EXPORTS Apr21 * SG219 * Dive index * Mission links * Dive 141 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  219 TGT_DEFAULT_LAT  4736 ROLL_ADJ_GAIN  0 XPDR_REP  0
MISSION  15 TGT_DEFAULT_LON  -12218 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
DIVE  141 TGT_AUTO_DEFAULT  0 VBD_MIN  500 INT_PRESSURE_YINT  -0.25
N_DIVES  0 SM_CC  375 VBD_MAX  3960 DEEPGLIDER  0
STOP_T  0 N_FILEKB  8 C_VBD  2968 MOTHERBOARD  4
D_SURF  2 FILEMGR  0 VBD_DBAND  2 DEVICE1  -1
D_FLARE  3 CALL_NDIVES  1 VBD_CNV  -0.25119999 DEVICE2  -1
D_TGT  360 COMM_SEQ  0 VBD_LP_IGNORE  0 DEVICE3  -1
D_ABORT  1010 PROTOCOL  9 VBD_TIMEOUT  720 DEVICE4  -1
D_NO_BLEED  200 N_NOCOMM  2 PITCH_VBD_SHIFT  0.0013 DEVICE5  -1
D_BOOST  0 NOCOMM_ACTION  163 VBD_PUMP_AD_RATE_SURFACE  1 DEVICE6  -1
T_BOOST  0 N_NOSURFACE  0 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERS  0
D_FINISH  0 UPLOAD_DIVES_MAX  -1 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
D_PITCH  0 CALL_TRIES  5 UNCOM_BLEED  50 LOGGERDEVICE2  147
D_SAFE  0 CALL_WAIT  60 VBD_MAXERRORS  1 LOGGERDEVICE3  131
D_CALL  0 CAPUPLOAD  0 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CAPMAXSIZE  100000 DBDW  0 COMPASS_DEVICE  97
SURFACE_URGENCY_TRY  0 HEAPDBG  0 LOITER_W_DBAND  0 COMPASS2_DEVICE  150
SURFACE_URGENCY_FORCE  0 T_GPS  10 LOITER_DBDW  0 PHONE_DEVICE  49
T_DIVE  120 N_GPS  100440 LOITER_D_TOP  0 GPS_DEVICE  64
T_MISSION  150 T_RSLEEP  1 LOITER_D_BOTTOM  0 RAFOS_DEVICE  -1
T_ABORT  1440 STROBE  0 LOITER_N_DIVE  0 XPDR_DEVICE  24
T_TURN  225 RAFOS_PEAK_OFFSET  1.5 PITCH_W_GAIN  2 SIM_W  0
T_TURN_SAMPINT  -5 RAFOS_CORR_THRESH  60 PITCH_W_DBAND  0.5 SEABIRD_T_G  0.0044368538
T_NO_W  120 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  2 SEABIRD_T_H  0.0006575333
T_LOITER  0 RAFOS_MMODEM  0 AH0_24V  350 SEABIRD_T_I  2.7761149e-05
T_EPIRB  0 PITCH_MIN  250 AH0_10V  0 SEABIRD_T_J  3.5137082e-06
USE_BATHY  -6 PITCH_MAX  3914 MINV_24V  10 SEABIRD_C_G  -10.037535
USE_ICE  0 C_PITCH  1760 MINV_10V  10 SEABIRD_C_H  1.1079766
ICE_FREEZE_MARGIN  0.30000001 PITCH_DBAND  0.1 MAXI_24V  0.60000002 SEABIRD_C_I  -0.0022889124
D_OFFGRID  1000 PITCH_CNV  0.0031300001 MAXI_10V  1.4 SEABIRD_C_J  0.00024077215
T_WATCHDOG  10 P_OVSHOOT  0.039999999 FG_AHR_10V  0 SC_RECORDABOVE  2000.0
RELAUNCH  1 P_OVSHOOT_WITHG  0 FG_AHR_24V  0 SC_PROFILE  3.0
APOGEE_PITCH  -5 PITCH_GAIN  43 PHONE_SUPPLY  -2 SC_XMITPROFILE  3.0
