DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 119 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  143 HEADING  -1 ROLL_MIN  290 ALTIM_BOTTOM_TURN_MARGIN  8
MISSION  10 ESCAPE_HEADING  0 ROLL_MAX  3915 ALTIM_TOP_TURN_MARGIN  0
DIVE  119 ESCAPE_HEADING_DELTA  10 ROLL_DEG  45 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  2 FIX_MISSING_TIMEOUT  0.5 C_ROLL_DIVE  2460 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  -2030 C_ROLL_CLIMB  1950 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LON  5900 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  4
D_NO_BLEED  50 SM_CC  578.41736 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  14 XPDR_VALID  0
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  17 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  1.75 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0.025 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  442 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3793 DEVICE1  2
T_DIVE  360 CALL_TRIES  5 C_VBD  2800 DEVICE2  20
T_MISSION  420 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  720 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -29433.168 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  150 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  100 RAFOS_DEVICE  16
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  127 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  4070 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2390 FG_AHR_24V  0 SEABIRD_T_G  0.0043131942
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062854384
RHO  1.0275 PITCH_CNV  0.0031256729 PRESSURE_YINT  -24.446302 SEABIRD_T_I  2.3348166e-05
MASS  51204 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001163694 SEABIRD_T_J  2.4454023e-06
NAV_MODE  2 PITCH_GAIN  31 AD7714Ch0Gain  128 SEABIRD_C_G  -10.029707
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1484355
KALMAN_USE  2 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0010294267
HD_A  0.0038360001 PITCH_MAXERRORS  1 COMPASS_USE  1 SEABIRD_C_J  0.00016845814
HD_B  0.010078 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.8541004e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  20

Pre-dive calculations and measurements:
GPS1  204931,6650.694,-5859.638,38,1.7,38,-37.9 TGT_NAME  TARGET_ADD3_EB
_CALLS  5 TGT_LATLONG  6655.000,-5823.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.17 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -51.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  211740,6650.650,-5859.529,415,2.7,440,-37.9 MHEAD_RNG_PITCHd_Wd  115.2,27720,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  996

Post-dive calculations and measurements:
FINISH  0.6,1.018011 _24V_AH  22.5,31.654
SM_CCo  20562,260.65,0.761,0,0,442,578.42 _10V_AH  10.1,16.468
SM_GC  1.26,0.00,0.00,260.65,0.000,0.000,0.761,123,2464,442,-7.08,0.11,578.42 FG_AHR_24Vo  0.000
RAFOS_CLK  1476 FG_AHR_10Vo  0.000
RAFOS  5,1257972065,20.700001,20.684723,75,65,63,0,0,0,720,192,118,0,0,0 MEM  187760
RAFOS_FIX  6646.450684,-5901.181152,111109,202044,4,92,0.00 DATA_FILE_SIZE  59819,1544
IRIDIUM_FIX  6620.33,-5854.68,050299,212144 CAP_FILE_SIZE  186518,0
TT8_MAMPS  0.026845 CFSIZE  260165632,240500736
HUMID  46.61 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.7308 SOUNDSPEED  1456.3
TCM_TEMP  16.20 CURRENT  0.155,157.4,1
XPDR_PINGS  5 GPS  121109,030730,6649.614,-5851.150,40,1.2,40,-37.8
