OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 296 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  144 HD_C  1.0513e-05 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  13 HEADING  -1 PITCH_ADJ_GAIN  0.039999999 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  296 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  160 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3940 ALTIM_PING_DEPTH  0
D_TGT  990 TGT_DEFAULT_LAT  4736 ROLL_DEG  40 ALTIM_PING_DELTA  10
D_ABORT  1090 TGT_DEFAULT_LON  -12218 C_ROLL_DIVE  1900 ALTIM_FREQUENCY  13
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2100 ALTIM_PULSE  3
D_FINISH  0 SM_CC  400 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  42 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  47 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  400 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  412.5 N_NOSURFACE  0 ROLL_ADJ_GAIN  0 DEVICE2  20
T_MISSION  450 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0 DEVICE3  53
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  480 DEVICE4  35
T_TURN  225 CALL_WAIT  60 VBD_MAX  3950 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2931 DEVICE6  -1
T_NO_W  300 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  -1 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  10 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0012300001 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -51764.875 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  2 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  150 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  0 SIM_PITCH  0
GLIDE_SLOPE  45 PITCH_MIN  500 AH0_24V  91.800003 SEABIRD_T_G  0.0043142079
SPEED_FACTOR  1 PITCH_MAX  3812 AH0_10V  61.200001 SEABIRD_T_H  0.00062953553
RHO  1.023 C_PITCH  2728 PRESSURE_YINT  -2.1256177 SEABIRD_T_I  2.3274781e-05
MASS  51458 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.00011159377 SEABIRD_T_J  2.4096155e-06
NAV_MODE  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -10.012566
FERRY_MAX  45 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1222577
KALMAN_USE  1 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0011971687
HD_A  0.0044757999 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_J  0.000188736
HD_B  0.0099689998 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  061555,5004.418,-14447.181,79,1.3,79,18.5 TGT_NAME  C_NW
_CALLS  1 TGT_LATLONG  5007.510,-14450.889
_XMS_NAKs  2 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.110,0.217
_SM_DEPTHo  1.50 KALMAN_X  13606.4,-446.5,451.7,-504.9,-676.6
_SM_ANGLEo  -56.7 KALMAN_Y  226776.9,-64.8,405.1,-219853.3,-1063.3
GPS2  062150,5004.441,-14447.129,41,1.3,41,18.5 MHEAD_RNG_PITCHd_Wd  314.7,7227,-15.3,-8.000
SPEED_LIMITS  0.080,0.243 D_GRID  1001

Post-dive calculations and measurements:
FINISH  0.9,1.012546 XPDR_PINGS  97
