 | 732 | 2267 | 2321 | 2213 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.69 | 28.83 |
15072 | 0.85 | 150.8 | 3270 | 732 | 2321 | 2213 | 201.1 | 8.9 | 1254 | 15082 | 0.05 | 2.33 | 1.62 | 0.159 | 13318 | 0.258 | 0.049 | 3256 | 2140 | 2258 | 2313 | 2204 | 0 | 0 | 0 | 0 | 0 | 0 | 14.45 | 14.64 | 14.64 |
15380 | 0.91 | 197.5 | 2304 | 2138 | 2264 | 2206 | 178.7 | 6.8 | 1314 | 15431 | 0.00 | 2.42 | 40.90 | 1.158 | 8452 | 0.000 | 0.073 | 3256 | 3548 | 2053 | 2111 | 1995 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.52 | 14.07 |
15469 | 0.91 | 197.5 | 3256 | 3548 | 2109 | 1990 | 170.2 | 12.1 | 1329 | 15476 | 0.00 | 2.30 | 0.00 | 0.000 | 1030 | 0.000 | 0.047 | 3265 | 2139 | 2048 | 2108 | 1989 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.57 | 28.83 |
15660 | 0.91 | 198.1 | 3265 | 2139 | 2108 | 1989 | 149.0 | 9.1 | 1366 | 15667 | 0.00 | 2.38 | 0.00 | 0.000 | 516 | 0.000 | 0.072 | 3276 | 735 | 2048 | 2108 | 1989 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.56 | 28.83 |
15811 | 0.91 | 198.1 | 3275 | 734 | 2108 | 1989 | 134.0 | 11.8 | 1395 | 15818 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.047 | 3276 | 2143 | 2048 | 2108 | 1989 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.63 | 28.83 |
16001 | 0.97 | 242.7 | 3276 | 2143 | 2107 | 1989 | 117.6 | 6.9 | 1432 | 16041 | 0.00 | 2.42 | 33.83 | 1.063 | 8708 | 0.000 | 0.067 | 3286 | 738 | 1872 | 1931 | 1813 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.49 | 14.04 |
16109 | 0.97 | 242.7 | 2352 | 737 | 1876 | 1803 | 108.4 | 9.8 | 1451 | 16116 | 0.00 | 2.28 | 0.00 | 0.000 | 1030 | 0.000 | 0.044 | 3286 | 2145 | 1865 | 1922 | 1808 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.56 | 28.83 |
16299 | 0.99 | 257.4 | 2352 | 2143 | 1876 | 1802 | 92.5 | 8.4 | 1488 | 16314 | 0.00 | 2.35 | 6.97 | 0.315 | 8708 | 0.000 | 0.062 | 3296 | 728 | 1830 | 1888 | 1773 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.57 | 14.26 |
16362 | 1.00 | 265.6 | 3296 | 728 | 1899 | 1786 | 87.0 | 8.8 | 1499 | 16376 | 0.00 | 2.28 | 7.60 | 0.363 | 9222 | 0.000 | 0.043 | 3296 | 2146 | 1792 | 1849 | 1735 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.62 | 14.29 |
16560 | 1.11 | 360.3 | 3296 | 2146 | 1865 | 1753 | 75.5 | 4.4 | 1537 | 16624 | 0.00 | 2.42 | 58.05 | 0.402 | 8708 | 0.000 | 0.063 | 3306 | 733 | 1407 | 1462 | 1353 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.51 | 14.28 |
16641 | 1.14 | 379.4 | 3306 | 733 | 1468 | 1364 | 70.6 | 8.2 | 1550 | 16662 | 0.00 | 2.33 | 13.25 | 0.352 | 9222 | 0.000 | 0.044 | 3306 | 2140 | 1327 | 1379 | 1275 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.53 | 14.27 |
16845 | 1.19 | 419.9 | 3307 | 2139 | 1390 | 1287 | 49.7 | 7.1 | 1589 | 16879 | 0.05 | 2.33 | 24.73 | 0.291 | 10500 | 0.279 | 0.060 | 3333 | 3548 | 1167 | 1217 | 1117 | 0 | 0 | 0 | 0 | 0 | 0 | 14.57 | 14.56 | 14.33 |
16961 | 1.19 | 419.9 | 2400 | 3547 | 1206 | 1124 | 38.0 | 10.4 | 1610 | 16970 | 0.00 | 2.33 | 1.88 | 0.169 | 9222 | 0.000 | 0.041 | 3343 | 2130 | 1161 | 1212 | 1111 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.57 | 14.49 |
17153 | 1.32 | 525.3 | 2432 | 2128 | 1208 | 1120 | 24.2 | 3.8 | 1647 | 17223 | 0.08 | 2.33 | 62.05 | 0.208 | 11012 | 0.211 | 0.055 | 3378 | 3547 | 733 | 790 | 676 | 0 | 0 | 0 | 0 | 0 | 0 | 14.61 | 14.58 | 14.42 |
17261 | 1.32 | 525.3 | 3378 | 3548 | 794 | 684 | 18.4 | 9.6 | 1665 | 17269 | 0.00 | 2.25 | 0.00 | 0.000 | 1030 | 0.000 | 0.038 | 3388 | 2134 | 740 | 795 | 685 | 0 | 0 | 0 | 0 | 0 | 0 | 28.83 | 14.61 | 28.83 |
17452 | 1.47 | 650.0 | 3388 | 2134 | 796 | 681 | 7.3 | 2.8 | 1702 | 17492 | 0.10 | 2.28 | 32.42 | 0.150 | 10756 | 0.178 | 0.059 | 3440 | 743 | 511 | 576 | 446 | 0 | 0 | 0 | 0 | 0 | 0 | 14.62 | 14.59 | 14.50 |
17529 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||||
state | 17529 | begin surface coast | |||||||||||||||||||||||||||||
17551 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||||
state | 17551 | begin surface |