Glider dive log

DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 434 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 113 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 434 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2340 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2520 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 500 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2420 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -3 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -40664.309 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2436 PRESSURE_YINT -25.705193 SEABIRD_T_G 0.004371644

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51576 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 14.7 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.00342 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0096000005 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 14.7 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -25.705193 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.00342 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0096000005 RELAUNCH 1 T_GPS_CHARGE -40664.309

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.02765 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2436 KALMAN_USE 1 ROLL_MIN 280 USE_BATHY -3

C_ROLL_CLIMB 2520 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2340 MASS 51576 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 2420 MAX_BUOY 150 R_STBD_OVSHOOT 28 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 434 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 185037,6700.435,-5712.518,28,1.1,28,-37.6 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 12 TGT_RADIUS 10000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.021,0.223

_SM_DEPTHo 1.60 KALMAN_X -133290.6,-1029.0,-58.5,143138.2,76.8

_SM_ANGLEo -59.8 KALMAN_Y -3988.2,3111.4,402.1,10689.9,-4854.3

GPS2 185820,6700.401,-5712.500,11,1.3,16,-37.6 MHEAD_RNG_PITCHd_Wd 32.1,18336,-12.9,-7.021

SPEED_LIMITS 0.122,0.224 D_GRID 747

Post-dive calculations and measurements:

FINISH 0.9,1.026854 TCM_TEMP 16.00

SM_CCo 18985,0.00,0.000,0,0,1092,325.76 XPDR_PINGS 0

SM_GC 1.91,7.20,0.00,0.00,0.067,0.000,0.000,165,2338,1092,-10.38,-0.06,325.76 _24V_AH 19.3,79.853

RAFOS_CLK 1043 _10V_AH 10.4,35.885

RAFOS 0,1229371457,20.083334,20.071388,69,61,59,59,51,49,136,179,204,214,169,146 DATA_FILE_SIZE 34693,939

RAFOS_FIX 6625.452148,-5905.453125,151208,202012,3,101,18.21 CAP_FILE_SIZE 154092,0

IRIDIUM_FIX 6631.12,-5719.52,110398,131341 CFSIZE 260165632,218763264

TT8_MAMPS 0.031447 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,15,0

HUMID 1922 SOUNDSPEED 1459.0

INTERNAL_PRESSURE 8.53548 GPS 161208,001758,6701.583,-5709.183,33,8.4,52,-37.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 260 115.26 SBE_CT 735 24 340.68

Roll_motor 172 75 249.70 SBE_O2 643 19 235.82

VBD_pump_during_apogee 472 1338 12212.44 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 55.03 nil 0 0 0.00

Iridium_during_connect 30 160 95.49 nil 0 0 0.00

Iridium_during_xfer 251 223 1081.81

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.27

TT8 1842 19 381.72

LPSleep 14216 2 341.55

TT8_Active 724 19 150.03

TT8_Sampling 2005 39 832.53

TT8_CF8 690 45 329.54

TT8_Kalman 33 81 28.43

Analog_circuits 1821 12 227.33

GPS_charging 0 0 0.00

Compass 1966 8 163.61

RAFOS 2520 1 39.31

Transponder 0 5 0.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.08 -146.0 0.0 0.0 0 148 0.00 0.00 -128.57 0.000 6 0.000 0.000 166 2327 3016

152 -1.08 -146.0 3.1 -1.7 23 165 8.73 2.28 0.00 0.000 4 0.261 0.054 2199 926 3020

302 -0.60 -146.0 31.6 -17.7 49 309 0.38 2.28 0.00 0.000 6 0.171 0.050 2303 2350 3022

647 -0.60 -146.0 62.5 -8.5 110 653 0.00 2.30 0.00 0.000 4 0.000 0.065 2303 3742 3022

813 -0.67 -146.0 77.5 -9.3 139 819 0.00 2.20 0.00 0.000 6 0.000 0.038 2303 2332 3023

1165 -0.74 -146.0 109.4 -8.9 188 1167 0.10 0.00 0.00 0.000 6 0.104 0.000 2261 2331 3023

1475 -0.69 -146.0 135.6 -8.7 203 1479 0.10 2.38 0.00 0.000 4 0.166 0.065 2286 3746 3024