SM_CCo  23452,47.55,0.587,5,0,1300,400.08 _24V_AH  23.2,55.593
SM_GC  1.42,0.00,0.00,47.55,0.000,0.000,0.587,492,1895,1300,-10.29,-0.11,400.08 _10V_AH  10.1,28.198
IRIDIUM_FIX  4943.02,-14447.59,201197,232338 DATA_FILE_SIZE  34880,610
TT8_MAMPS  0.029146 CAP_FILE_SIZE  153983,0
HUMID  1833 CFSIZE  260165632,239140864
INTERNAL_PRESSURE  7.69561 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
TCM_TEMP  15.90 GPS  270808,125629,5007.316,-14449.971,40,2.2,59,18.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2516699.82 SBE_CT43324241.27
Roll_motor20795460.49 SBE_O249419217.86
VBD_pump_during_apogee438138514079.89 Optode63133483.30
VBD_pump_during_surface47586647.28 WL_BB2F364105888.97
VBD_valve000.00 nil000.00
Iridium_during_init2910369.82 nil000.00
Iridium_during_connect30160114.36 nil000.00
Iridium_during_xfer153223792.48
Transponder_ping24420236.29
Mmodem_TX000.00
Mmodem_RX000.00
GPS415020.78
TT8138319276.58
LPSleep195082431.51
TT8_Active66019132.12
TT8_Sampling179139720.08
TT8_CF853745248.80
TT8_Kalman338127.57
Analog_circuits166712202.15
GPS_charging000.00
Compass17458141.03
RAFOS000.00

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
18 end surface: CONTROL_FINISHED_OK
state 18 begin dive
21 -1.20 -146.6 0.0 0.0 0 94 0.00 0.00 -71.32 0.000 2 0.000 0.000 492 1894 2771
97 -1.20 -146.6 3.3 -4.4 7 134 10.57 2.40 -20.15 0.000 4 0.166 0.058 2461 507 3531
209 -1.03 -146.6 20.6 -17.1 17 213 0.20 2.25 0.00 0.000 6 0.104 0.024 2502 1900 3533
536 -1.09 -146.6 56.1 -9.2 47 540 0.00 2.38 0.00 0.000 4 0.000 0.046 2502 502 3534
576 -1.14 -146.6 60.1 -10.4 50 580 0.10 2.25 0.00 0.000 6 0.076 0.026 2474 1905 3535
896 -1.14 -146.6 94.7 -11.2 74 897 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1908 3536
1206 -1.14 -146.6 127.5 -11.2 89 1210 0.00 2.38 0.00 0.000 4 0.000 0.051 2474 508 3536
1322 -1.14 -146.6 141.4 -11.1 94 1326 0.00 2.25 0.00 0.000 6 0.000 0.025 2474 1902 3536
1662 -1.19 -146.6 173.5 -8.9 107 1663 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1905 3536
1969 -1.25 -146.6 200.8 -9.1 117 1973 0.00 2.38 0.00 0.000 4 0.000 0.044 2474 506 3536
2018 -1.31 -146.6 205.9 -10.7 118 2023 0.15 2.25 0.00 0.000 6 0.072 0.028 2436 1905 3535
2331 -1.27 -146.6 238.8 -10.4 128 2335 0.00 2.38 0.00 0.000 4 0.000 0.043 2435 508 3535
2364 -1.21 -146.6 242.5 -11.3 129 2368 0.12 2.22 0.00 0.000 6 0.113 0.024 2461 1900 3535
2692 -1.21 -146.6 273.6 -9.5 140 2696 0.00 2.38 0.00 0.000 4 0.000 0.048 2461 502 3534
2730 -1.21 -146.6 277.5 -10.5 141 2734 0.00 2.25 0.00 0.000 6 0.000 0.031 2461 1904 3534
3059 -1.21 -146.6 307.0 -8.7 151 3060 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 1907 3533
3361 -1.21 -146.6 332.9 -8.6 156 3366 0.00 2.38 0.00 0.000 4 0.000 0.044 2461 508 3533
3478 -1.21 -146.6 344.7 -10.1 157 3482 0.00 2.25 0.00 0.000 6 0.000 0.028 2461 1905 3533
3794 -1.25 -146.6 373.8 -9.2 163 3798 0.00 2.38 0.00 0.000 4 0.000 0.049 2461 506 3532
