ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 923 * 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  923 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  22 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  14 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  2575 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  3 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  0 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  0 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  110219,140254,-7405.7812,-11304.1582,32,0.8,32,53.7,0.6,306.4,11,3.2 SPEED_LIMITS  0.100,0.239
_CALLS  1 TGT_NAME  hold0
_XMS_NAKs  0 TGT_LATLONG  -7404.000,-11225.000
_XMS_TOUTs  0 TGT_RADIUS  3000.000
_SM_DEPTHo  0.71 MHEAD_RNG_PITCHd_Wd  34.6,20282,-20.3,-10.000,-22.71,1648
_SM_ANGLEo  -62.7 D_GRID  990
GPS2  110219,141133,-7405.7349,-11304.3896,2,0.8,3,53.7,0.9,300.6,9,10.0

Post-dive calculations and measurements:
FREEZE  0.23,-0.244,-1.846,2,1,0 ALTIM_BOTTOM_PING  657.8,10.9
FINISH  0.2,1.027036 _24V_AH  10.30,304.265
SM_CCo  12096,167.48,0.204,0,0,1143,350.04 _10V_AH  10.30,0.000
SM_GC  0.75,11.82,0.55,167.48,0.063,0.077,0.204,218,2301,1143,-8.23,-0.31,350.04,0,0,0,0,0,0,11.37,11.33,11.21 FG_AHR_24Vo  0.000
RAFOS_CLK  470 FG_AHR_10Vo  0.000
RAFOS  0,1549897270,15.032778,15.019444,144,61,60,58,55,54,559,196,165,222,147,180 MEM  279900
RAFOS_FIX  -7406.617676,-11245.867188,110219,151512,3,114,2.50 DATA_FILE_SIZE  16774,473
IRIDIUM_FIX  -7406.27,-11259.54,110219,103244 CAP_FILE_SIZE  98319,0
TT8_MAMPS  0.045689,0.179011 CFSIZE  1024409600,915259392
HUMID  50.74 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.08233 SOUNDSPEED  1448.7
TCM_TEMP  11.90 CURRENT  0.032,310.43,1
XPDR_PINGS  0 GPS  110219,173741,-7405.324,-11259.610,16,1.5,18,53.6,0.5,210.0,4,10.0
ALTIM_TOP_PING  11.9,11.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor33403137.92 nil000.00
Roll_motor128153202.15 nil000.00
VBD_pump_during_apogee358290510742.06 nil000.00
VBD_pump_during_surface167204352.34 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon120955674.22
Iridium_during_xfer284234685.78 nil000.00
Transponder_ping26420115.72 nil000.00
GUMSTIX_24V000.00
GPS4100.50
TT8000.00
LPSleep102672244.29
TT8_Active74513106.06
TT8_Sampling134934483.54
TT8_CF843252235.23
TT8_Kalman000.00
Analog_circuits146310164.33
GPS_charging000.00
Compass683752.69
RAFOS720111.12
Transponder1873057.98

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
10.6 12.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
21.8 23.40 9000.00 0.0 0.00 0.00 23.40 0.0 0.94 1.00
48.3 51.70 51.50 0.0 1.04 1.00 51.70 0.0 1.07 1.00
628.3 38.70 9000.00 0.0 0.00 0.01 38.70 667.0 -0.02 1.00
643.3 24.90 9000.00 0.0 -0.03 0.75 24.90 668.2 -0.92 1.00
657.8 10.80 10.90 668.7 -0.95 1.00 10.80 668.6 -0.97 1.00
653.0 15.30 15.40 0.0 -0.98 1.00 15.30 0.0 -0.94 1.00
