ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 718 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  223 HD_A  0.00375924 ROLL_DEG  40 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_B  0.0090143103 C_ROLL_DIVE  2300 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  718 HD_C  2.26105e-06 C_ROLL_CLIMB  2100 ALTIM_TOP_TURN_MARGIN  7
N_DIVES  0 HEADING  -1 HEAD_ERRBAND  10 ALTIM_TOP_MIN_OBSTACLE  1.8
STOP_T  0 ESCAPE_HEADING  0 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_TIMEOUT  30 ALTIM_PING_DELTA  10
D_FLARE  3 FIX_MISSING_TIMEOUT  3 R_PORT_OVSHOOT  32 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  29 ALTIM_PULSE  1
D_ABORT  1020 TGT_DEFAULT_LON  -12218 ROLL_AD_RATE  50 ALTIM_SENSITIVITY  4
D_NO_BLEED  500 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  0 XPDR_VALID  6
D_BOOST  110 SM_CC  350 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
T_BOOST  0 N_FILEKB  8 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  10 FILEMGR  2 VBD_MIN  900 INT_PRESSURE_YINT  0.25
D_PITCH  3 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_SAFE  500 COMM_SEQ  0 C_VBD  2560 MOTHERBOARD  4
D_CALL  2 PROTOCOL  9 VBD_DBAND  2 DEVICE1  -1
SURFACE_URGENCY  0 N_NOCOMM  0 VBD_CNV  -0.24529999 DEVICE2  -1
SURFACE_URGENCY_TRY  100 NOCOMM_ACTION  163 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_FORCE  100 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  330 UPLOAD_DIVES_MAX  4 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_MISSION  420 CALL_TRIES  3 VBD_PUMP_AD_RATE_SURFACE  1 DEVICE6  -1
T_ABORT  4320 CALL_WAIT  45 VBD_PUMP_AD_RATE_APOGEE  1.5 LOGGERS  1
T_TURN  225 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  -7 CAPMAXSIZE  10000 UNCOM_BLEED  200 LOGGERDEVICE2  -1
T_NO_W  120 HEAPDBG  0 VBD_MAXERRORS  5 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS  3 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
T_EPIRB  0 N_GPS  100440 DBDW  0 COMPASS_DEVICE  97
EXEC_P  2 T_RSLEEP  120 LOITER_W_DBAND  1 COMPASS2_DEVICE  149
EXEC_DT  0 STROBE  0 LOITER_DBDW  200 PHONE_DEVICE  49
EXEC_T  10029665 RAFOS_PEAK_OFFSET  -1 LOITER_D_NO_PUMP  500 GPS_DEVICE  64
EXEC_N  6 RAFOS_CORR_THRESH  60 LOITER_N_DIVE  0 RAFOS_DEVICE  32
USE_BATHY  0 RAFOS_HIT_WINDOW  3600 PITCH_W_GAIN  2 XPDR_DEVICE  24
USE_ICE  1 RAFOS_MMODEM  0 PITCH_W_DBAND  0.5 SIM_W  0
ICE_FREEZE_MARGIN  0.059999999 PITCH_MIN  225 CF8_MAXERRORS  20 SEABIRD_T_G  0.0044087539
D_OFFGRID  990 PITCH_MAX  3880 AH0_24V  350 SEABIRD_T_H  0.00063761615
T_WATCHDOG  10 C_PITCH  2870 AH0_10V  0 SEABIRD_T_I  2.5496534e-05
RELAUNCH  1 PITCH_DBAND  0.1 MINV_24V  0 SEABIRD_T_J  3.0755168e-06
APOGEE_PITCH  -5 PITCH_CNV  0.0031256899 MINV_10V  0 SEABIRD_C_G  -9.8995104
MAX_BUOY  110 P_OVSHOOT  0.039999999 MAXI_24V  2 SEABIRD_C_H  1.1242845
COURSE_BIAS  0 P_OVSHOOT_WITHG  0 MAXI_10V  2 SEABIRD_C_I  -0.0021703816