3826 -1.25 -146.6 377.1 -10.3 163 3830 0.00 2.25 0.00 0.000 6 0.000 0.024 2461 1905 3532
4159 -1.30 -146.6 406.1 -8.6 169 4160 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 1908 3532
4462 -1.35 -146.6 430.8 -8.1 174 4466 0.12 2.38 0.00 0.000 4 0.077 0.044 2428 508 3531
4494 -1.29 -146.6 434.0 -9.9 174 4498 0.00 2.22 0.00 0.000 6 0.000 0.023 2428 1900 3531
4820 -1.29 -146.6 464.6 -9.4 180 4824 0.00 2.38 0.00 0.000 4 0.000 0.049 2429 502 3531
4859 -1.25 -146.6 468.8 -10.7 180 4864 0.12 2.25 0.00 0.000 6 0.118 0.025 2453 1904 3531
5179 -1.25 -146.6 497.5 -9.0 186 5183 0.00 2.38 0.00 0.000 4 0.000 0.051 2453 505 3530
5234 -1.25 -146.6 502.8 -10.2 186 5240 0.00 2.25 0.00 0.000 6 0.000 0.029 2453 1908 3530
5543 -1.25 -146.6 530.5 -8.9 192 5544 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 1908 3530
5846 -1.25 -146.6 557.2 -8.8 197 5847 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 1908 3529
6150 -1.29 -146.6 582.6 -8.3 202 6154 0.00 2.38 0.00 0.000 4 0.000 0.049 2453 509 3529
6188 -1.29 -146.6 586.1 -9.1 202 6192 0.00 2.25 0.00 0.000 6 0.000 0.025 2453 1906 3529
6515 -1.33 -146.6 611.7 -7.8 208 6519 0.00 2.38 0.00 0.000 4 0.000 0.044 2452 509 3529
6553 -1.33 -146.6 615.1 -8.4 208 6557 0.00 2.25 0.00 0.000 6 0.000 0.031 2453 1908 3529
6880 -1.38 -146.6 638.8 -7.2 214 6885 0.12 2.38 0.00 0.000 4 0.078 0.048 2421 510 3528
6935 -1.32 -146.6 643.9 -9.0 214 6942 0.10 2.25 0.00 0.000 6 0.127 0.025 2440 1907 3528
7245 -1.32 -146.6 668.6 -8.0 220 7249 0.00 2.38 0.00 0.000 4 0.000 0.048 2440 511 3528
7295 -1.32 -146.6 672.9 -8.4 220 7299 0.00 2.22 0.00 0.000 6 0.000 0.025 2440 1900 3528
7615 -1.32 -146.6 698.2 -7.9 226 7616 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 1903 3527
7918 -1.32 -146.6 722.8 -8.2 231 7922 0.00 2.38 0.00 0.000 4 0.000 0.046 2439 506 3527
7972 -1.32 -146.6 727.9 -9.5 231 7979 0.00 2.25 0.00 0.000 6 0.000 0.030 2439 1902 3527
8282 -1.32 -146.6 753.1 -8.2 237 8286 0.00 2.38 0.00 0.000 4 0.000 0.052 2439 508 3527
8338 -1.32 -146.6 758.1 -9.0 237 8342 0.00 2.25 0.00 0.000 6 0.000 0.031 2439 1907 3527
8648 -1.32 -146.6 782.6 -7.9 242 8652 0.00 2.38 0.00 0.000 4 0.000 0.046 2439 510 3527
8716 -1.32 -146.6 788.6 -9.2 243 8720 0.00 2.25 0.00 0.000 6 0.000 0.031 2439 1908 3527
9075 -1.32 -146.6 817.4 -8.0 249 9076 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 1910 3526
9378 -1.32 -146.6 841.3 -7.9 254 9382 0.00 2.40 0.00 0.000 4 0.000 0.052 2439 506 3525
9417 -1.32 -146.6 844.4 -7.9 254 9421 0.00 2.25 0.00 0.000 6 0.000 0.028 2439 1901 3526
9738 -1.32 -146.6 868.2 -7.3 260 9742 0.00 2.38 0.00 0.000 4 0.000 0.054 2439 511 3525
9770 -1.32 -146.6 870.7 -8.2 260 9774 0.00 2.25 0.00 0.000 6 0.000 0.031 2439 1900 3525
10108 -1.32 -146.6 895.1 -7.2 266 10109 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 1900 3525