MAX_BUOY  180 PITCH_TIMEOUT  18 PRESSURE_YINT  -147.66289 SC_NDIVE  1.0
COURSE_BIAS  0 PITCH_AD_RATE  175 PRESSURE_SLOPE  0.00010781933 ES_RECORDABOVE  2000.0
GLIDE_SLOPE  30 PITCH_MAXERRORS  1 AD7714Ch0Gain  1 ES_PROFILE  3.0
SPEED_FACTOR  1 PITCH_ADJ_GAIN  0.015 COMPASS_USE  4 ES_XMITPROFILE  0.0
RHO  1.0275 PITCH_ADJ_DBAND  1 ALTIM_PING_FIT  0 ES_UPLOADMAX  100000.0
MASS  55689 ROLL_MIN  251 ALTIM_TOP_PING_RANGE  0 ES_STARTS  301.0
MASS_COMP  0 ROLL_MAX  3825 ALTIM_BOTTOM_TURN_MARGIN  0 ES_NDIVE  1.0
NAV_MODE  2 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0 ES_DL_HEADERSKIP  105044.0
FERRY_MAX  45 C_ROLL_DIVE  2825 ALTIM_TOP_MIN_OBSTACLE  0 ES_DL_RECORDLENGTH  10086.0
KALMAN_USE  2 C_ROLL_CLIMB  2800 ALTIM_PING_DEPTH  0 ES_DL_NRECORD  100.0
HD_A  0.00316228 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0 ES_DL_RECORDCOUNT  3.0
HD_B  0.011885 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13 CP_RECORDABOVE  2000.0
HD_C  5.7000002e-06 ROLL_TIMEOUT  15 ALTIM_PULSE  3 CP_PROFILE  0.0
HEADING  -1 R_PORT_OVSHOOT  73 ALTIM_SENSITIVITY  5 CP_XMITPROFILE  0.0
ESCAPE_HEADING  0 R_STBD_OVSHOOT  37 XPDR_VALID  6 CP_UPLOADMAX  0.0
ESCAPE_HEADING_DELTA  10 ROLL_AD_RATE  250 XPDR_INHIBIT  99 CP_STARTS  0.0
FIX_MISSING_TIMEOUT  0 ROLL_MAXERRORS  1 XPDR_INT  0 CP_NDIVE  1.0

Pre-dive calculations and measurements:
GPS1  270421,165746,4807.2197,-1601.2947,5,1.7,8,-5.1,0.1,0.0,6,9.7 SPEED_LIMITS  0.173,0.262
_CALLS  1 TGT_NAME  C1_E
_XMS_NAKs  0 TGT_LATLONG  4806.000,-1601.000
_XMS_TOUTs  0 TGT_RADIUS  3000.000
_SM_DEPTHo  1.09 MHEAD_RNG_PITCHd_Wd  177.3,2291,-16.9,-10.000,-20.87,2683
_SM_ANGLEo  -48.7 D_GRID  1000
GPS2  270421,170315,4807.2251,-1601.2531,5,1.7,8,-5.1,0.5,0.0,6,10.0

Post-dive calculations and measurements:
SM_CCo  6812,93.05,0.955,0,0,1475,375.29 FG_AHR_24Vo  0.000
SM_GC  0.99,5.03,0.00,93.05,0.062,0.000,0.955,225,2803,1475,-4.68,-0.62,375.29,0,0,0,0,0,0,14.83,15.09,14.03 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4806.74,-1600.27,270421,132102 MEM  292520
TT8_MAMPS  0.02247,0.087633 DATA_FILE_SIZE  33382,933
HUMID  43.46 CAP_FILE_SIZE  112978,0
INTERNAL_PRESSURE  8.42221 CFSIZE  1024409600,992346112
TCM_TEMP  18.30 ERRORS  0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  11 INTR  1,453.99,0x235aaa,0,24
_24V_AH  13.23,108.686 CURRENT  0.257,79.59,1
_10V_AH  13.77,0.000 GPS  270421,190031,4806.489,-1559.635,35,1.0,36,-5.1,0.8,29.3,10,7.3