GLIDE_SLOPE  45 PITCH_GAIN  22 FG_AHR_10V  0 SEABIRD_C_J  0.00023950715
SPEED_FACTOR  1 PITCH_TIMEOUT  40 FG_AHR_24V  0 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_AD_RATE  20 PHONE_SUPPLY  -2 SC_PROFILE  3.0
MASS  53553 PITCH_MAXERRORS  1 PRESSURE_YINT  -185.88379 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  0.0001081376 SC_NDIVE  1.0
NAV_MODE  2 PITCH_ADJ_DBAND  0 AD7714Ch0Gain  1
FERRY_MAX  45 ROLL_MIN  245 COMPASS_USE  4
KALMAN_USE  2 ROLL_MAX  3890 ALTIM_PING_FIT  883

Pre-dive calculations and measurements:
GPS1  111218,184800,-7408.6401,-11202.4854,29,0.8,29,53.1,0.2,291.8,10,3.7 SPEED_LIMITS  0.100,0.239
_CALLS  1 TGT_NAME  E0
_XMS_NAKs  0 TGT_LATLONG  -7410.600,-11155.500
_XMS_TOUTs  0 TGT_RADIUS  2001.000
_SM_DEPTHo  0.81 MHEAD_RNG_PITCHd_Wd  63.3,5174,-22.4,-10.000,-24.61,1363
_SM_ANGLEo  -66.2 D_GRID  990
GPS2  111218,190423,-7408.5972,-11202.6445,2,0.9,4,53.1,0.1,0.0,9,3.6

Post-dive calculations and measurements:
FREEZE  1.25,-1.172,-1.858,2,1,0 ALTIM_BOTTOM_PING  662.3,14.3
FINISH  1.2,1.027234 _24V_AH  11.56,238.672
SM_CCo  12162,181.38,0.229,0,0,1132,350.04 _10V_AH  11.79,0.000
SM_GC  0.85,9.25,2.92,181.38,0.080,0.061,0.229,212,2301,1132,-8.23,-0.62,350.04,0,0,0,0,0,0,14.50,14.44,14.36 FG_AHR_24Vo  0.000
RAFOS_CLK  474 FG_AHR_10Vo  0.000
RAFOS  0,1544562062,21.032778,21.017221,132,61,59,58,57,52,538,132,222,203,181,147 MEM  279872
RAFOS_FIX  -7408.989746,-11209.466797,111218,212144,3,148,0.45 DATA_FILE_SIZE  20113,579
IRIDIUM_FIX  -7403.22,-11039.77,111218,144242 CAP_FILE_SIZE  109322,0
TT8_MAMPS  0.041195,0.320572 CFSIZE  1024409600,937885696
HUMID  48.34 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.08233 SOUNDSPEED  1439.2
TCM_TEMP  12.00 CURRENT  0.018,183.62,1
XPDR_PINGS  0 GPS  111218,223200,-7409.112,-11158.295,34,0.9,34,53.1,0.2,259.7,9,4.2
ALTIM_TOP_PING  10.3,10.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23413113.42 nil000.00
Roll_motor114222293.63 nil000.00
VBD_pump_during_apogee21230307457.74 nil000.00
VBD_pump_during_surface181228479.59 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon65953269.12
Iridium_during_xfer6082111484.97 nil000.00
Transponder_ping28420135.95 nil000.00
GUMSTIX_24V000.00
GPS6100.79
TT8000.00
LPSleep102822280.05
TT8_Active5711393.16
TT8_Sampling192334789.11
TT8_CF856052348.73
TT8_Kalman000.00
Analog_circuits175210225.16
GPS_charging000.00
Compass832773.48
RAFOS720112.73
Transponder1963069.57

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
23.7 25.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
36.0 38.10 9000.00 0.0 0.00 0.00 38.10 0.0 1.05 1.00
613.1 63.70 9000.00 0.0 0.06 0.90 63.70 0.0 0.04 1.00
637.0 36.00 9000.00 0.0 0.02 0.17 36.00 673.0 -1.16 1.00
650.6 28.70 26.40 677.0 -0.96 0.97 28.70 679.3 -0.54 1.00
662.3 12.30 14.30 676.6 -0.92 0.93 12.30 674.6 -1.40 1.00