1565 -0.79 -146.0 143.1 -7.9 207 1569 0.00 2.20 0.00 0.000 6 0.000 0.039 2286 2341 3023

1893 -0.88 -146.0 170.0 -8.1 223 1898 0.15 2.25 0.00 0.000 4 0.091 0.052 2231 939 3021

1978 -0.73 -146.0 178.6 -11.0 227 1983 0.17 2.28 0.00 0.000 6 0.160 0.051 2277 2346 3021

2305 -0.82 -146.0 202.7 -6.8 243 2306 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2346 3020

2616 -0.92 -146.0 224.9 -7.7 258 2618 0.15 0.00 0.00 0.000 6 0.094 0.000 2225 2346 3020

2923 -0.84 -146.0 255.0 -9.7 273 2925 0.12 0.00 0.00 0.000 6 0.159 0.000 2257 2347 3020

3233 -0.89 -146.0 280.2 -8.0 288 3237 0.00 2.33 0.00 0.000 4 0.000 0.064 2257 3742 3021

3318 -0.98 -146.0 286.9 -7.6 291 3325 0.12 2.20 0.00 0.000 6 0.091 0.038 2211 2333 3021

3634 -0.87 -146.0 313.9 -8.2 307 3638 0.15 2.25 0.00 0.000 4 0.154 0.049 2253 931 3021

3713 -0.87 -146.0 319.6 -6.7 310 3719 0.00 2.28 0.00 0.000 6 0.000 0.048 2253 2348 3022

4029 -0.92 -146.0 339.2 -6.0 326 4033 0.00 2.30 0.00 0.000 4 0.000 0.064 2253 3745 3022

4144 -1.01 -146.0 346.5 -6.9 331 4149 0.15 2.20 0.00 0.000 6 0.091 0.037 2201 2328 3022

4471 -0.89 -146.0 375.6 -9.2 347 4475 0.15 2.22 0.00 0.000 4 0.150 0.049 2243 937 3023

4556 -0.89 -146.0 383.0 -8.5 351 4560 0.00 2.25 0.00 0.000 6 0.000 0.047 2242 2345 3024

4888 -0.89 -146.0 411.0 -8.6 364 4892 0.00 2.30 0.00 0.000 4 0.000 0.064 2243 3743 3024

4960 -0.95 -146.0 417.7 -9.5 365 4964 0.00 2.20 0.00 0.000 6 0.000 0.036 2243 2327 3024

5304 -0.95 -146.0 447.5 -8.8 374 5308 0.00 2.20 0.00 0.000 4 0.000 0.049 2242 934 3025

5365 -0.95 -146.0 453.5 -9.0 375 5368 0.00 2.25 0.00 0.000 6 0.000 0.047 2242 2342 3025

5678 -0.95 -146.0 480.6 -8.6 383 5682 0.00 2.33 0.00 0.000 4 0.000 0.062 2243 3746 3025

5816 -1.03 -146.0 492.1 -8.7 386 5821 0.12 2.20 0.00 0.000 6 0.093 0.037 2198 2333 3025

6141 -0.91 -146.0 523.5 -9.6 394 6145 0.15 2.22 0.00 0.000 4 0.154 0.048 2240 940 3025

6196 -0.91 -146.0 528.5 -8.9 395 6200 0.00 2.25 0.00 0.000 6 0.000 0.047 2240 2343 3025

6510 -0.91 -146.0 552.7 -7.7 403 6514 0.00 2.33 0.00 0.000 4 0.000 0.064 2241 3746 3025

6616 -0.99 -146.0 561.0 -7.8 405 6620 0.00 2.20 0.00 0.000 6 0.000 0.038 2241 2327 3025

6930 -1.04 -146.0 583.6 -7.2 413 6935 0.12 2.20 0.00 0.000 4 0.095 0.049 2193 939 3025

7021 -0.87 -146.0 592.0 -9.8 415 7026 0.20 2.25 0.00 0.000 6 0.156 0.048 2246 2340 3025

7346 -0.93 -146.0 615.0 -6.9 423 7350 0.00 2.33 0.00 0.000 4 0.000 0.063 2246 3749 3025