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1336965.63 nil000.00
Roll_motor10893134.31 nil000.00
VBD_pump_during_apogee32413635858.07 nil000.00
VBD_pump_during_surface939541175.31 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1091.28
Iridium_during_xfer163173375.69 echo000.00
Transponder_ping242015.28 NCP000.00
GUMSTIX_24V000.00
GPS2082.49
TT884012140.18
LPSleep40322121.59
TT8_Active5251182.16
TT8_Sampling153930637.88
TT8_CF829445182.90
TT8_Kalman000.00
Analog_circuits147615317.15
GPS_charging000.00
Compass1333241.31
RAFOS000.00
Transponder050.04

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R

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
5 end surface: CONTROL_FINISHED_OK
state 5 begin dive
9 -0.62 -175.2 239 2848 1458 1475 0.0 0.0 0 118 0.00 0.00 -105.20 0.004 16390 0.000 0.000 239 2850 3667 3646 3689 0 0 0 0 0 0 14.83 13.23 14.83
122 -0.62 -175.2 239 2850 3646 3689 4.7 -12.4 22 133 5.97 2.40 0.00 0.000 2564 0.369 0.032 1553 1432 3668 3646 3690 0 0 0 0 0 0 14.26 14.64 14.59
261 -0.62 -175.2 1553 1423 3641 3698 25.9 -11.1 50 271 0.00 2.53 0.00 0.000 1030 0.000 0.069 1543 2807 3668 3639 3698 0 0 0 0 0 0 14.69 14.57 14.72
454 -0.54 -175.2 1543 2808 3638 3698 53.9 -14.7 88 462 0.12 1.80 0.00 0.000 2436 0.269 0.088 1574 3829 3668 3638 3698 0 0 0 0 0 0 14.44 14.61 14.57
490 -0.52 -175.2 1574 3829 3638 3698 58.9 -13.2 94 494 0.00 1.55 0.00 0.000 1158 0.000 0.034 1574 2831 3668 3638 3699 0 0 0 0 0 0 14.78 14.74 14.80
677 -0.50 -175.2 1574 2825 3638 3699 82.0 -12.1 131 681 0.00 2.33 0.00 0.000 644 0.000 0.034 1574 1435 3668 3638 3698 0 0 0 0 0 0 14.98 14.73 15.00
718 -0.52 -175.2 1574 1428 3638 3699 86.7 -10.8 139 725 0.00 2.55 0.00 0.000 1158 0.000 0.068 1564 2831 3668 3638 3699 0 0 0 0 0 0 14.76 14.64 14.79
914 -0.49 -175.2 1563 2831 3638 3700 110.3 -12.5 170 918 0.15 1.75 0.00 0.000 2436 0.236 0.089 1596 3827 3669 3638 3700 0 0 0 0 0 0 14.52 14.66 14.64
965 -0.52 -175.2 1596 3827 3638 3699 116.0 -10.0 180 969 0.00 1.60 0.00 0.000 1158 0.000 0.039 1596 2825 3668 3638 3699 0 0 0 0 0 0 14.78 14.76 14.81
1156 -0.52 -175.2 1596 2819 3638 3700 135.5 -10.3 200 1160 0.00 2.33 0.00 0.000 516 0.000 0.034 1596 1428 3669 3638 3700 0 0 0 0 0 0 15.04 14.78 15.07
1188 -0.57 -175.2 1596 1422 3638 3700 138.6 -10.4 206 1194 0.00 2.53 0.00 0.000 1158 0.000 0.070 1587 2824 3668 3637 3700 0 0 0 0 0 0 14.70 14.66 14.77