131.7 136.60 9000.00 0.0 -0.22 0.99 136.60 0.0 -0.23 1.00
121.1 126.00 9000.00 0.0 -0.22 0.99 126.00 -4.9 1.00 1.00
76.2 79.00 79.00 -2.8 1.04 1.00 79.00 -2.8 1.05 1.00
64.4 67.30 67.00 -2.6 1.04 1.00 67.30 -2.9 0.99 1.00
52.1 54.10 54.30 -2.2 1.03 1.00 54.10 -2.0 1.07 1.00
41.9 43.40 43.40 -1.5 1.06 1.00 43.40 -1.5 1.05 1.00
30.9 32.00 32.00 -1.1 1.05 1.00 32.00 -1.1 1.04 1.00
20.6 21.10 21.10 -0.5 1.05 1.00 21.10 -0.5 1.06 1.00
10.3 10.50 10.50 -0.2 1.04 1.00 10.50 -0.2 1.03 1.00

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
10 end surface: CONTROL_FINISHED_OK
state 10 begin dive
14 -1.13 -88.5 212 2319 1144 1081 0.0 0.0 0 117 0.00 0.00 -101.88 0.002 16390 0.000 0.000 212 2318 2921 2922 2921 0 0 0 0 0 0 14.98 12.88 15.00
121 -1.13 -88.5 212 2319 2922 2922 1.4 -1.0 3 137 11.18 2.60 0.00 0.000 2308 0.413 0.093 2494 3712 2922 2924 2921 0 0 0 0 0 0 14.15 14.57 14.57
220 -1.13 -88.5 2493 3712 2927 2917 18.4 -15.6 18 227 0.00 2.47 0.00 0.000 1030 0.000 0.041 2494 2276 2922 2928 2916 0 0 0 0 0 0 14.68 14.64 14.70
563 -1.13 -88.5 2494 2276 2933 2915 69.1 -14.7 31 563 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2275 2922 2930 2914 0 0 0 0 0 0 15.19 15.22 15.21
899 -1.13 -88.5 2494 2276 2934 2914 115.9 -13.9 43 905 0.00 2.53 0.00 0.000 516 0.000 0.068 2493 903 2922 2932 2912 0 0 0 0 0 0 15.19 14.17 15.21
1062 -1.13 -88.5 2495 904 2934 2913 137.4 -12.9 66 1069 0.00 2.55 0.00 0.000 1030 0.000 0.063 2484 2296 2922 2933 2912 0 0 0 0 0 0 14.49 14.34 14.54
1403 -1.13 -88.5 2483 2297 2933 2912 183.6 -13.8 79 1404 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2296 2922 2933 2911 0 0 0 0 0 0 15.19 15.21 15.21
1767 -1.13 -88.5 2485 2297 2935 2912 234.5 -14.1 88 1773 0.00 2.58 0.00 0.000 516 0.000 0.063 2484 909 2921 2933 2909 0 0 0 0 0 0 15.19 14.07 15.21
1816 -1.13 -88.5 2483 910 2933 2911 241.6 -14.6 95 1823 0.12 2.58 0.00 0.000 3078 0.258 0.060 2504 2297 2922 2933 2911 0 0 0 0 0 0 13.74 14.17 13.93
2159 -1.13 -88.5 2503 2298 2933 2911 286.3 -13.0 102 2160 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2298 2921 2933 2910 0 0 0 0 0 0 15.19 15.21 15.21
2495 -1.13 -88.5 2503 2298 2933 2911 326.1 -11.7 108 2501 0.00 2.60 0.00 0.000 516 0.000 0.065 2504 911 2921 2933 2909 0 0 0 0 0 0 15.19 14.00 15.21
2608 -1.13 -88.5 2505 911 2936 2911 339.9 -12.4 124 2613 0.00 2.53 0.00 0.000 1030 0.000 0.060 2495 2306 2922 2934 2910 0 0 0 0 0 0 14.38 14.23 14.44
2999 -1.13 -88.5 2495 2306 2934 2910 388.3 -12.3 138 3005 0.00 2.75 0.00 0.000 260 0.000 0.103 2484 3717 2922 2934 2910 0 0 0 0 0 0 15.19 13.94 15.21
3034 -1.13 -88.5 2486 3718 2936 2910 392.7 -12.8 143 3040 0.00 2.50 0.00 0.000 1030 0.000 0.041 2484 2297 2921 2934 2909 0 0 0 0 0 0 14.37 14.33 14.40
3391 -1.13 -88.5 2484 2298 2934 2910 436.9 -12.4 152 3397 0.00 2.58 0.00 0.000 516 0.000 0.066 2484 912 2921 2934 2909 0 0 0 0 0 0 15.19 13.96 15.21