ALTIM_TOP_PING  19.9,19.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19322140.98 SBE_CT114024615.77
Roll_motor143108348.45 SBE_O2108519463.97
VBD_pump_during_apogee344141410947.85 nil000.00
VBD_pump_during_surface2607604462.18 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init148103344.98 nil000.00
Iridium_during_connect2991601079.90 nil000.00
Iridium_during_xfer4152232084.12
Transponder_ping142014.18
GUMSTIX_24V000.00
GPS44250223.39
TT8281919567.35
LPSleep148742347.05
TT8_Active82219165.39
TT8_Sampling2902391170.42
TT8_CF8113845528.24
TT8_Kalman000.00
Analog_circuits212712257.86
GPS_charging000.00
Compass24448197.53
RAFOS2520138.18
Transponder2300.79

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -0.73 -146.0 0.0 0.0 0 190 0.00 0.00 -171.05 0.000 2 0.000 0.000 125 2463 3163 0 0 0 0 0 0
192 -0.73 -146.0 3.8 -6.4 33 215 10.15 2.78 -6.35 0.000 4 0.322 0.108 2145 869 3399 0 0 0 0 0 0
378 -0.73 -146.0 41.1 -18.2 66 384 0.00 2.67 0.00 0.000 6 0.000 0.088 2145 2465 3402 0 0 0 0 0 0
721 -0.73 -146.0 95.4 -14.6 127 727 0.00 2.50 0.00 0.000 4 0.000 0.105 2144 3911 3402 0 0 0 0 0 0
980 -0.73 -146.0 129.5 -12.3 153 985 0.00 2.40 0.00 0.000 6 0.000 0.078 2145 2475 3402 0 0 0 0 0 0
1304 -0.73 -146.0 166.5 -11.3 183 1309 0.00 2.65 0.00 0.000 4 0.000 0.096 2145 871 3402 0 0 0 0 0 0
1336 -0.73 -146.0 170.7 -12.8 185 1343 0.00 2.67 0.00 0.000 6 0.000 0.087 2145 2483 3403 0 0 0 0 0 0
1661 -0.73 -146.0 204.1 -9.5 216 1666 0.00 2.45 0.00 0.000 4 0.000 0.104 2145 3912 3403 0 0 0 0 0 0
1723 -0.73 -146.0 210.2 -10.2 221 1728 0.00 2.38 0.00 0.000 6 0.000 0.078 2145 2485 3402 0 0 0 0 0 0
2048 -0.73 -146.0 240.1 -8.9 251 2049 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2485 3403 0 0 0 0 0 0
2368 -0.73 -146.0 268.0 -8.6 281 2372 0.00 2.67 0.00 0.000 4 0.000 0.096 2145 868 3402 0 0 0 0 0 0
2395 -0.73 -146.0 270.7 -9.3 283 2399 0.00 2.70 0.00 0.000 6 0.000 0.087 2145 2497 3402 0 0 0 0 0 0
2721 -0.73 -146.0 300.6 -9.4 313 2725 0.00 2.42 0.00 0.000 4 0.000 0.104 2145 3912 3402 0 0 0 0 0 0
2793 -0.73 -146.0 307.8 -10.1 319 2797 0.00 2.35 0.00 0.000 6 0.000 0.077 2145 2490 3402 0 0 0 0 0 0
3117 -0.73 -146.0 336.5 -8.7 349 3122 0.00 2.45 0.00 0.000 4 0.000 0.104 2145 3913 3402 0 0 0 0 0 0
3161 -0.73 -146.0 340.5 -8.7 352 3168 0.00 2.35 0.00 0.000 6 0.000 0.075 2145 2491 3402 0 0 0 0 0 0
3486 -0.73 -146.0 367.4 -8.1 383 3490 0.00 2.67 0.00 0.000 4 0.000 0.094 2145 864 3402 0 0 0 0 0 0
3525 -0.73 -146.0 370.8 -9.1 386 3529 0.00 2.70 0.00 0.000 6 0.000 0.086 2145 2502 3402 0 0 0 0 0 0
3849 -0.73 -146.0 397.8 -8.8 416 3853 0.00 2.70 0.00 0.000 4 0.000 0.094 2145 872 3403 0 0 0 0 0 0
3892 -0.73 -146.0 402.3 -10.1 419 3898 0.00 2.65 0.00 0.000 6 0.000 0.084 2145 2492 3403 0 0 0 0 0 0
4216 -0.73 -146.0 433.2 -9.5 450 4218 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2492 3403 0 0 0 0 0 0
4537 -0.73 -146.0 462.0 -8.8 480 4541 0.00 2.67 0.00 0.000 4 0.000 0.094 2145 873 3404 0 0 0 0 0 0
4575 -0.73 -146.0 465.6 -9.2 483 4580 0.00 2.65 0.00 0.000 6 0.000 0.084 2145 2492 3403 0 0 0 0 0 0
4900 -0.73 -146.0 491.6 -7.6 513 4901 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2493 3404 0 0 0 0 0 0
5220 -0.73 -146.0 516.0 -7.8 543 5224 0.00 2.67 0.00 0.000 4 0.000 0.093 2145 873 3405 0 0 0 0 0 0
5252 -0.73 -146.0 518.8 -8.3 545 5258 0.00 2.62 0.00 0.000 6 0.000 0.082 2145 2486 3405 0 0 0 0 0 0