1378 -0.57 -175.2 1587 2824 3638 3700 158.3 -10.6 226 1381 0.00 1.75 0.00 0.000 260 0.000 0.093 1579 3833 3669 3638 3700 0 0 0 0 0 0 15.06 14.69 15.08
1443 -0.57 -175.2 1579 3833 3638 3700 165.5 -10.8 239 1447 0.00 1.58 0.00 0.000 1030 0.000 0.037 1580 2811 3669 3638 3700 0 0 0 0 0 0 14.88 14.83 14.88
1629 -0.57 -175.2 1579 2806 3638 3700 185.6 -10.9 258 1633 0.00 2.30 0.00 0.000 516 0.000 0.035 1580 1428 3669 3638 3700 0 0 0 0 0 0 15.07 14.80 15.09
1661 -0.59 -175.2 1579 1427 3638 3700 188.9 -10.1 264 1668 0.00 2.55 0.00 0.000 1158 0.000 0.071 1570 2829 3669 3638 3700 0 0 0 0 0 0 14.83 14.70 14.85
1851 -0.57 -175.2 1570 2829 3638 3700 210.5 -11.6 284 1855 0.00 1.73 0.00 0.000 388 0.000 0.091 1563 3826 3669 3638 3700 0 0 0 0 0 0 15.08 14.71 15.10
1882 -0.54 -175.2 1563 3826 3638 3700 214.2 -12.1 290 1886 0.00 1.55 0.00 0.000 1158 0.000 0.037 1563 2818 3669 3638 3700 0 0 0 0 0 0 14.89 14.85 14.90
2074 -0.51 -175.2 1563 2814 3638 3700 237.1 -12.0 310 2079 0.12 2.33 0.00 0.000 2692 0.252 0.034 1597 1434 3668 3638 3699 0 0 0 0 0 0 14.56 14.77 14.69
2111 -0.57 -175.2 1597 1434 3638 3700 240.9 -9.2 317 2116 0.00 2.55 0.00 0.000 1158 0.000 0.073 1591 2831 3668 3637 3700 0 0 0 0 0 0 14.84 14.71 14.87
2296 -0.57 -175.2 1590 2830 3637 3700 258.8 -10.1 336 2300 0.00 1.73 0.00 0.000 260 0.000 0.092 1584 3825 3668 3637 3700 0 0 0 0 0 0 15.09 14.71 15.12
2332 -0.57 -175.2 1584 3825 3638 3700 262.5 -10.6 343 2335 0.00 1.55 0.00 0.000 1030 0.000 0.038 1584 2819 3669 3638 3700 0 0 0 0 0 0 14.90 14.85 14.92
2517 -0.57 -175.2 1583 2818 3638 3700 281.8 -10.3 362 2521 0.00 2.33 0.00 0.000 516 0.000 0.036 1584 1432 3669 3638 3700 0 0 0 0 0 0 15.09 14.81 15.12
2559 -0.63 -175.2 1584 1431 3638 3700 285.9 -9.2 370 2566 0.00 2.53 0.00 0.000 1158 0.000 0.077 1576 2823 3668 3637 3700 0 0 0 0 0 0 14.76 14.71 14.81
2749 -0.63 -175.2 1576 2823 3637 3700 306.1 -11.0 390 2752 0.00 1.75 0.00 0.000 260 0.000 0.092 1568 3831 3668 3637 3700 0 0 0 0 0 0 15.10 14.71 15.13
2800 -0.63 -175.2 1568 3831 3637 3700 311.9 -11.2 400 2803 0.00 1.55 0.00 0.000 1030 0.000 0.037 1569 2822 3668 3637 3700 0 0 0 0 0 0 14.90 14.85 14.92
2991 -0.61 -175.2 1568 2818 3638 3700 333.7 -11.6 420 2995 0.00 2.30 0.00 0.000 644 0.000 0.036 1568 1440 3668 3637 3700 0 0 0 0 0 0 15.11 14.81 15.13
3027 -0.63 -175.2 1568 1439 3637 3700 337.7 -10.7 427 3031 0.00 2.55 0.00 0.000 1158 0.000 0.080 1559 2824 3668 3637 3700 0 0 0 0 0 0 14.85 14.72 14.91