3524 -1.13 -88.5 2484 913 2934 2909 454.3 -13.1 171 3530 0.12 2.60 0.00 0.000 3078 0.259 0.060 2504 2303 2921 2934 2909 0 0 0 0 0 0 13.66 14.09 13.87
3895 -1.13 -88.5 2504 2304 2934 2909 497.5 -11.4 182 3901 0.00 2.58 0.00 0.000 516 0.000 0.065 2504 901 2921 2935 2908 0 0 0 0 0 0 15.19 14.01 15.20
3958 -1.13 -88.5 2506 901 2936 2909 504.7 -11.6 191 3964 0.00 2.62 0.00 0.000 1030 0.000 0.062 2495 2307 2921 2934 2908 0 0 0 0 0 0 14.16 14.08 14.23
4343 -1.13 -88.5 2495 2308 2934 2909 548.6 -11.2 204 4344 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2307 2921 2935 2908 0 0 0 0 0 0 15.19 15.21 15.21
4679 -1.13 -88.5 2495 2308 2934 2909 585.9 -11.3 210 4685 0.00 2.60 0.00 0.000 516 0.000 0.064 2496 895 2921 2935 2908 0 0 0 0 0 0 15.19 13.94 15.21
4756 -1.13 -88.5 2495 895 2934 2909 593.5 -8.7 221 4763 0.00 2.65 0.00 0.000 1030 0.000 0.060 2485 2304 2921 2935 2908 0 0 0 0 0 0 14.14 14.05 14.20
5127 -1.13 -88.5 2485 2305 2935 2909 630.5 -10.0 232 5128 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2305 2921 2934 2908 0 0 0 0 0 0 15.18 15.21 15.21
5460 end dive: BOTTOM_OBSTACLE_DETECTED
state 5460 begin apogee
5467 -0.23 0.0 2485 2082 2935 2908 668.0 -10.5 238 5576 1.38 0.05 99.97 3.031 10246 0.331 0.223 2794 2108 2558 2587 2529 0 0 0 0 0 0 14.02 13.69 12.52
5576 end apogee: CONTROL_FINISHED_OK
state 5576 begin climb
5580 1.13 88.5 2795 2109 2588 2529 668.1 0.0 240 5701 1.45 2.92 112.88 2.938 11012 0.129 0.079 3236 725 2197 2231 2164 0 0 0 0 0 0 13.71 12.55 11.56
5904 1.13 88.5 3238 726 2221 2156 636.3 10.2 287 5910 0.00 2.60 0.00 0.000 1030 0.000 0.054 3237 2101 2187 2219 2155 0 0 0 0 0 0 13.93 13.84 14.00
6296 1.13 88.5 3238 2105 2219 2150 590.0 12.1 301 6303 0.00 2.65 0.00 0.000 260 0.000 0.099 3238 3513 2182 2216 2149 0 0 0 0 0 0 15.04 14.52 15.06
6401 1.13 88.5 3236 3514 2214 2149 577.1 11.8 316 6411 0.00 2.42 0.00 0.000 1030 0.000 0.043 3247 2118 2182 2215 2149 0 0 0 0 0 0 14.71 14.65 14.75
6745 1.13 88.5 3247 2119 2214 2148 537.2 12.1 323 6750 0.00 2.58 0.00 0.000 516 0.000 0.083 3258 701 2180 2214 2147 0 0 0 0 0 0 15.02 14.55 15.04
6793 1.13 88.5 3260 702 2215 2148 531.2 12.2 330 6800 0.00 2.53 0.00 0.000 1030 0.000 0.057 3258 2117 2180 2213 2147 0 0 0 0 0 0 14.66 14.59 14.71
7136 1.13 88.5 3258 2117 2212 2147 490.6 11.8 337 7142 0.00 2.62 0.00 0.000 260 0.000 0.099 3258 3509 2179 2212 2147 0 0 0 0 0 0 15.08 14.45 15.10
7199 1.13 88.5 3260 3510 2214 2148 482.8 12.6 346 7205 0.15 2.47 0.00 0.000 5126 0.273 0.044 3231 2090 2179 2212 2147 0 0 0 0 0 0 14.21 14.62 14.42
7586 1.13 88.5 3229 2090 2211 2146 443.7 10.3 359 7592 0.00 2.65 0.00 0.000 260 0.000 0.096 3230 3513 2178 2211 2146 0 0 0 0 0 0 15.05 14.47 15.08
7647 1.13 88.5 3232 3513 2213 2147 436.4 11.7 368 7653 0.00 2.47 0.00 0.000 1030 0.000 0.044 3239 2096 2181 2210 2153 0 0 0 0 0 0 14.65 14.59 14.69
8032 1.13 88.5 3238 2095 2213 2146 396.3 10.3 381 8038 0.00 2.65 0.00 0.000 260 0.000 0.098 3239 3516 2178 2210 2146 0 0 0 0 0 0 15.10 14.41 15.13