10411 -1.32 -146.6 917.2 -7.3 271 10416 0.00 2.42 0.00 0.000 4 0.000 0.061 2439 506 3525
10474 -1.32 -146.6 922.3 -8.0 272 10478 0.00 2.28 0.00 0.000 6 0.000 0.027 2439 1894 3525
10839 -1.32 -146.6 948.8 -7.2 278 10843 0.00 2.42 0.00 0.000 4 0.000 0.063 2439 512 3525
10866 -1.32 -146.6 951.2 -8.4 278 10870 0.00 2.30 0.00 0.000 6 0.000 0.039 2440 1894 3525
11203 -1.32 -146.6 976.0 -7.3 284 11204 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 1894 3525
11444 end dive: TARGET_DEPTH_EXCEEDED
state 11444 begin apogee
11451 -0.33 0.0 993.9 7.4 288 11581 1.00 0.00 127.43 1.385 6 0.100 0.000 2651 2096 2931
11582 end apogee: CONTROL_FINISHED_OK
state 11582 begin climb
11585 1.20 146.6 997.6 0.0 290 11720 1.48 2.65 125.43 1.355 4 0.070 0.074 2985 3506 2332
11786 1.02 146.6 985.9 9.5 293 11791 0.17 2.42 0.00 0.000 6 0.120 0.055 2953 2117 2328
12140 0.95 149.2 957.7 7.9 299 12145 0.00 2.53 0.00 0.000 4 0.000 0.067 2952 680 2326
12168 0.84 149.2 955.1 8.6 299 12173 0.20 2.40 0.00 0.000 6 0.115 0.038 2914 2105 2326
12499 0.88 179.4 932.1 6.9 305 12531 0.00 0.00 29.40 1.285 6 0.000 0.000 2914 2105 2199
12803 0.95 189.8 909.1 7.6 310 12818 0.00 2.50 10.25 1.155 4 0.000 0.054 2914 687 2156
12851 0.95 189.8 904.8 9.7 310 12856 0.00 2.38 0.00 0.000 6 0.000 0.028 2914 2118 2155
13167 1.01 189.8 879.2 8.2 316 13172 0.15 2.47 0.00 0.000 4 0.073 0.052 2956 684 2153
13202 0.93 189.8 875.9 10.2 316 13207 0.12 2.33 0.00 0.000 6 0.120 0.030 2932 2102 2153
13527 0.93 189.8 847.3 8.7 322 13528 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 2104 2153
13830 0.93 189.8 821.1 8.6 327 13834 0.00 2.42 0.00 0.000 4 0.000 0.046 2932 683 2152
13869 0.93 189.8 817.7 8.2 327 13873 0.00 2.33 0.00 0.000 6 0.000 0.031 2932 2104 2152
14195 0.93 190.1 791.5 8.0 333 14197 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 2106 2152
14498 0.95 208.3 769.0 7.3 338 14522 0.00 2.53 17.73 1.172 4 0.000 0.046 2932 684 2080
14551 0.96 214.2 764.8 7.8 338 14563 0.00 2.35 6.70 0.982 6 0.000 0.032 2932 2113 2057
14866 0.98 229.8 741.4 7.4 344 14886 0.00 2.50 15.32 1.137 4 0.000 0.050 2932 683 1993
14920 0.98 234.4 737.0 7.8 344 14930 0.00 2.33 5.47 0.894 6 0.000 0.031 2932 2101 1975
15290 1.05 244.2 709.0 7.6 351 15306 0.10 2.45 10.15 1.058 4 0.083 0.044 2958 680 1934
15328 1.05 244.2 705.6 9.3 351 15333 0.00 2.35 0.00 0.000 6 0.000 0.029 2958 2108 1933
15648 1.05 244.2 677.3 8.7 357 15650 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2111 1931
15952 1.05 244.2 650.4 9.0 362 15956 0.00 2.42 0.00 0.000 4 0.000 0.048 2958 683 1930
15996 1.05 244.2 645.9 10.7 362 16000 0.00 2.33 0.00 0.000 6 0.000 0.031 2958 2109 1930
16310 1.05 244.2 617.0 9.2 368 16315 0.00 2.33 0.00 0.000 4 0.000 0.042 2958 3498 1930
16343 1.05 244.2 613.7 9.5 368 16347 0.00 2.33 0.00 0.000 6 0.000 0.031 2958 2078 1930
16675 1.05 244.2 581.9 9.7 374 16679 0.00 2.33 0.00 0.000 4 0.000 0.045 2958 699 1930