3213 -0.60 -175.2 1559 2824 3637 3700 359.0 -11.5 446 3215 0.00 0.00 0.00 0.000 134 0.000 0.000 1559 2824 3668 3637 3700 0 0 0 0 0 0 15.10 15.14 15.13
3218 end dive: TARGET_DEPTH_EXCEEDED
state 3218 begin apogee
3225 -0.12 0.0 1559 2824 3637 3700 360.0 -11.6 447 3362 0.55 0.00 132.65 1.364 10246 0.200 0.000 1717 2825 2968 2941 2995 0 0 0 0 0 0 14.57 14.26 13.66
3363 end apogee: CONTROL_FINISHED_OK
state 3363 begin climb
3367 0.62 175.2 1717 2825 2938 2995 364.6 0.0 461 3509 0.80 0.00 138.07 1.326 10502 0.133 0.000 1961 2825 2269 2227 2312 0 0 0 0 0 0 14.21 14.12 13.57
3692 0.59 175.2 1961 2825 2217 2308 334.5 11.4 496 3698 0.00 2.47 0.00 0.000 644 0.000 0.044 1971 1418 2262 2217 2308 0 0 0 0 0 0 14.71 14.49 14.73
3722 0.57 175.2 1971 1418 2217 2307 331.2 10.4 502 3727 0.00 2.58 0.00 0.000 1158 0.000 0.072 1971 2805 2262 2217 2307 0 0 0 0 0 0 14.56 14.45 14.59
3915 0.52 175.2 1971 2806 2215 2306 308.2 11.8 522 3920 0.15 1.80 0.00 0.000 4484 0.213 0.086 1933 3824 2260 2215 2306 0 0 0 0 0 0 14.45 14.56 14.56
3953 0.50 175.2 1932 3824 2215 2304 303.9 11.0 529 3957 0.00 1.65 0.00 0.000 1158 0.000 0.038 1939 2806 2259 2215 2304 0 0 0 0 0 0 14.69 14.66 14.71
4137 0.50 175.2 1938 2801 2216 2304 286.2 9.5 548 4141 0.00 2.38 0.00 0.000 516 0.000 0.039 1948 1409 2259 2215 2303 0 0 0 0 0 0 14.94 14.69 14.97
4168 0.51 175.2 1948 1404 2215 2305 283.4 8.8 554 4173 0.00 2.50 0.00 0.000 1158 0.000 0.071 1948 2800 2260 2216 2304 0 0 0 0 0 0 14.74 14.63 14.78
4361 0.50 175.2 1948 2800 2215 2304 264.3 10.0 574 4365 0.00 1.80 0.00 0.000 388 0.000 0.090 1948 3826 2259 2215 2304 0 0 0 0 0 0 14.98 14.66 15.01
4393 0.45 175.2 1948 3825 2215 2302 260.8 11.2 580 4397 0.12 1.65 0.00 0.000 5254 0.194 0.038 1910 2795 2258 2215 2301 0 0 0 0 0 0 14.52 14.75 14.74
4588 0.58 245.5 1909 2791 2214 2302 246.1 7.3 600 4648 0.12 2.38 53.90 1.207 10916 0.115 0.040 1972 1415 1989 1953 2026 0 0 0 0 0 0 14.78 14.54 14.00
4677 0.58 245.5 1972 1414 1950 2024 237.0 11.2 618 4683 0.00 2.60 0.00 0.000 1030 0.000 0.083 1972 2797 1987 1950 2024 0 0 0 0 0 0 14.59 14.49 14.62
4870 0.56 245.5 1972 2797 1947 2021 213.2 12.4 638 4875 0.12 1.83 0.00 0.000 4484 0.214 0.088 1943 3836 1983 1946 2021 0 0 0 0 0 0 14.50 14.57 14.62
4902 0.56 245.5 1943 3835 1946 2020 209.2 12.0 644 4906 0.00 1.62 0.00 0.000 1030 0.000 0.039 1949 2802 1983 1947 2020 0 0 0 0 0 0 14.74 14.70 14.75
