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	75	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	72	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	210	R_STBD_OVSHOOT	70	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	-15049.025	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	54

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	54	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	-15049.025
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	72	VBD_MAX	3960
DEVICE6	-1	MASS	53599	R_STBD_OVSHOOT	70	VBD_MAXERRORS	1
DIRECT_CONTROL	0	MAX_BUOY	150	SEABIRD_C_G	-9.9136524	VBD_MIN	396
DIVE	75	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	161213,173228,-5459.386,1.819,40,0.9,40,-20.3	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	2.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161213,173923,-5459.334,1.852,15,2.0,15,-20.3	MHEAD_RNG_PITCHd_Wd	258.2,2322,-27.8,-9.429
SPEED_LIMITS	0.163,0.255	D_GRID	990

Post-dive calculations and measurements:

FINISH	1.9,1.027209	_10V_AH	10.1,35.971
SM_CCo	13084,61.60,1.088,1,0,1743,210.22	FG_AHR_24Vo	0.000
SM_GC	2.93,0.00,0.00,61.60,0.000,0.000,1.088,75,1921,1743,-9.21,0.31,210.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5438.56,-3.74,161213,090902	MEM	354656
TT8_MAMPS	0.026964	DATA_FILE_SIZE	53642,947
HUMID	63.42	CAP_FILE_SIZE	121440,1
INTERNAL_PRESSURE	9.04779	CFSIZE	2097086464,2085126144
TCM_TEMP	4.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	161213,212005,-5459.669,-0.516,34,0.9,34,-20.2
_24V_AH	21.9,48.920

Energy measurements:

