DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 121 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  143 HEADING  -1 ROLL_MIN  290 ALTIM_BOTTOM_TURN_MARGIN  8
MISSION  10 ESCAPE_HEADING  0 ROLL_MAX  3915 ALTIM_TOP_TURN_MARGIN  0
DIVE  121 ESCAPE_HEADING_DELTA  10 ROLL_DEG  45 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  2 FIX_MISSING_TIMEOUT  0.5 C_ROLL_DIVE  2460 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  -2030 C_ROLL_CLIMB  1950 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LON  5900 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  4
D_NO_BLEED  50 SM_CC  578.41736 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  15 XPDR_VALID  0
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  17 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  1.75 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0.025 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  442 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3793 DEVICE1  2
T_DIVE  360 CALL_TRIES  5 C_VBD  2800 DEVICE2  20
T_MISSION  420 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  720 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -29705.832 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  150 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  100 RAFOS_DEVICE  16
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  127 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  4070 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2390 FG_AHR_24V  0 SEABIRD_T_G  0.0043131942
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062854384
RHO  1.0275 PITCH_CNV  0.0031256729 PRESSURE_YINT  -24.446302 SEABIRD_T_I  2.3348166e-05
MASS  51204 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001163694 SEABIRD_T_J  2.4454023e-06
NAV_MODE  2 PITCH_GAIN  31 AD7714Ch0Gain  128 SEABIRD_C_G  -10.029707
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1484355
KALMAN_USE  2 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0010294267
HD_A  0.0038360001 PITCH_MAXERRORS  1 COMPASS_USE  1 SEABIRD_C_J  0.00016845814
HD_B  0.010078 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.8541004e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  20

Pre-dive calculations and measurements:
GPS1  090837,6651.839,-5847.057,37,1.2,37,-37.9 TGT_NAME  TARGET_ADD3_EB
_CALLS  5 TGT_LATLONG  6655.000,-5823.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.19 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -53.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  093526,6651.903,-5847.141,62,1.7,62,-37.9 MHEAD_RNG_PITCHd_Wd  111.5,18444,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  982

Post-dive calculations and measurements:
FINISH  0.6,1.013130 _24V_AH  22.5,32.125
SM_CCo  20857,249.30,0.764,0,0,442,578.42 _10V_AH  10.1,16.682
SM_GC  1.15,0.00,0.00,249.30,0.000,0.000,0.764,130,2463,442,-7.06,0.06,578.42 FG_AHR_24Vo  0.000
RAFOS_CLK  1486 FG_AHR_10Vo  0.000
RAFOS  0,1258027286,12.033333,12.023889,80,66,63,0,0,0,747,142,158,0,0,0 MEM  188456
RAFOS_FIX  6651.437012,-5850.445312,121109,121234,7,89,0.25 DATA_FILE_SIZE  59810,1570
IRIDIUM_FIX  6620.33,-5847.18,060299,090943 CAP_FILE_SIZE  192363,0
TT8_MAMPS  0.026845 CFSIZE  260165632,240291840
HUMID  46.37 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.72104 SOUNDSPEED  1456.5
TCM_TEMP  16.20 CURRENT  0.023,108.6,1
XPDR_PINGS  7 GPS  121109,152907,6652.459,-5839.841,30,1.5,30,-37.8
ALTIM_TOP_PING  19.8,18.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19316140.59 SBE_CT115224622.18
Roll_motor141108343.52 SBE_O2110319471.82
VBD_pump_during_apogee356140911318.23 nil000.00
VBD_pump_during_surface2497634285.09 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init142103329.33 nil000.00
Iridium_during_connect244160879.12 nil000.00
Iridium_during_xfer7182233605.14
Transponder_ping242018.90
GUMSTIX_24V000.00
GPS635032.15
TT8284319572.06
LPSleep150342350.77
TT8_Active81919164.88
TT8_Sampling2592391045.37
TT8_CF8143145663.83
TT8_Kalman000.00
Analog_circuits214912260.56
GPS_charging000.00
Compass25068202.53
RAFOS2520138.18
Transponder2300.79