5093 0.56 245.5 1949 2797 1945 2020 188.4 10.7 664 5098 0.00 2.35 0.00 0.000 516 0.000 0.037 1959 1412 1982 1945 2020 0 0 0 0 0 0 14.95 14.71 14.97
5125 0.59 245.5 1958 1412 1945 2020 185.2 10.1 670 5130 0.00 2.53 0.00 0.000 1158 0.000 0.066 1959 2805 1982 1945 2020 0 0 0 0 0 0 14.75 14.64 14.78
5317 0.59 245.5 1958 2805 1944 2020 163.9 11.2 690 5322 0.00 1.80 0.00 0.000 260 0.000 0.093 1959 3830 1982 1944 2020 0 0 0 0 0 0 15.00 14.66 15.02
5345 0.56 245.5 1959 3830 1944 2019 160.6 12.6 695 5349 0.00 1.62 0.00 0.000 1158 0.000 0.040 1966 2792 1981 1943 2019 0 0 0 0 0 0 14.84 14.79 14.85
5529 0.56 245.5 1966 2787 1944 2019 139.3 11.4 714 5534 0.00 2.33 0.00 0.000 516 0.000 0.037 1976 1404 1981 1944 2019 0 0 0 0 0 0 15.02 14.77 15.05
5556 0.56 245.5 1976 1404 1944 2019 136.3 10.8 719 5563 0.15 2.53 0.00 0.000 5126 0.189 0.065 1939 2800 1981 1944 2019 0 0 0 0 0 0 14.61 14.69 14.79
5754 0.59 245.5 1938 2800 1943 2020 117.9 9.4 740 5758 0.00 1.80 0.00 0.000 388 0.000 0.093 1939 3827 1981 1943 2019 0 0 0 0 0 0 15.03 14.69 15.05
5799 0.59 245.5 1939 3827 1944 2018 112.8 10.9 749 5803 0.00 1.60 0.00 0.000 1030 0.000 0.038 1944 2793 1980 1943 2018 0 0 0 0 0 0 14.87 14.83 14.89
5988 0.61 245.5 1944 2789 1943 2018 94.6 10.0 773 5991 0.00 2.30 0.00 0.000 644 0.000 0.037 1953 1416 1980 1943 2018 0 0 0 0 0 0 15.04 14.80 15.07
6034 0.65 245.5 1953 1415 1943 2018 89.8 9.5 782 6038 0.00 2.50 0.00 0.000 1158 0.000 0.065 1953 2802 1980 1943 2018 0 0 0 0 0 0 14.83 14.71 14.87
6221 0.65 245.5 1953 2804 1943 2018 70.2 10.7 819 6225 0.00 1.80 0.00 0.000 260 0.000 0.093 1953 3833 1980 1942 2018 0 0 0 0 0 0 15.06 14.71 15.09
6272 0.65 245.5 1953 3833 1943 2017 64.0 12.7 829 6276 0.00 1.60 0.00 0.000 1030 0.000 0.037 1961 2797 1980 1943 2017 0 0 0 0 0 0 14.89 14.85 14.91
6459 0.65 245.5 1961 2793 1943 2018 41.4 12.3 866 6464 0.00 2.33 0.00 0.000 516 0.000 0.037 1971 1414 1980 1943 2018 0 0 0 0 0 0 15.07 14.81 15.09
6506 0.67 245.5 1970 1412 1943 2018 35.8 11.8 875 6513 0.00 2.50 0.00 0.000 1158 0.000 0.066 1971 2801 1980 1943 2018 0 0 0 0 0 0 14.81 14.72 14.84
6696 0.65 245.5 1970 2802 1943 2018 12.3 12.1 913 6699 0.00 0.00 0.00 0.000 134 0.000 0.000 1971 2802 1980 1943 2018 0 0 0 0 0 0 15.07 15.10 15.09
6778 end climb: SURFACE_DEPTH_REACHED
state 6778 begin surface coast
6794 end surface coast: CONTROL_FINISHED_OK
state 6794 begin surface