101.8 104.80 9000.00 0.0 -0.17 1.00 104.80 0.0 -0.16 1.00
79.1 81.90 9000.00 0.0 -0.14 0.92 81.90 -2.8 1.01 1.00
68.7 72.00 71.80 -3.1 1.00 1.00 72.00 -3.3 0.95 1.00
58.0 59.70 60.10 -2.1 1.05 1.00 59.70 -1.7 1.15 1.00
46.1 47.60 47.40 -1.3 1.07 1.00 47.60 -1.5 1.02 1.00
35.6 38.00 37.80 -2.2 0.98 1.00 38.00 -2.4 0.91 1.00
24.2 25.10 25.40 -1.2 1.03 1.00 25.10 -0.9 1.13 1.00
11.9 11.90 11.80 0.1 1.10 1.00 11.90 0.0 1.07 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
6 end surface: CONTROL_FINISHED_OK
state 6 begin dive
11 -1.06 -107.1 219 2309 1176 1086 0.0 0.0 0 113 0.00 0.00 -100.97 0.002 16390 0.000 0.000 214 2307 3013 3017 3009 0 0 0 0 0 0 11.48 10.76 11.50
117 -1.06 -107.1 217 2308 3017 3009 1.6 -1.3 3 140 17.35 3.42 0.00 0.000 2308 0.404 0.086 2516 3715 3013 3019 3008 0 0 0 0 0 0 11.14 11.26 11.33
161 -1.06 -107.1 2517 3716 3024 3006 16.2 -25.0 10 168 0.00 3.25 0.00 0.000 1030 0.000 0.041 2515 2288 3014 3023 3005 0 0 0 0 0 0 11.39 11.33 11.40
504 -1.06 -107.1 2516 2288 3026 3002 70.8 -16.0 23 511 0.00 3.28 0.00 0.000 516 0.000 0.061 2515 900 3014 3027 3001 0 0 0 0 0 0 11.51 11.31 11.53
567 -1.06 -107.1 2516 901 3027 3002 80.7 -15.8 32 573 0.00 3.35 0.00 0.000 1030 0.000 0.060 2505 2307 3013 3025 3001 0 0 0 0 0 0 11.40 11.32 11.42
928 -1.06 -107.1 2506 2307 3029 3001 135.3 -14.9 47 929 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2303 3013 3027 2999 0 0 0 0 0 0 11.50 11.52 11.52
1261 -1.06 -107.1 2505 2307 3034 3000 184.8 -15.2 59 1266 0.00 3.35 0.00 0.000 516 0.000 0.061 2505 896 3013 3027 2999 0 0 0 0 0 0 11.50 11.31 11.52
1309 -1.06 -107.1 2504 896 3028 3000 192.3 -15.6 66 1316 0.20 3.30 0.00 0.000 3078 0.265 0.057 2525 2305 3013 3028 2998 0 0 0 0 0 0 11.24 11.33 11.38
1653 -1.06 -107.1 2523 2305 3028 3000 241.6 -14.4 74 1659 0.00 3.53 0.00 0.000 260 0.000 0.100 2515 3715 3013 3028 2999 0 0 0 0 0 0 11.50 11.31 11.52
1687 -1.06 -107.1 2516 3718 3030 2999 246.7 -15.1 79 1693 0.00 3.22 0.00 0.000 1030 0.000 0.039 2515 2298 3013 3028 2998 0 0 0 0 0 0 11.42 11.37 11.43
2044 -1.06 -107.1 2517 2298 3031 2999 299.2 -14.4 88 2050 0.00 3.33 0.00 0.000 516 0.000 0.063 2516 895 3013 3029 2997 0 0 0 0 0 0 11.52 11.33 11.54
2086 -1.06 -107.1 2515 896 3029 2998 305.3 -14.7 94 2092 0.00 3.33 0.00 0.000 1030 0.000 0.059 2505 2309 3013 3029 2998 0 0 0 0 0 0 11.41 11.33 11.43
2436 -1.06 -107.1 2506 2310 3030 2998 357.4 -15.0 102 2442 0.00 3.33 0.00 0.000 516 0.000 0.060 2505 898 3013 3029 2997 0 0 0 0 0 0 11.52 11.33 11.53
2478 -1.06 -107.1 2506 898 3031 2998 363.7 -14.7 108 2484 0.20 3.33 0.00 0.000 3078 0.265 0.060 2524 2311 3013 3029 2997 0 0 0 0 0 0 11.23 11.33 11.39
2828 -1.06 -107.1 2523 2307 3029 2998 409.7 -13.0 116 2829 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2306 3013 3029 2997 0 0 0 0 0 0 11.52 11.55 11.54