7499 -1.03 -146.0 625.4 -6.5 426 7504 0.12 2.20 0.00 0.000 6 0.102 0.038 2203 2340 3025

7813 -0.95 -146.0 650.1 -7.9 434 7817 0.10 2.25 0.00 0.000 4 0.160 0.049 2229 934 3025

7880 -0.95 -146.0 655.3 -7.6 435 7884 0.00 2.28 0.00 0.000 6 0.000 0.049 2229 2343 3024

8223 -0.95 -146.0 678.6 -6.8 444 8226 0.00 2.35 0.00 0.000 4 0.000 0.064 2229 3753 3025

8352 -1.00 -146.0 687.8 -7.5 446 8358 0.00 2.22 0.00 0.000 6 0.000 0.038 2229 2327 3024

8684 -1.00 -146.0 710.2 -6.7 455 8686 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2327 3024

9009 -1.00 -146.0 731.9 -6.8 463 9012 0.00 2.22 0.00 0.000 4 0.000 0.051 2229 933 3024

9064 -1.00 -146.0 736.1 -7.2 464 9068 0.00 2.28 0.00 0.000 6 0.000 0.049 2228 2342 3024

9258 end dive: TARGET_DEPTH_EXCEEDED

state 9259 begin apogee

9267 -0.34 0.0 749.1 6.6 469 9404 0.45 0.00 134.70 1.338 6 0.138 0.000 2366 2525 2420

9405 end apogee: CONTROL_FINISHED_OK

state 9405 begin climb

9408 1.08 146.0 752.6 0.0 472 9663 1.05 0.00 175.43 1.070 6 0.100 0.000 2667 2525 1824

9979 0.93 146.0 711.9 8.3 486 9984 0.12 2.35 0.00 0.000 4 0.152 0.065 2634 3936 1824

10019 0.81 146.0 708.5 7.9 487 10024 0.10 2.22 0.00 0.000 6 0.157 0.040 2609 2513 1824

10346 0.90 177.8 689.2 5.9 495 10376 0.08 0.00 27.58 1.274 6 0.100 0.000 2648 2512 1696

10669 0.90 177.8 663.9 8.0 503 10673 0.00 2.35 0.00 0.000 4 0.000 0.065 2648 3939 1697

10691 0.81 177.8 661.9 8.3 503 10696 0.15 2.20 0.00 0.000 6 0.148 0.040 2607 2517 1696

11034 0.95 212.3 641.2 5.8 512 11066 0.12 0.00 29.90 1.269 6 0.081 0.000 2662 2516 1554

11359 0.89 212.3 614.6 8.3 520 11364 0.12 2.35 0.00 0.000 4 0.127 0.066 2626 3940 1555

11375 0.89 212.3 613.1 8.0 520 11379 0.00 2.20 0.00 0.000 6 0.000 0.040 2626 2516 1554

11724 0.99 229.1 590.3 6.4 529 11742 0.10 0.00 15.48 1.199 6 0.087 0.000 2668 2516 1486

12049 0.94 229.1 563.8 8.2 537 12054 0.12 2.22 0.00 0.000 4 0.127 0.051 2632 1110 1487

12060 0.94 229.1 562.9 8.1 537 12064 0.00 2.25 0.00 0.000 6 0.000 0.048 2632 2531 1487

12373 1.02 245.0 543.2 6.5 545 12393 0.10 2.30 14.40 1.170 4 0.089 0.051 2679 1117 1421

12421 1.02 245.0 539.4 7.5 546 12426 0.10 2.25 0.00 0.000 6 0.143 0.048 2653 2529 1422

12741 1.02 245.1 516.5 7.0 554 12744 0.00 2.25 0.00 0.000 4 0.000 0.051 2653 1119 1422

12752 1.03 255.1 515.6 6.7 554 12767 0.00 2.22 9.95 1.098 6 0.000 0.047 2653 2522 1380

13105 1.05 271.3 493.2 6.5 563 13125 0.00 2.28 15.38 1.149 4 0.000 0.051 2653 1121 1313

13148 1.14 279.6 490.2 6.7 564 13163 0.12 2.22 8.32 1.025 6 0.083 0.048 2705 2519 1280