5576 -0.73 -146.0 542.2 -6.9 576 5581 0.00 2.65 0.00 0.000 4 0.000 0.091 2145 872 3405 0 0 0 0 0 0
5608 -0.73 -146.0 544.7 -7.8 578 5614 0.00 2.62 0.00 0.000 6 0.000 0.081 2145 2484 3405 0 0 0 0 0 0
5934 -0.73 -146.0 568.6 -7.6 609 5935 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2484 3406 0 0 0 0 0 0
6253 -0.73 -146.0 592.8 -7.6 639 6255 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2484 3406 0 0 0 0 0 0
6562 -0.73 -146.0 616.2 -7.4 655 6567 0.00 2.65 0.00 0.000 4 0.000 0.091 2145 871 3407 0 0 0 0 0 0
6617 -0.73 -146.0 620.8 -8.1 656 6624 0.00 2.62 0.00 0.000 6 0.000 0.081 2145 2486 3407 0 0 0 0 0 0
6930 -0.73 -146.0 644.0 -7.4 667 6931 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2486 3407 0 0 0 0 0 0
7237 -0.73 -146.0 667.3 -7.8 677 7241 0.00 2.65 0.00 0.000 4 0.000 0.091 2145 870 3407 0 0 0 0 0 0
7280 -0.73 -146.0 670.9 -8.5 678 7284 0.00 2.60 0.00 0.000 6 0.000 0.081 2145 2476 3407 0 0 0 0 0 0
7605 -0.73 -146.0 695.5 -7.7 689 7606 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2476 3408 0 0 0 0 0 0
7911 -0.73 -146.0 718.6 -7.5 699 7912 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2476 3408 0 0 0 0 0 0
8217 -0.73 -146.0 740.0 -6.9 709 8222 0.00 2.62 0.00 0.000 4 0.000 0.090 2145 871 3408 0 0 0 0 0 0
8245 -0.73 -146.0 742.2 -8.2 710 8250 0.00 2.62 0.00 0.000 6 0.000 0.080 2145 2480 3408 0 0 0 0 0 0
8580 -0.73 -146.0 764.9 -6.7 721 8582 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2480 3408 0 0 0 0 0 0
8886 -0.73 -146.0 786.4 -7.1 731 8887 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2480 3408 0 0 0 0 0 0
9193 -0.73 -146.0 809.0 -7.5 741 9194 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2480 3409 0 0 0 0 0 0
9499 -0.73 -146.0 832.0 -7.5 751 9500 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2480 3409 0 0 0 0 0 0
9808 -0.73 -146.0 854.5 -7.3 761 9809 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2480 3409 0 0 0 0 0 0
10111 -0.73 -146.0 876.5 -7.3 771 10115 0.00 2.62 0.00 0.000 4 0.000 0.090 2145 872 3409 0 0 0 0 0 0
10139 -0.73 -146.0 878.7 -7.8 772 10143 0.00 2.60 0.00 0.000 6 0.000 0.081 2145 2471 3409 0 0 0 0 0 0
10473 -0.73 -146.0 903.4 -7.4 783 10474 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2471 3409 0 0 0 0 0 0
10779 -0.73 -146.0 926.0 -7.4 793 10784 0.00 2.62 0.00 0.000 4 0.000 0.090 2145 868 3409 0 0 0 0 0 0
10817 -0.73 -146.0 929.4 -9.2 794 10821 0.00 2.60 0.00 0.000 6 0.000 0.081 2145 2475 3409 0 0 0 0 0 0
11142 -0.73 -146.0 953.8 -7.1 805 11147 0.00 2.62 0.00 0.000 4 0.000 0.090 2145 871 3409 0 0 0 0 0 0
11186 -0.73 -146.0 957.4 -8.5 806 11190 0.00 2.60 0.00 0.000 6 0.000 0.081 2145 2474 3409 0 0 0 0 0 0
11504 -0.73 -146.0 979.8 -7.1 817 11505 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2474 3409 0 0 0 0 0 0
11655 end dive: TARGET_DEPTH_EXCEEDED
state 11655 begin apogee
11660 -0.16 0.0 990.8 7.1 822 11791 0.68 0.00 127.07 1.414 6 0.193 0.000 2333 1950 2800 0 0 0 0 0 0
11791 end apogee: CONTROL_FINISHED_OK
state 11792 begin climb
11794 0.73 146.0 993.1 0.0 826 11935 0.95 3.00 132.35 1.354 4 0.134 0.095 2622 366 2203 0 0 0 0 0 0
11962 0.73 146.0 979.3 12.1 831 11967 0.00 2.80 0.00 0.000 6 0.000 0.071 2622 1949 2199 0 0 0 0 0 0
12280 0.73 146.0 939.1 13.1 842 12281 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1949 2193 0 0 0 0 0 0
12586 0.73 146.0 899.1 13.1 852 12591 0.00 2.70 0.00 0.000 4 0.000 0.096 2634 365 2191 0 0 0 0 0 0