3164 -1.06 -107.1 2525 2307 3031 2998 453.0 -12.8 122 3170 0.00 3.33 0.00 0.000 516 0.000 0.061 2524 899 3013 3029 2997 0 0 0 0 0 0 11.52 11.33 11.54
3227 -1.06 -107.1 2523 900 3029 2997 461.2 -13.0 131 3233 0.00 3.28 0.00 0.000 1030 0.000 0.057 2515 2299 3013 3030 2997 0 0 0 0 0 0 11.42 11.34 11.43
3617 -1.06 -107.1 2516 2300 3032 2998 511.2 -13.0 144 3618 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2299 3013 3030 2996 0 0 0 0 0 0 11.51 11.53 11.52
3950 -1.06 -107.1 2516 2300 3032 2997 554.3 -12.8 150 3955 0.00 3.30 0.00 0.000 516 0.000 0.060 2515 899 3013 3030 2996 0 0 0 0 0 0 11.51 11.33 11.53
3997 -1.06 -107.1 2515 899 3030 2997 560.7 -13.2 157 4005 0.00 3.30 0.00 0.000 1030 0.000 0.057 2505 2311 3014 3030 2999 0 0 0 0 0 0 11.42 11.33 11.43
4340 -1.06 -107.1 2504 2312 3030 2996 606.1 -13.3 164 4341 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2312 3013 3030 2996 0 0 0 0 0 0 11.52 11.55 11.54
4676 -1.06 -107.1 2506 2312 3040 2997 650.4 -13.2 170 4677 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2311 3013 3030 2996 0 0 0 0 0 0 11.52 11.55 11.53
4785 end dive: BOTTOM_OBSTACLE_DETECTED
state 4785 begin apogee
4794 -0.23 0.0 2504 2079 3032 2995 663.7 -12.5 172 4962 1.30 0.08 164.85 2.905 10246 0.154 0.153 2792 2107 2575 2606 2545 0 0 0 0 0 0 11.29 11.16 10.30
4963 end apogee: CONTROL_FINISHED_OK
state 4963 begin climb
4967 1.06 107.1 2792 2107 2606 2545 663.7 0.0 175 5149 1.75 3.53 167.62 2.818 10500 0.129 0.093 3201 3506 2137 2176 2099 0 0 0 0 0 0 11.20 11.19 10.31
5232 1.06 107.1 3201 3506 2173 2094 646.1 9.9 214 5239 0.00 3.20 0.00 0.000 1030 0.000 0.037 3211 2108 2133 2173 2093 0 0 0 0 0 0 11.36 11.30 11.37
5576 1.07 107.1 3210 2109 2167 2086 613.9 9.4 221 5576 0.00 0.00 0.00 0.000 70 0.000 0.000 3211 2108 2126 2167 2086 0 0 0 0 0 0 11.48 11.50 11.50
5912 1.08 107.1 3210 2109 2164 2085 582.2 9.4 227 5917 0.00 3.50 0.00 0.000 324 0.000 0.093 3211 3508 2124 2165 2084 0 0 0 0 0 0 11.49 11.28 11.50
5988 1.08 107.1 3210 3509 2165 2085 574.1 10.7 238 5994 0.00 3.22 0.00 0.000 1030 0.000 0.038 3221 2097 2124 2164 2085 0 0 0 0 0 0 11.39 11.33 11.41
6359 1.08 107.1 3221 2097 2161 2085 537.9 9.7 249 6360 0.00 0.00 0.00 0.000 6 0.000 0.000 3221 2097 2123 2162 2084 0 0 0 0 0 0 11.50 11.51 11.51
6695 1.08 107.1 3222 2098 2162 2085 505.4 9.7 255 6701 0.00 3.53 0.00 0.000 260 0.000 0.093 3221 3512 2122 2160 2084 0 0 0 0 0 0 11.50 11.29 11.52
6737 1.08 107.1 3222 3512 2163 2084 501.0 10.7 261 6745 0.00 3.22 0.00 0.000 1030 0.000 0.039 3231 2098 2121 2160 2083 0 0 0 0 0 0 11.37 11.33 11.40
7088 1.08 107.1 3232 2099 2161 2084 466.3 10.0 269 7089 0.00 0.00 0.00 0.000 6 0.000 0.000 3231 2098 2121 2159 2084 0 0 0 0 0 0 11.50 11.52 11.53
7424 1.08 107.1 3232 2099 2160 2084 433.2 9.7 275 7425 0.00 0.00 0.00 0.000 6 0.000 0.000 3231 2098 2121 2159 2083 0 0 0 0 0 0 11.50 11.52 11.51
7760 1.08 107.1 3230 2099 2158 2084 400.0 10.0 281 7766 0.00 3.53 0.00 0.000 260 0.000 0.095 3231 3514 2121 2158 2084 0 0 0 0 0 0 11.50 11.31 11.52