13472 1.04 279.6 460.8 9.1 572 13476 0.15 2.25 0.00 0.000 4 0.130 0.051 2661 1114 1280

13483 0.96 279.6 459.8 9.1 572 13487 0.00 2.22 0.00 0.000 6 0.000 0.047 2661 2520 1280

13797 0.96 279.6 437.3 7.3 580 13800 0.00 2.25 0.00 0.000 4 0.000 0.051 2661 1112 1280

13819 1.02 285.4 435.7 6.8 580 13830 0.00 2.22 6.20 0.943 6 0.000 0.047 2661 2520 1256

14163 1.02 285.4 409.2 8.0 589 14166 0.00 2.25 0.00 0.000 4 0.000 0.051 2661 1112 1258

14213 1.08 285.4 404.8 8.0 590 14217 0.00 2.25 0.00 0.000 6 0.000 0.046 2661 2531 1258

14541 1.08 285.4 376.2 8.6 604 14545 0.00 2.28 0.00 0.000 4 0.000 0.050 2661 1109 1258

14576 1.16 285.4 373.2 8.1 605 14581 0.10 2.25 0.00 0.000 6 0.091 0.047 2703 2522 1257

14892 1.07 285.4 339.7 10.7 620 14897 0.12 2.28 0.00 0.000 4 0.131 0.051 2667 1115 1257

14914 1.07 285.4 337.5 8.8 621 14917 0.00 2.25 0.00 0.000 6 0.000 0.047 2666 2527 1257

15241 1.07 285.4 310.8 7.8 637 15245 0.00 2.28 0.00 0.000 4 0.000 0.051 2666 1110 1257

15292 1.14 285.4 306.8 7.6 639 15296 0.00 2.25 0.00 0.000 6 0.000 0.046 2667 2522 1257

15619 1.14 285.4 282.1 7.2 655 15623 0.00 2.25 0.00 0.000 4 0.000 0.051 2667 1123 1258

15670 1.21 285.4 278.4 7.7 657 15675 0.12 2.25 0.00 0.000 6 0.080 0.047 2718 2531 1257

15991 1.09 285.4 248.1 9.4 673 15993 0.17 0.00 0.00 0.000 6 0.123 0.000 2665 2532 1257

16301 1.15 285.4 226.4 7.1 688 16304 0.00 2.28 0.00 0.000 4 0.000 0.051 2665 1114 1258

16341 1.26 286.6 223.4 7.0 689 16348 0.15 2.25 0.00 0.000 6 0.074 0.046 2721 2526 1258

16657 1.15 286.6 191.0 10.3 705 16659 0.12 0.00 0.00 0.000 6 0.129 0.000 2684 2527 1258

16967 1.15 286.6 165.4 8.1 720 16968 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2527 1258

17276 1.17 301.0 143.5 6.5 735 17297 0.00 2.30 14.65 0.944 4 0.000 0.051 2684 1123 1193

17304 1.22 301.0 141.6 7.1 736 17308 0.00 2.25 0.00 0.000 6 0.000 0.046 2684 2529 1193

17632 1.31 324.7 120.9 6.2 752 17659 0.12 2.30 20.80 0.951 4 0.074 0.050 2735 1119 1096

17671 1.24 324.7 117.5 8.7 754 17676 0.12 2.25 0.00 0.000 6 0.131 0.047 2699 2529 1095

17997 1.24 324.7 92.8 8.5 780 18003 0.00 2.25 0.00 0.000 4 0.000 0.050 2699 1113 1095

18061 1.33 324.7 87.0 9.2 791 18068 0.10 2.25 0.00 0.000 6 0.087 0.047 2738 2532 1095

18406 1.27 324.7 48.5 11.7 852 18413 0.12 2.28 0.00 0.000 4 0.137 0.051 2702 1121 1093

18465 1.36 324.7 43.1 8.5 862 18472 0.10 2.22 0.00 0.000 6 0.088 0.047 2745 2518 1094

18811 1.27 324.7 8.4 8.0 923 18818 0.12 2.28 0.00 0.000 4 0.133 0.051 2709 1115 1093

18836 1.27 324.7 6.1 9.1 927 18842 0.00 2.25 0.00 0.000 6 0.000 0.048 2709 2524 1093

