Glider dive log

PortSusan 23Jul07 * SG001 * Dive index * Mission links * Dive 36 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 1 HD_B 0.010078 PITCH_AD_RATE 180 ALTIM_TOP_PING_RANGE 10

MISSION 1 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 36 HEADING -1 PITCH_ADJ_GAIN 0.029999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 180 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 3.5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 125

D_TGT 150 FIX_MISSING_TIMEOUT 3 ROLL_MAX 3791 ALTIM_PING_DELTA 25

D_ABORT 250 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1978 ALTIM_FREQUENCY 15

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1978 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 8 ALTIM_SENSITIVITY 1

D_PITCH 1.5 SM_CC 375 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 100 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 10

D_CALL 2 FILEMGR 2 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 20 COMM_SEQ 0 ROLL_AD_RATE 500 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 20 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 1 DEVICE2 -1

T_MISSION 60 UPLOAD_DIVES_MAX 5 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 421 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3792 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2257 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 200000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 1 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN -2 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 1

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 32

T_WATCHDOG 10 T_GPS_CHARGE -450717.16 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 0.94999993 PITCH_MAX 3252 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.02765 C_PITCH 2263 PRESSURE_YINT -0.22280908 SEABIRD_T_I 2.5554549e-05

MASS 51747 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 1 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.045000002 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 20 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 1 D_FINISH 0 PITCH_AD_RATE 180 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 20 SM_CC 375

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.5 PITCH_MAX 3252 SPEED_FACTOR 0.94999993

ALTIM_FREQUENCY 15 D_SAFE 100 PITCH_MAXERRORS 1 SURFACE_URGENCY 5

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 20

ALTIM_PING_DEPTH 125 D_TGT 150 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 20

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 3.5 FERRY_MAX 45 PRESSURE_YINT -0.22280908 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 FILEMGR 2 P_OVSHOOT 0.045000002 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 16 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HD_C 9.8541004e-06 RHO 1.02765 T_GPS_CHARGE -450717.16

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 60

CF8_MAXERRORS 20 HEAD_ERRBAND 8 ROLL_ADJ_GAIN 1 T_NO_W 120

COMM_SEQ 0 HEAPDBG 1 ROLL_AD_RATE 500 T_RSLEEP 2

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN -2 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 1 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1978 INT_PRESSURE_YINT 10 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 1978 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 23 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 17 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 2 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3792

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 20

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 421

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 36 PHONE_DEVICE 32 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 250 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 2 PITCH_ADJ_GAIN 0.029999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 085321,4807.458,-12223.445,19,1.1,19,18.0 TGT_NAME default

_CALLS 1 TGT_LATLONG 47.600,-122.300

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.116,-0.182

_SM_DEPTHo -0.00 KALMAN_X -8148.7,-594.1,-326.6,9394.7,-172.9

_SM_ANGLEo -50.0 KALMAN_Y -1331.0,340.1,443.9,-826.7,330.5

GPS2 085721,4807.443,-12223.427,9,1.1,10,18.0 MHEAD_RNG_PITCHd_Wd 77.5,14438296,-20.0,-10.000

SPEED_LIMITS 0.156,0.216 D_GRID 100

Post-dive calculations and measurements:

FINISH -0.0,1.020814 ALTIM_TOP_PING 9.7,10.6

SM_CCo 2145,158.68,0.000,1,0,731,375.06 ALTIM_BOTTOM_PING 75.3,999.0

SM_GC -0.01,0.00,0.00,158.68,0.000,0.000,0.000,627,1770,731,-7.42,-6.28,375.06 _24V_AH 23.7,76.149

RAFOS_CLK 0 _10V_AH 9.7,11.638

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 9596,308

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243044352

TT8_MAMPS 0.023777 ERRORS 0,0,0,0,0,0,0,0,0,0,0,38,158,1,0

HUMID 2310 SOUNDSPEED 1465.0

INTERNAL_PRESSURE 26.0846 CURRENT 0.402,351.7,1

TCM_TEMP 15.00 GPS 250707,093813,4808.182,-12223.687,10,1.1,10,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 119 57.89 SBE_CT 249 24 141.96

Roll_motor 23 60 33.13 nil 0 0 0.00

VBD_pump_during_apogee 198 1300 6111.93 nil 0 0 0.00

VBD_pump_during_surface 158 600 2256.36 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 88 223 469.01

Transponder_ping 0 420 4.98

GPS 10 50 4.99

TT8 859 19 166.03

LPSleep 542 2 12.15

TT8_Active 469 19 90.73

TT8_Sampling 282 39 109.36

TT8_CF8 416 45 185.48

TT8_Kalman 33 81 26.49

Analog_circuits 713 12 83.06

GPS_charging 0 0 0.00

Compass 248 26 62.68

RAFOS 360 1 5.24

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

32 end surface: CONTROL_FINISHED_OK

state 32 begin dive

39 -1.21 -121.6 0.0 0.0 0 114 0.00 0.00 -66.95 0.000 6 0.000 0.000 664 1772 2760

120 -1.21 -121.6 1.6 -4.1 10 137 6.88 2.12 0.00 0.000 4 0.000 0.000 2050 389 2761

412 -1.15 -121.6 37.2 -10.7 57 421 0.38 3.03 0.00 0.000 6 0.000 0.000 1957 2200 2761

780 -1.11 -121.6 76.4 -10.2 118 789 0.45 2.72 0.00 0.000 4 0.000 0.000 2038 412 2755

1013 end dive: TARGET_DEPTH_EXCEEDED

state 1013 begin apogee

1030 -0.25 0.0 100.6 9.9 157 1139 1.00 0.00 99.95 0.000 6 0.000 0.000 2255 2181 2262