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	273	142.35	SBE_CT	678	24	356.46
Roll_motor	34	102	78.18	WL_BB2FLVMT	667	105	1534.14
VBD_pump_during_apogee	267	1621	9501.80	SBE_O2	641	19	266.87
VBD_pump_during_surface	61	1087	1467.53	QSP2150	61	4	5.87
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	60.47	nil	0	0	0.00
Iridium_during_connect	46	160	162.58	nil	0	0	0.00
Iridium_during_xfer	236	223	1153.15	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	4.96
TT8	2373	14	358.70
LPSleep	7981	2	176.54
TT8_Active	432	14	62.08
TT8_Sampling	2653	37	1003.29
TT8_CF8	130	47	62.10
TT8_Kalman	0	0	0.00
Analog_circuits	1436	12	174.13
GPS_charging	0	0	0.00
Compass	2311	15	367.22
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
21	end surface: CONTROL_FINISHED_OK
state	22	begin dive
23	-0.90	-57.8	0.0	0.0	0	33	0.00	0.00	-7.80	0.000	2	0.000	0.000	67	1972	1871	0	0	0	0	0	0
35	-0.90	-144.1	3.0	-0.0	1	132	12.38	0.88	-78.62	0.000	4	0.273	0.069	2725	2534	3188	0	0	0	0	0	0
299	-0.90	-144.1	34.4	-18.6	45	304	0.00	0.93	0.00	0.000	6	0.000	0.034	2725	1932	3190	0	0	0	0	0	0
443	-0.90	-144.1	62.2	-19.0	70	448	0.05	0.68	0.00	0.000	4	0.264	0.047	2734	1497	3190	0	0	0	0	0	0
574	-0.90	-144.1	87.9	-19.5	93	581	0.00	0.57	0.00	0.000	6	0.000	0.032	2733	1911	3190	0	0	0	0	0	0
906	-0.90	-144.1	149.3	-16.5	129	909	0.00	1.00	0.00	0.000	4	0.000	0.039	2728	2574	3190	0	0	0	0	0	0
1076	-0.90	-144.1	177.9	-16.3	144	1080	0.00	1.02	0.00	0.000	6	0.000	0.035	2728	1908	3190	0	0	0	0	0	0
1406	-0.90	-144.1	232.9	-16.3	175	1410	0.00	0.60	0.00	0.000	4	0.000	0.048	2728	1506	3190	0	0	0	0	0	0
1500	-0.90	-144.1	248.3	-15.6	183	1506	0.00	0.57	0.00	0.000	6	0.000	0.031	2727	1911	3189	0	0	0	0	0	0
1825	-0.90	-144.1	299.7	-16.0	214	1829	0.00	0.60	0.00	0.000	4	0.000	0.040	2723	2338	3189	0	0	0	0	0	0
2033	-0.90	-144.1	333.7	-16.1	232	2041	0.08	0.65	0.00	0.000	6	0.219	0.035	2737	1892	3189	0	0	0	0	0	0
2360	-0.90	-144.1	385.5	-16.1	263	2361	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	1892	3189	0	0	0	0	0	0
2681	-0.90	-144.1	435.3	-14.9	283	2684	0.00	0.40	0.00	0.000	4	0.000	0.053	2737	1607	3189	0	0	0	0	0	0
2786	-0.90	-144.1	450.9	-14.0	287	2791	0.00	0.43	0.00	0.000	6	0.000	0.035	2737	1919	3189	0	0	0	0	0	0
3101	-0.90	-144.1	494.4	-13.6	303	3105	0.00	0.43	0.00	0.000	4	0.000	0.042	2735	2241	3190	0	0	0	0	0	0
3341	-0.90	-144.1	527.3	-12.9	313	3346	0.00	0.47	0.00	0.000	6	0.000	0.038	2735	1909	3190	0	0	0	0	0	0
3657	-0.90	-144.1	568.0	-12.6	329	3661	0.00	0.52	0.00	0.000	4	0.000	0.050	2735	1548	3190	0	0	0	0	0	0
3819	-0.90	-144.1	588.9	-12.9	336	3823	0.00	0.47	0.00	0.000	6	0.000	0.034	2734	1912	3190	0	0	0	0	0	0
4145	-0.90	-144.1	631.8	-12.9	352	4149	0.00	0.45	0.00	0.000	4	0.000	0.041	2731	2254	3190	0	0	0	0	0	0
4303	-0.90	-144.1	651.9	-12.4	359	4307	0.00	0.47	0.00	0.000	6	0.000	0.039	2731	1912	3190	0	0	0	0	0	0
4635	-0.90	-144.1	694.3	-12.9	375	4636	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	1912	3190	0	0	0	0	0	0
4945	-0.90	-144.1	733.1	-12.3	390	4948	0.00	0.73	0.00	0.000	4	0.000	0.049	2731	1441	3190	0	0	0	0	0	0
5072	-0.90	-144.1	749.4	-13.4	395	5078	0.00	0.68	0.00	0.000	6	0.000	0.031	2729	1908	3191	0	0	0	0	0	0
5388	-0.90	-144.1	789.7	-12.9	411	5391	0.00	0.68	0.00	0.000	4	0.000	0.041	2725	2380	3190	0	0	0	0	0	0