18880 end climb: SURFACE_DEPTH_REACHED

state 18880 begin surface coast

18905 end surface coast: CONTROL_FINISHED_OK

state 18905 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	434	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2340	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2520	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	500	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2420	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-3	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-40664.309	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	171	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2436	PRESSURE_YINT	-25.705193	SEABIRD_T_G	0.004371644
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51576	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	14.7	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.00342	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0096000005	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	185037,6700.435,-5712.518,28,1.1,28,-37.6	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	12	TGT_RADIUS	10000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.021,0.223
_SM_DEPTHo	1.60	KALMAN_X	-133290.6,-1029.0,-58.5,143138.2,76.8
_SM_ANGLEo	-59.8	KALMAN_Y	-3988.2,3111.4,402.1,10689.9,-4854.3
GPS2	185820,6700.401,-5712.500,11,1.3,16,-37.6	MHEAD_RNG_PITCHd_Wd	32.1,18336,-12.9,-7.021
SPEED_LIMITS	0.122,0.224	D_GRID	747

FINISH	0.9,1.026854	TCM_TEMP	16.00
SM_CCo	18985,0.00,0.000,0,0,1092,325.76	XPDR_PINGS	0
SM_GC	1.91,7.20,0.00,0.00,0.067,0.000,0.000,165,2338,1092,-10.38,-0.06,325.76	_24V_AH	19.3,79.853
RAFOS_CLK	1043	_10V_AH	10.4,35.885
RAFOS	0,1229371457,20.083334,20.071388,69,61,59,59,51,49,136,179,204,214,169,146	DATA_FILE_SIZE	34693,939
RAFOS_FIX	6625.452148,-5905.453125,151208,202012,3,101,18.21	CAP_FILE_SIZE	154092,0
IRIDIUM_FIX	6631.12,-5719.52,110398,131341	CFSIZE	260165632,218763264
TT8_MAMPS	0.031447	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
HUMID	1922	SOUNDSPEED	1459.0
INTERNAL_PRESSURE	8.53548	GPS	161208,001758,6701.583,-5709.183,33,8.4,52,-37.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	260	115.26	SBE_CT	735	24	340.68
Roll_motor	172	75	249.70	SBE_O2	643	19	235.82
VBD_pump_during_apogee	472	1338	12212.44	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	55.03	nil	0	0	0.00
Iridium_during_connect	30	160	95.49	nil	0	0	0.00
Iridium_during_xfer	251	223	1081.81
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.27
TT8	1842	19	381.72
LPSleep	14216	2	341.55
TT8_Active	724	19	150.03
TT8_Sampling	2005	39	832.53
TT8_CF8	690	45	329.54
TT8_Kalman	33	81	28.43
Analog_circuits	1821	12	227.33
GPS_charging	0	0	0.00
Compass	1966	8	163.61
RAFOS	2520	1	39.31
Transponder	0	5	0.03