16707 1.05 244.2 578.3 9.4 374 16712 0.00 2.28 0.00 0.000 6 0.000 0.025 2958 2112 1930
17039 1.05 244.2 546.3 9.6 380 17043 0.00 2.38 0.00 0.000 4 0.000 0.047 2958 702 1929
17077 1.05 244.2 542.4 9.9 380 17081 0.00 2.28 0.00 0.000 6 0.000 0.030 2958 2104 1930
17408 1.05 244.2 512.6 8.9 386 17412 0.00 2.38 0.00 0.000 4 0.000 0.044 2958 702 1929
17453 1.05 244.2 508.4 8.9 386 17457 0.00 2.28 0.00 0.000 6 0.000 0.031 2958 2105 1929
17767 1.05 244.2 482.0 8.3 392 17768 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2108 1929
18070 1.05 244.2 456.3 8.5 397 18074 0.00 2.38 0.00 0.000 4 0.000 0.048 2959 701 1929
18114 1.05 244.2 451.9 10.7 397 18118 0.00 2.28 0.00 0.000 6 0.000 0.029 2958 2101 1929
18440 1.05 244.2 421.6 9.4 403 18444 0.00 2.38 0.00 0.000 4 0.000 0.050 2958 699 1929
18479 1.05 244.2 417.5 11.4 403 18483 0.00 2.28 0.00 0.000 6 0.000 0.025 2958 2101 1929
18805 1.05 244.2 386.7 9.4 409 18806 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2104 1929
19108 1.05 244.2 360.5 8.6 414 19112 0.00 2.38 0.00 0.000 4 0.000 0.046 2958 695 1929
19169 1.05 244.2 355.0 9.4 414 19175 0.00 2.28 0.00 0.000 6 0.000 0.032 2958 2101 1929
19478 1.05 244.2 330.1 8.0 420 19482 0.00 2.38 0.00 0.000 4 0.000 0.044 2958 695 1929
19510 1.05 244.2 327.2 9.3 420 19515 0.00 2.30 0.00 0.000 6 0.000 0.029 2958 2111 1928
19849 1.06 256.6 301.5 7.5 426 19867 0.00 2.50 11.43 0.852 4 0.000 0.048 2958 694 1883
19895 1.06 256.6 297.6 8.0 426 19899 0.00 2.30 0.00 0.000 6 0.000 0.025 2958 2100 1882
20219 1.07 267.4 273.0 7.6 437 20231 0.00 0.00 10.57 0.821 6 0.000 0.000 2958 2102 1841
20526 1.13 270.1 249.6 7.9 447 20535 0.00 2.42 3.85 0.584 4 0.000 0.049 2958 706 1830
20586 1.13 270.1 244.2 9.1 448 20592 0.00 2.28 0.00 0.000 6 0.000 0.031 2958 2110 1829
20899 1.18 270.1 219.3 8.1 459 20903 0.12 2.40 0.00 0.000 4 0.076 0.047 2990 700 1829
20949 1.12 270.1 214.1 10.2 460 20953 0.00 2.28 0.00 0.000 6 0.000 0.032 2990 2100 1829
21261 1.12 270.1 184.1 9.3 470 21262 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2103 1828
21567 1.12 270.1 157.0 9.4 480 21568 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2102 1828
21886 1.12 270.1 126.9 8.7 494 21887 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2103 1828
22195 1.15 289.5 103.3 7.3 509 22219 0.00 2.38 18.45 0.751 4 0.000 0.040 2990 3487 1749
22249 1.19 289.5 98.5 8.8 511 22253 0.00 2.28 0.00 0.000 6 0.000 0.025 2990 2096 1748
22567 1.31 343.2 75.4 6.0 529 22622 0.10 2.45 45.95 0.736 4 0.082 0.049 3017 701 1530
22683 1.31 343.2 66.2 9.1 539 22689 0.00 2.33 0.00 0.000 6 0.000 0.026 3017 2101 1525
23011 1.36 343.2 33.9 9.5 570 23012 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2104 1522
23329 1.41 343.2 8.2 10.1 600 23330 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2104 1520
23409 end climb: SURFACE_DEPTH_REACHED
state 23409 begin surface coast
23431 end surface coast: CONTROL_FINISHED_OK
state 23431 begin surface