1145 end apogee: CONTROL_FINISHED_OK

state 1145 begin climb

1151 1.21 121.6 106.0 0.0 163 1262 1.65 2.20 98.43 0.001 4 0.000 0.000 2572 3622 1770

1531 1.21 121.6 65.3 12.1 212 1540 0.35 3.47 0.00 0.000 6 0.000 0.000 2468 1980 1762

1901 1.21 121.6 21.5 11.1 273 1909 0.30 2.72 0.00 0.000 4 0.000 0.000 2523 3474 1760

2080 end climb: SURFACE_DEPTH_REACHED

state 2080 begin surface coast

2112 end surface coast: CONTROL_FINISHED_OK

state 2112 begin surface

ID	1	HD_B	0.010078	PITCH_AD_RATE	180	ALTIM_TOP_PING_RANGE	10
MISSION	1	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	36	HEADING	-1	PITCH_ADJ_GAIN	0.029999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	180	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	3.5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	125
D_TGT	150	FIX_MISSING_TIMEOUT	3	ROLL_MAX	3791	ALTIM_PING_DELTA	25
D_ABORT	250	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1978	ALTIM_FREQUENCY	15
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1978	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	8	ALTIM_SENSITIVITY	1
D_PITCH	1.5	SM_CC	375	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	100	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	10
D_CALL	2	FILEMGR	2	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	20	COMM_SEQ	0	ROLL_AD_RATE	500	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	20	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	1	DEVICE2	-1
T_MISSION	60	UPLOAD_DIVES_MAX	5	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	421	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3792	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2257	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	200000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	1	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	-2	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	1
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	32
T_WATCHDOG	10	T_GPS_CHARGE	-450717.16	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	0.94999993	PITCH_MAX	3252	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.02765	C_PITCH	2263	PRESSURE_YINT	-0.22280908	SEABIRD_T_I	2.5554549e-05
MASS	51747	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	1	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.045000002	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	20	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	085321,4807.458,-12223.445,19,1.1,19,18.0	TGT_NAME	default
_CALLS	1	TGT_LATLONG	47.600,-122.300
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.116,-0.182
_SM_DEPTHo	-0.00	KALMAN_X	-8148.7,-594.1,-326.6,9394.7,-172.9
_SM_ANGLEo	-50.0	KALMAN_Y	-1331.0,340.1,443.9,-826.7,330.5
GPS2	085721,4807.443,-12223.427,9,1.1,10,18.0	MHEAD_RNG_PITCHd_Wd	77.5,14438296,-20.0,-10.000
SPEED_LIMITS	0.156,0.216	D_GRID	100

FINISH	-0.0,1.020814	ALTIM_TOP_PING	9.7,10.6
SM_CCo	2145,158.68,0.000,1,0,731,375.06	ALTIM_BOTTOM_PING	75.3,999.0
SM_GC	-0.01,0.00,0.00,158.68,0.000,0.000,0.000,627,1770,731,-7.42,-6.28,375.06	_24V_AH	23.7,76.149
RAFOS_CLK	0	_10V_AH	9.7,11.638
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	9596,308
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243044352
TT8_MAMPS	0.023777	ERRORS	0,0,0,0,0,0,0,0,0,0,0,38,158,1,0
HUMID	2310	SOUNDSPEED	1465.0
INTERNAL_PRESSURE	26.0846	CURRENT	0.402,351.7,1
TCM_TEMP	15.00	GPS	250707,093813,4808.182,-12223.687,10,1.1,10,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	119	57.89	SBE_CT	249	24	141.96
Roll_motor	23	60	33.13	nil	0	0	0.00
VBD_pump_during_apogee	198	1300	6111.93	nil	0	0	0.00
VBD_pump_during_surface	158	600	2256.36	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	88	223	469.01
Transponder_ping	0	420	4.98
GPS	10	50	4.99
TT8	859	19	166.03
LPSleep	542	2	12.15
TT8_Active	469	19	90.73
TT8_Sampling	282	39	109.36
TT8_CF8	416	45	185.48
TT8_Kalman	33	81	26.49
Analog_circuits	713	12	83.06
GPS_charging	0	0	0.00
Compass	248	26	62.68
RAFOS	360	1	5.24

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
32	end surface: CONTROL_FINISHED_OK
state	32	begin dive
39	-1.21	-121.6	0.0	0.0	0	114	0.00	0.00	-66.95	0.000	6	0.000	0.000	664	1772	2760
120	-1.21	-121.6	1.6	-4.1	10	137	6.88	2.12	0.00	0.000	4	0.000	0.000	2050	389	2761
412	-1.15	-121.6	37.2	-10.7	57	421	0.38	3.03	0.00	0.000	6	0.000	0.000	1957	2200	2761
780	-1.11	-121.6	76.4	-10.2	118	789	0.45	2.72	0.00	0.000	4	0.000	0.000	2038	412	2755
1013	end dive: TARGET_DEPTH_EXCEEDED
state	1013	begin apogee
1030	-0.25	0.0	100.6	9.9	157	1139	1.00	0.00	99.95	0.000	6	0.000	0.000	2255	2181	2262
1145	end apogee: CONTROL_FINISHED_OK
state	1145	begin climb
1151	1.21	121.6	106.0	0.0	163	1262	1.65	2.20	98.43	0.001	4	0.000	0.000	2572	3622	1770
1531	1.21	121.6	65.3	12.1	212	1540	0.35	3.47	0.00	0.000	6	0.000	0.000	2468	1980	1762
1901	1.21	121.6	21.5	11.1	273	1909	0.30	2.72	0.00	0.000	4	0.000	0.000	2523	3474	1760
2080	end climb: SURFACE_DEPTH_REACHED
state	2080	begin surface coast
2112	end surface coast: CONTROL_FINISHED_OK
state	2112	begin surface