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.08	-146.0	0.0	0.0	0	148	0.00	0.00	-128.57	0.000	6	0.000	0.000	166	2327	3016
152	-1.08	-146.0	3.1	-1.7	23	165	8.73	2.28	0.00	0.000	4	0.261	0.054	2199	926	3020
302	-0.60	-146.0	31.6	-17.7	49	309	0.38	2.28	0.00	0.000	6	0.171	0.050	2303	2350	3022
647	-0.60	-146.0	62.5	-8.5	110	653	0.00	2.30	0.00	0.000	4	0.000	0.065	2303	3742	3022
813	-0.67	-146.0	77.5	-9.3	139	819	0.00	2.20	0.00	0.000	6	0.000	0.038	2303	2332	3023
1165	-0.74	-146.0	109.4	-8.9	188	1167	0.10	0.00	0.00	0.000	6	0.104	0.000	2261	2331	3023
1475	-0.69	-146.0	135.6	-8.7	203	1479	0.10	2.38	0.00	0.000	4	0.166	0.065	2286	3746	3024
1565	-0.79	-146.0	143.1	-7.9	207	1569	0.00	2.20	0.00	0.000	6	0.000	0.039	2286	2341	3023
1893	-0.88	-146.0	170.0	-8.1	223	1898	0.15	2.25	0.00	0.000	4	0.091	0.052	2231	939	3021
1978	-0.73	-146.0	178.6	-11.0	227	1983	0.17	2.28	0.00	0.000	6	0.160	0.051	2277	2346	3021
2305	-0.82	-146.0	202.7	-6.8	243	2306	0.00	0.00	0.00	0.000	6	0.000	0.000	2276	2346	3020
2616	-0.92	-146.0	224.9	-7.7	258	2618	0.15	0.00	0.00	0.000	6	0.094	0.000	2225	2346	3020
2923	-0.84	-146.0	255.0	-9.7	273	2925	0.12	0.00	0.00	0.000	6	0.159	0.000	2257	2347	3020
3233	-0.89	-146.0	280.2	-8.0	288	3237	0.00	2.33	0.00	0.000	4	0.000	0.064	2257	3742	3021
3318	-0.98	-146.0	286.9	-7.6	291	3325	0.12	2.20	0.00	0.000	6	0.091	0.038	2211	2333	3021
3634	-0.87	-146.0	313.9	-8.2	307	3638	0.15	2.25	0.00	0.000	4	0.154	0.049	2253	931	3021
3713	-0.87	-146.0	319.6	-6.7	310	3719	0.00	2.28	0.00	0.000	6	0.000	0.048	2253	2348	3022
4029	-0.92	-146.0	339.2	-6.0	326	4033	0.00	2.30	0.00	0.000	4	0.000	0.064	2253	3745	3022
4144	-1.01	-146.0	346.5	-6.9	331	4149	0.15	2.20	0.00	0.000	6	0.091	0.037	2201	2328	3022
4471	-0.89	-146.0	375.6	-9.2	347	4475	0.15	2.22	0.00	0.000	4	0.150	0.049	2243	937	3023
4556	-0.89	-146.0	383.0	-8.5	351	4560	0.00	2.25	0.00	0.000	6	0.000	0.047	2242	2345	3024
4888	-0.89	-146.0	411.0	-8.6	364	4892	0.00	2.30	0.00	0.000	4	0.000	0.064	2243	3743	3024
4960	-0.95	-146.0	417.7	-9.5	365	4964	0.00	2.20	0.00	0.000	6	0.000	0.036	2243	2327	3024
5304	-0.95	-146.0	447.5	-8.8	374	5308	0.00	2.20	0.00	0.000	4	0.000	0.049	2242	934	3025
5365	-0.95	-146.0	453.5	-9.0	375	5368	0.00	2.25	0.00	0.000	6	0.000	0.047	2242	2342	3025
5678	-0.95	-146.0	480.6	-8.6	383	5682	0.00	2.33	0.00	0.000	4	0.000	0.062	2243	3746	3025
5816	-1.03	-146.0	492.1	-8.7	386	5821	0.12	2.20	0.00	0.000	6	0.093	0.037	2198	2333	3025
6141	-0.91	-146.0	523.5	-9.6	394	6145	0.15	2.22	0.00	0.000	4	0.154	0.048	2240	940	3025
6196	-0.91	-146.0	528.5	-8.9	395	6200	0.00	2.25	0.00	0.000	6	0.000	0.047	2240	2343	3025
6510	-0.91	-146.0	552.7	-7.7	403	6514	0.00	2.33	0.00	0.000	4	0.000	0.064	2241	3746	3025
6616	-0.99	-146.0	561.0	-7.8	405	6620	0.00	2.20	0.00	0.000	6	0.000	0.038	2241	2327	3025