5504	-0.90	-144.1	805.0	-13.4	416	5509	0.05	0.70	0.00	0.000	6	0.242	0.037	2734	1909	3190	0	0	0	0	0	0
5831	-0.90	-144.1	844.3	-11.8	432	5834	0.00	0.50	0.00	0.000	4	0.000	0.051	2734	1563	3190	0	0	0	0	0	0
5975	-0.90	-144.1	861.7	-12.3	438	5979	0.00	0.50	0.00	0.000	6	0.000	0.034	2734	1926	3191	0	0	0	0	0	0
6296	-0.90	-144.1	898.4	-11.3	454	6297	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	1928	3193	0	0	0	0	0	0
6605	-0.90	-144.1	932.0	-10.7	469	6607	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	1928	3194	0	0	0	0	0	0
6915	-0.90	-144.1	965.1	-10.6	484	6918	0.00	0.45	0.00	0.000	4	0.000	0.042	2731	2268	3194	0	0	0	0	0	0
7014	-0.90	-144.1	975.4	-10.3	488	7018	0.00	0.52	0.00	0.000	6	0.000	0.038	2731	1911	3194	0	0	0	0	0	0
7169	end dive: TARGET_DEPTH_EXCEEDED
state	7169	begin apogee
7173	-0.16	0.0	991.2	10.3	496	7304	0.88	0.00	126.65	1.622	6	0.171	0.000	2970	1827	2601	0	0	0	0	0	0
7304	end apogee: CONTROL_FINISHED_OK
state	7305	begin climb
7306	0.90	144.1	991.6	0.0	502	7452	1.15	0.00	140.88	1.542	6	0.103	0.000	3314	1827	2011	0	0	0	0	0	0
7761	0.90	144.1	911.3	19.2	525	7765	0.00	2.40	0.00	0.000	4	0.000	0.061	3324	422	2003	0	0	0	0	0	0
7906	0.90	144.1	881.8	20.1	531	7911	0.00	2.17	0.00	0.000	6	0.000	0.027	3324	1781	2001	0	0	0	0	0	0
8221	0.90	144.1	821.6	18.8	547	8225	0.00	0.93	0.00	0.000	4	0.000	0.048	3327	1215	2001	0	0	0	0	0	0
8401	0.90	144.1	787.2	20.0	555	8405	0.00	0.95	0.00	0.000	6	0.000	0.029	3326	1850	2000	0	0	0	0	0	0
8733	0.90	144.1	724.4	19.1	571	8736	0.00	1.15	0.00	0.000	4	0.000	0.050	3330	1146	1999	0	0	0	0	0	0
8895	0.90	144.1	692.8	20.1	578	8900	0.03	1.00	0.00	0.000	6	0.194	0.028	3323	1823	1999	0	0	0	0	0	0
9221	0.90	144.1	632.5	18.3	594	9225	0.00	0.70	0.00	0.000	4	0.000	0.047	3325	1381	1999	0	0	0	0	0	0
9477	0.90	144.1	584.5	18.9	605	9481	0.00	0.65	0.00	0.000	6	0.000	0.030	3324	1829	1998	0	0	0	0	0	0
9798	0.90	144.1	526.0	18.1	621	9802	0.00	1.42	0.00	0.000	4	0.000	0.051	3329	956	1998	0	0	0	0	0	0
9960	0.90	144.1	495.7	17.8	628	9964	0.00	1.27	0.00	0.000	6	0.000	0.028	3329	1807	1999	0	0	0	0	0	0
10287	0.90	144.1	435.5	18.5	644	10288	0.00	0.00	0.00	0.000	6	0.000	0.000	3329	1807	1999	0	0	0	0	0	0
10600	0.90	144.1	377.6	18.2	664	10603	0.00	0.77	0.00	0.000	4	0.000	0.047	3332	1317	1999	0	0	0	0	0	0
10769	0.90	144.1	347.1	17.8	679	10773	0.00	0.73	0.00	0.000	6	0.000	0.029	3331	1819	1998	0	0	0	0	0	0
11099	0.90	144.1	290.7	16.8	710	11100	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	1819	1999	0	0	0	0	0	0
11418	0.90	144.1	240.4	15.1	740	11420	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	1819	1998	0	0	0	0	0	0
11739	0.90	144.1	193.6	14.7	770	11740	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	1819	1999	0	0	0	0	0	0
12055	0.90	144.1	146.9	15.2	800	12059	0.00	1.38	0.00	0.000	4	0.000	0.053	3337	980	1999	0	0	0	0	0	0
12225	0.90	144.1	121.7	15.6	815	12229	0.03	1.25	0.00	0.000	6	0.201	0.028	3329	1811	1998	0	0	0	0	0	0
12562	0.90	144.1	73.8	14.0	861	12569	0.00	0.57	0.00	0.000	4	0.000	0.048	3330	1443	1999	0	0	0	0	0	0
12828	0.90	144.1	35.7	14.2	907	12833	0.00	0.52	0.00	0.000	6	0.000	0.033	3330	1832	1999	0	0	0	0	0	0
12974	0.90	144.1	13.7	16.0	932	12982	0.00	0.43	0.00	0.000	4	0.000	0.048	3331	1547	1999	0	0	0	0	0	0
13047	end climb: SURFACE_DEPTH_REACHED
state	13048	begin surface coast
13067	end surface coast: CONTROL_FINISHED_OK
state	13067	begin surface