7843 1.08 107.1 3232 3516 2160 2082 390.6 11.1 293 7851 0.00 3.25 0.00 0.000 1030 0.000 0.038 3241 2094 2120 2158 2083 0 0 0 0 0 0 11.41 11.36 11.43
8209 1.08 107.1 3242 2095 2159 2084 353.3 10.1 303 8214 0.00 3.50 0.00 0.000 260 0.000 0.091 3241 3506 2120 2157 2083 0 0 0 0 0 0 11.50 11.31 11.52
8243 1.08 107.1 3243 3507 2158 2084 349.6 10.9 308 8248 0.20 3.22 0.00 0.000 5126 0.243 0.040 3219 2097 2120 2157 2083 0 0 0 0 0 0 11.25 11.35 11.40
8601 1.10 107.1 3219 2097 2157 2083 317.6 8.9 317 8607 0.00 3.50 0.00 0.000 324 0.000 0.093 3219 3508 2119 2157 2082 0 0 0 0 0 0 11.50 11.31 11.52
8635 1.10 107.1 3220 3509 2159 2084 314.4 9.6 322 8640 0.00 3.22 0.00 0.000 1030 0.000 0.041 3228 2097 2121 2161 2082 0 0 0 0 0 0 11.40 11.34 11.42
8992 1.12 107.1 3227 2097 2156 2082 282.3 8.9 331 8993 0.00 0.00 0.00 0.000 70 0.000 0.000 3228 2097 2119 2156 2082 0 0 0 0 0 0 11.52 11.54 11.57
9328 1.16 107.1 3228 2097 2156 2083 254.2 8.3 337 9334 0.00 3.50 0.00 0.000 324 0.000 0.093 3227 3512 2119 2156 2082 0 0 0 0 0 0 11.52 11.31 11.54
9398 1.17 107.1 3229 3513 2158 2084 247.7 9.4 347 9403 0.00 3.22 0.00 0.000 1094 0.000 0.038 3238 2093 2118 2156 2081 0 0 0 0 0 0 11.42 11.36 11.43
9776 1.19 107.1 3241 2094 2158 2083 214.7 8.7 359 9777 0.00 0.00 0.00 0.000 70 0.000 0.000 3238 2093 2118 2155 2082 0 0 0 0 0 0 11.52 11.54 11.53
10112 1.22 107.1 3239 2093 2157 2083 185.5 8.6 367 10113 0.00 0.00 0.00 0.000 70 0.000 0.000 3238 2092 2118 2155 2082 0 0 0 0 0 0 11.52 11.54 11.54
10449 1.25 107.1 3237 2093 2154 2083 157.0 8.6 379 10454 0.12 3.50 0.00 0.000 2372 0.109 0.090 3273 3512 2119 2156 2082 0 0 0 0 0 0 11.36 11.31 11.38
10518 1.25 107.1 3273 3509 2153 2082 149.5 11.1 389 10524 0.00 3.22 0.00 0.000 1030 0.000 0.037 3284 2097 2118 2155 2082 0 0 0 0 0 0 11.43 11.37 11.44
10868 1.25 107.1 3284 2097 2154 2082 113.5 10.2 403 10874 0.00 3.40 0.00 0.000 516 0.000 0.080 3295 694 2118 2154 2082 0 0 0 0 0 0 11.55 11.32 11.54
10903 1.25 107.1 3294 695 2153 2082 109.9 10.3 408 10908 0.00 3.25 0.00 0.000 1030 0.000 0.053 3294 2104 2121 2160 2082 0 0 0 0 0 0 11.42 11.35 11.44
11263 1.25 107.1 3296 2105 2154 2082 73.6 9.8 423 11268 0.00 3.42 0.00 0.000 516 0.000 0.076 3305 688 2117 2153 2082 0 0 0 0 0 0 11.52 11.32 11.54
11296 1.25 107.1 3306 688 2155 2083 70.1 10.0 428 11302 0.20 3.28 0.00 0.000 5126 0.248 0.051 3274 2108 2117 2152 2082 0 0 0 0 0 0 11.24 11.35 11.40
11653 1.28 107.1 3275 2109 2154 2082 38.9 8.7 443 11658 0.00 3.47 0.00 0.000 324 0.000 0.095 3274 3517 2117 2152 2082 0 0 0 0 0 0 11.52 11.32 11.54
11744 1.32 143.4 3273 3518 2151 2082 31.1 7.7 456 11778 0.00 3.25 26.48 0.295 9254 0.000 0.039 3282 2091 1987 2023 1952 0 0 0 0 0 0 11.41 11.36 11.20
12042 end climb: SURFACE_DEPTH_REACHED
state 12042 begin surface coast
12069 end surface coast: CONTROL_FINISHED_OK
state 12070 begin surface