6930	-1.04	-146.0	583.6	-7.2	413	6935	0.12	2.20	0.00	0.000	4	0.095	0.049	2193	939	3025
7021	-0.87	-146.0	592.0	-9.8	415	7026	0.20	2.25	0.00	0.000	6	0.156	0.048	2246	2340	3025
7346	-0.93	-146.0	615.0	-6.9	423	7350	0.00	2.33	0.00	0.000	4	0.000	0.063	2246	3749	3025
7499	-1.03	-146.0	625.4	-6.5	426	7504	0.12	2.20	0.00	0.000	6	0.102	0.038	2203	2340	3025
7813	-0.95	-146.0	650.1	-7.9	434	7817	0.10	2.25	0.00	0.000	4	0.160	0.049	2229	934	3025
7880	-0.95	-146.0	655.3	-7.6	435	7884	0.00	2.28	0.00	0.000	6	0.000	0.049	2229	2343	3024
8223	-0.95	-146.0	678.6	-6.8	444	8226	0.00	2.35	0.00	0.000	4	0.000	0.064	2229	3753	3025
8352	-1.00	-146.0	687.8	-7.5	446	8358	0.00	2.22	0.00	0.000	6	0.000	0.038	2229	2327	3024
8684	-1.00	-146.0	710.2	-6.7	455	8686	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2327	3024
9009	-1.00	-146.0	731.9	-6.8	463	9012	0.00	2.22	0.00	0.000	4	0.000	0.051	2229	933	3024
9064	-1.00	-146.0	736.1	-7.2	464	9068	0.00	2.28	0.00	0.000	6	0.000	0.049	2228	2342	3024
9258	end dive: TARGET_DEPTH_EXCEEDED
state	9259	begin apogee
9267	-0.34	0.0	749.1	6.6	469	9404	0.45	0.00	134.70	1.338	6	0.138	0.000	2366	2525	2420
9405	end apogee: CONTROL_FINISHED_OK
state	9405	begin climb
9408	1.08	146.0	752.6	0.0	472	9663	1.05	0.00	175.43	1.070	6	0.100	0.000	2667	2525	1824
9979	0.93	146.0	711.9	8.3	486	9984	0.12	2.35	0.00	0.000	4	0.152	0.065	2634	3936	1824
10019	0.81	146.0	708.5	7.9	487	10024	0.10	2.22	0.00	0.000	6	0.157	0.040	2609	2513	1824
10346	0.90	177.8	689.2	5.9	495	10376	0.08	0.00	27.58	1.274	6	0.100	0.000	2648	2512	1696
10669	0.90	177.8	663.9	8.0	503	10673	0.00	2.35	0.00	0.000	4	0.000	0.065	2648	3939	1697
10691	0.81	177.8	661.9	8.3	503	10696	0.15	2.20	0.00	0.000	6	0.148	0.040	2607	2517	1696
11034	0.95	212.3	641.2	5.8	512	11066	0.12	0.00	29.90	1.269	6	0.081	0.000	2662	2516	1554
11359	0.89	212.3	614.6	8.3	520	11364	0.12	2.35	0.00	0.000	4	0.127	0.066	2626	3940	1555
11375	0.89	212.3	613.1	8.0	520	11379	0.00	2.20	0.00	0.000	6	0.000	0.040	2626	2516	1554
11724	0.99	229.1	590.3	6.4	529	11742	0.10	0.00	15.48	1.199	6	0.087	0.000	2668	2516	1486
12049	0.94	229.1	563.8	8.2	537	12054	0.12	2.22	0.00	0.000	4	0.127	0.051	2632	1110	1487
12060	0.94	229.1	562.9	8.1	537	12064	0.00	2.25	0.00	0.000	6	0.000	0.048	2632	2531	1487
12373	1.02	245.0	543.2	6.5	545	12393	0.10	2.30	14.40	1.170	4	0.089	0.051	2679	1117	1421
12421	1.02	245.0	539.4	7.5	546	12426	0.10	2.25	0.00	0.000	6	0.143	0.048	2653	2529	1422
12741	1.02	245.1	516.5	7.0	554	12744	0.00	2.25	0.00	0.000	4	0.000	0.051	2653	1119	1422
12752	1.03	255.1	515.6	6.7	554	12767	0.00	2.22	9.95	1.098	6	0.000	0.047	2653	2522	1380
13105	1.05	271.3	493.2	6.5	563	13125	0.00	2.28	15.38	1.149	4	0.000	0.051	2653	1121	1313