8095 1.13 88.5 3240 3517 2212 2146 389.0 11.7 390 8101 0.00 2.47 0.00 0.000 1030 0.000 0.044 3249 2097 2178 2210 2146 0 0 0 0 0 0 14.54 14.50 14.60
8480 1.13 88.5 3250 2098 2211 2147 347.9 10.6 403 8486 0.00 2.62 0.00 0.000 260 0.000 0.098 3249 3505 2177 2209 2145 0 0 0 0 0 0 15.08 14.39 15.11
8557 1.13 88.5 3250 3505 2211 2147 339.0 11.9 414 8563 0.00 2.47 0.00 0.000 1030 0.000 0.043 3260 2093 2177 2209 2145 0 0 0 0 0 0 14.61 14.54 14.64
8928 1.13 88.5 3259 2093 2208 2146 300.0 10.3 425 8929 0.00 0.00 0.00 0.000 6 0.000 0.000 3259 2093 2177 2209 2145 0 0 0 0 0 0 15.09 15.12 15.12
9264 1.13 88.5 3260 2093 2207 2146 266.4 10.2 431 9270 0.00 2.70 0.00 0.000 260 0.000 0.098 3259 3512 2176 2208 2145 0 0 0 0 0 0 15.07 14.31 15.09
9313 1.13 88.5 3259 3512 2208 2145 261.1 11.3 438 9320 0.10 2.50 0.00 0.000 5126 0.280 0.043 3234 2087 2176 2208 2145 0 0 0 0 0 0 14.10 14.51 14.49
9657 1.13 88.5 3235 2088 2210 2145 228.5 9.6 445 9663 0.00 2.67 0.00 0.000 260 0.000 0.096 3233 3514 2176 2208 2145 0 0 0 0 0 0 14.92 14.37 14.95
9698 1.13 88.5 3232 3513 2208 2146 224.1 10.2 451 9704 0.00 2.50 0.00 0.000 1030 0.000 0.044 3241 2088 2175 2207 2144 0 0 0 0 0 0 14.57 14.51 14.60
10048 1.14 88.5 3241 2089 2207 2145 191.1 9.2 460 10054 0.00 2.65 0.00 0.000 324 0.000 0.096 3241 3508 2176 2208 2144 0 0 0 0 0 0 15.09 14.37 15.11
10105 1.14 88.5 3243 3509 2210 2145 185.7 9.7 468 10110 0.00 2.45 0.00 0.000 1030 0.000 0.043 3252 2091 2176 2208 2144 0 0 0 0 0 0 14.59 14.49 14.64
10471 1.15 88.5 3251 2092 2207 2145 152.7 9.4 484 10472 0.00 0.00 0.00 0.000 70 0.000 0.000 3252 2092 2176 2208 2145 0 0 0 0 0 0 14.92 14.95 14.95
10805 1.16 88.5 3253 2091 2209 2145 121.1 9.5 496 10810 0.00 2.58 0.00 0.000 580 0.000 0.085 3263 697 2175 2207 2144 0 0 0 0 0 0 14.92 14.33 14.95
10874 1.16 88.5 3264 698 2208 2145 114.3 9.5 506 10880 0.00 2.50 0.00 0.000 1030 0.000 0.057 3263 2096 2175 2206 2144 0 0 0 0 0 0 14.47 14.40 14.51
11227 1.20 88.5 3264 2097 2208 2145 83.9 8.4 520 11232 0.00 2.58 0.00 0.000 580 0.000 0.083 3273 696 2175 2206 2144 0 0 0 0 0 0 15.03 14.33 15.05
11315 1.22 88.5 3274 697 2209 2145 75.6 9.0 533 11322 0.00 2.50 0.00 0.000 1094 0.000 0.056 3273 2115 2175 2206 2144 0 0 0 0 0 0 14.59 14.45 14.66
11675 1.24 88.5 3274 2116 2208 2145 44.8 8.8 548 11680 0.00 2.62 0.00 0.000 324 0.000 0.101 3273 3519 2175 2206 2144 0 0 0 0 0 0 15.04 14.31 15.06
11763 1.24 88.5 3274 3519 2205 2145 35.6 10.5 561 11769 0.00 2.50 0.00 0.000 1030 0.000 0.044 3284 2095 2175 2206 2144 0 0 0 0 0 0 14.51 14.44 14.56
12120 1.27 88.5 3283 2095 2206 2145 3.2 8.6 576 12126 0.00 2.58 0.00 0.000 580 0.000 0.084 3295 690 2175 2206 2144 0 0 0 0 0 0 15.04 14.31 15.09
12131 end climb: SURFACE_DEPTH_REACHED
state 12131 begin surface coast
12138 end surface coast: CONTROL_FINISHED_OK
state 12138 begin surface