12615 0.73 146.0 895.2 14.1 853 12619 0.00 2.60 0.00 0.000 6 0.000 0.074 2633 1945 2191 0 0 0 0 0 0
12948 0.73 146.0 848.6 13.9 864 12949 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1945 2190 0 0 0 0 0 0
13255 0.73 146.0 807.1 13.3 874 13256 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1945 2190 0 0 0 0 0 0
13561 0.73 146.0 766.8 13.1 884 13562 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1945 2189 0 0 0 0 0 0
13867 0.73 146.0 727.5 12.7 894 13868 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1945 2189 0 0 0 0 0 0
14173 0.73 146.0 688.8 12.6 904 14174 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1945 2189 0 0 0 0 0 0
14480 0.73 146.0 649.4 13.0 914 14481 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1945 2189 0 0 0 0 0 0
14786 0.73 146.0 609.5 12.9 924 14787 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1945 2189 0 0 0 0 0 0
15101 0.73 146.0 569.2 12.3 948 15102 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1945 2188 0 0 0 0 0 0
15421 0.73 146.0 529.8 12.3 978 15425 0.00 2.62 0.00 0.000 4 0.000 0.097 2646 361 2187 0 0 0 0 0 0
15452 0.73 146.0 525.3 12.9 980 15459 0.00 2.53 0.00 0.000 6 0.000 0.074 2646 1948 2187 0 0 0 0 0 0
15777 0.73 146.0 483.4 13.0 1011 15778 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 1948 2187 0 0 0 0 0 0
16097 0.73 146.0 445.2 11.8 1041 16098 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 1948 2187 0 0 0 0 0 0
16416 0.73 146.0 407.5 12.0 1071 16417 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 1948 2187 0 0 0 0 0 0
16734 0.73 146.0 370.1 11.2 1101 16739 0.00 2.62 0.00 0.000 4 0.000 0.089 2645 3538 2187 0 0 0 0 0 0
16755 0.73 146.0 367.5 12.4 1102 16762 0.15 2.62 0.00 0.000 6 0.213 0.077 2625 1938 2187 0 0 0 0 0 0
17080 0.73 146.0 334.4 10.2 1133 17085 0.00 2.58 0.00 0.000 4 0.000 0.097 2634 361 2187 0 0 0 0 0 0
17109 0.73 146.0 331.3 10.4 1135 17113 0.00 2.53 0.00 0.000 6 0.000 0.073 2634 1949 2187 0 0 0 0 0 0
17434 0.73 146.0 297.3 11.0 1165 17435 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1949 2187 0 0 0 0 0 0
17753 0.73 146.0 264.4 10.0 1195 17757 0.00 2.62 0.00 0.000 4 0.000 0.097 2646 358 2187 0 0 0 0 0 0
17791 0.73 146.0 260.2 10.4 1198 17796 0.00 2.53 0.00 0.000 6 0.000 0.074 2646 1942 2188 0 0 0 0 0 0
18115 0.75 166.9 231.4 8.3 1228 18135 0.00 0.00 15.70 0.899 6 0.000 0.000 2646 1942 2118 0 0 0 0 0 0
18454 0.75 166.9 200.3 9.5 1260 18455 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 1943 2116 0 0 0 0 0 0
18774 0.75 166.9 169.2 9.3 1290 18775 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 1943 2116 0 0 0 0 0 0
19093 0.78 192.5 140.7 8.1 1320 19123 0.00 2.70 21.80 0.877 4 0.000 0.090 2646 3537 2012 0 0 0 0 0 0
19174 0.78 192.5 132.8 10.5 1327 19180 0.00 2.67 0.00 0.000 6 0.000 0.081 2658 1936 2010 0 0 0 0 0 0
19499 0.78 192.5 99.9 9.7 1358 19503 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 1937 2007 0 0 0 0 0 0
19841 0.81 216.0 68.1 8.2 1419 19868 0.00 2.67 19.33 0.847 4 0.000 0.101 2669 363 1918 0 0 0 0 0 0
19891 0.81 216.0 63.9 9.2 1428 19897 0.00 2.58 0.00 0.000 6 0.000 0.076 2669 1940 1916 0 0 0 0 0 0
20237 0.84 237.9 32.6 8.2 1489 20263 0.00 2.80 18.58 0.827 4 0.000 0.094 2670 3542 1828 0 0 0 0 0 0
20275 0.85 247.2 29.2 8.8 1496 20292 0.00 2.72 9.20 0.762 6 0.000 0.082 2682 1938 1791 0 0 0 0 0 0
20527 end climb: SURFACE_DEPTH_REACHED
state 20527 begin surface coast
20546 end surface coast: CONTROL_FINISHED_OK
state 20546 begin surface