13148	1.14	279.6	490.2	6.7	564	13163	0.12	2.22	8.32	1.025	6	0.083	0.048	2705	2519	1280
13472	1.04	279.6	460.8	9.1	572	13476	0.15	2.25	0.00	0.000	4	0.130	0.051	2661	1114	1280
13483	0.96	279.6	459.8	9.1	572	13487	0.00	2.22	0.00	0.000	6	0.000	0.047	2661	2520	1280
13797	0.96	279.6	437.3	7.3	580	13800	0.00	2.25	0.00	0.000	4	0.000	0.051	2661	1112	1280
13819	1.02	285.4	435.7	6.8	580	13830	0.00	2.22	6.20	0.943	6	0.000	0.047	2661	2520	1256
14163	1.02	285.4	409.2	8.0	589	14166	0.00	2.25	0.00	0.000	4	0.000	0.051	2661	1112	1258
14213	1.08	285.4	404.8	8.0	590	14217	0.00	2.25	0.00	0.000	6	0.000	0.046	2661	2531	1258
14541	1.08	285.4	376.2	8.6	604	14545	0.00	2.28	0.00	0.000	4	0.000	0.050	2661	1109	1258
14576	1.16	285.4	373.2	8.1	605	14581	0.10	2.25	0.00	0.000	6	0.091	0.047	2703	2522	1257
14892	1.07	285.4	339.7	10.7	620	14897	0.12	2.28	0.00	0.000	4	0.131	0.051	2667	1115	1257
14914	1.07	285.4	337.5	8.8	621	14917	0.00	2.25	0.00	0.000	6	0.000	0.047	2666	2527	1257
15241	1.07	285.4	310.8	7.8	637	15245	0.00	2.28	0.00	0.000	4	0.000	0.051	2666	1110	1257
15292	1.14	285.4	306.8	7.6	639	15296	0.00	2.25	0.00	0.000	6	0.000	0.046	2667	2522	1257
15619	1.14	285.4	282.1	7.2	655	15623	0.00	2.25	0.00	0.000	4	0.000	0.051	2667	1123	1258
15670	1.21	285.4	278.4	7.7	657	15675	0.12	2.25	0.00	0.000	6	0.080	0.047	2718	2531	1257
15991	1.09	285.4	248.1	9.4	673	15993	0.17	0.00	0.00	0.000	6	0.123	0.000	2665	2532	1257
16301	1.15	285.4	226.4	7.1	688	16304	0.00	2.28	0.00	0.000	4	0.000	0.051	2665	1114	1258
16341	1.26	286.6	223.4	7.0	689	16348	0.15	2.25	0.00	0.000	6	0.074	0.046	2721	2526	1258
16657	1.15	286.6	191.0	10.3	705	16659	0.12	0.00	0.00	0.000	6	0.129	0.000	2684	2527	1258
16967	1.15	286.6	165.4	8.1	720	16968	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2527	1258
17276	1.17	301.0	143.5	6.5	735	17297	0.00	2.30	14.65	0.944	4	0.000	0.051	2684	1123	1193
17304	1.22	301.0	141.6	7.1	736	17308	0.00	2.25	0.00	0.000	6	0.000	0.046	2684	2529	1193
17632	1.31	324.7	120.9	6.2	752	17659	0.12	2.30	20.80	0.951	4	0.074	0.050	2735	1119	1096
17671	1.24	324.7	117.5	8.7	754	17676	0.12	2.25	0.00	0.000	6	0.131	0.047	2699	2529	1095
17997	1.24	324.7	92.8	8.5	780	18003	0.00	2.25	0.00	0.000	4	0.000	0.050	2699	1113	1095
18061	1.33	324.7	87.0	9.2	791	18068	0.10	2.25	0.00	0.000	6	0.087	0.047	2738	2532	1095
18406	1.27	324.7	48.5	11.7	852	18413	0.12	2.28	0.00	0.000	4	0.137	0.051	2702	1121	1093
18465	1.36	324.7	43.1	8.5	862	18472	0.10	2.22	0.00	0.000	6	0.088	0.047	2745	2518	1094
18811	1.27	324.7	8.4	8.0	923	18818	0.12	2.28	0.00	0.000	4	0.133	0.051	2709	1115	1093
18836	1.27	324.7	6.1	9.1	927	18842	0.00	2.25	0.00	0.000	6	0.000	0.048	2709	2524	1093
18880	end climb: SURFACE_DEPTH_REACHED
state	18880	begin surface coast
18905	end surface coast: CONTROL_FINISHED_OK
state	18905	begin surface