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.73 -146.0 0.0 0.0 0 189 0.00 0.00 -168.52 0.000 2 0.000 0.000 127 2466 3071 0 0 0 0 0 0
192 -0.73 -146.0 3.0 -4.5 32 219 10.18 2.75 -10.38 0.000 4 0.317 0.108 2148 868 3398 0 0 0 0 0 0
310 -0.73 -146.0 26.0 -17.6 53 316 0.00 2.67 0.00 0.000 6 0.000 0.088 2148 2459 3401 0 0 0 0 0 0
654 -0.73 -146.0 80.6 -13.4 114 660 0.00 2.55 0.00 0.000 4 0.000 0.107 2147 3918 3402 0 0 0 0 0 0
790 -0.73 -146.0 98.5 -13.5 138 795 0.00 2.42 0.00 0.000 6 0.000 0.077 2147 2472 3402 0 0 0 0 0 0
1121 -0.73 -146.0 136.5 -11.7 170 1122 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2473 3402 0 0 0 0 0 0
1440 -0.73 -146.0 173.1 -11.4 200 1441 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2472 3402 0 0 0 0 0 0
1759 -0.73 -146.0 208.1 -10.1 230 1763 0.00 2.53 0.00 0.000 4 0.000 0.104 2147 3918 3402 0 0 0 0 0 0
1831 -0.73 -146.0 215.7 -9.9 236 1835 0.00 2.40 0.00 0.000 6 0.000 0.077 2147 2478 3402 0 0 0 0 0 0
2156 -0.73 -146.0 244.4 -8.3 266 2160 0.00 2.50 0.00 0.000 4 0.000 0.104 2147 3918 3402 0 0 0 0 0 0
2211 -0.73 -146.0 249.3 -8.7 270 2216 0.00 2.38 0.00 0.000 6 0.000 0.077 2147 2482 3402 0 0 0 0 0 0
2535 -0.73 -146.0 277.5 -8.9 301 2540 0.00 2.47 0.00 0.000 4 0.000 0.104 2147 3910 3402 0 0 0 0 0 0
2574 -0.73 -146.0 281.0 -9.2 304 2579 0.00 2.38 0.00 0.000 6 0.000 0.077 2147 2480 3401 0 0 0 0 0 0
2900 -0.73 -146.0 311.1 -10.2 334 2901 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2480 3401 0 0 0 0 0 0
3219 -0.73 -146.0 341.8 -9.6 364 3220 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2481 3402 0 0 0 0 0 0
3538 -0.73 -146.0 371.3 -8.6 394 3542 0.00 2.65 0.00 0.000 4 0.000 0.094 2147 867 3402 0 0 0 0 0 0
3577 -0.73 -146.0 375.2 -9.5 397 3582 0.00 2.65 0.00 0.000 6 0.000 0.085 2147 2480 3402 0 0 0 0 0 0
3902 -0.73 -146.0 400.9 -6.9 427 3906 0.00 2.67 0.00 0.000 4 0.000 0.094 2147 861 3402 0 0 0 0 0 0
3942 -0.73 -146.0 403.8 -8.3 430 3947 0.00 2.65 0.00 0.000 6 0.000 0.084 2147 2480 3402 0 0 0 0 0 0
4267 -0.73 -146.0 427.8 -7.5 460 4271 0.00 2.42 0.00 0.000 4 0.000 0.100 2147 3911 3403 0 0 0 0 0 0
4322 -0.73 -146.0 432.3 -7.9 465 4327 0.00 2.38 0.00 0.000 6 0.000 0.074 2147 2467 3403 0 0 0 0 0 0
4647 -0.73 -146.0 459.3 -8.9 495 4648 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2468 3403 0 0 0 0 0 0
4967 -0.73 -146.0 486.6 -8.7 525 4968 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2468 3404 0 0 0 0 0 0
5286 -0.73 -146.0 514.5 -9.2 555 5287 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2467 3405 0 0 0 0 0 0
5604 -0.73 -146.0 540.8 -7.9 585 5605 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2468 3405 0 0 0 0 0 0
5924 -0.73 -146.0 565.1 -7.6 615 5925 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2467 3406 0 0 0 0 0 0
6241 -0.73 -146.0 588.0 -7.1 645 6245 0.00 2.47 0.00 0.000 4 0.000 0.097 2147 3920 3406 0 0 0 0 0 0
6284 -0.73 -146.0 591.4 -7.7 648 6290 0.00 2.35 0.00 0.000 6 0.000 0.071 2147 2475 3406 0 0 0 0 0 0
6602 -0.73 -146.0 613.5 -7.1 667 6603 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2475 3407 0 0 0 0 0 0
6908 -0.73 -146.0 634.3 -6.7 677 6912 0.00 2.60 0.00 0.000 4 0.000 0.090 2147 872 3407 0 0 0 0 0 0
6951 -0.73 -146.0 637.7 -7.4 678 6955 0.00 2.60 0.00 0.000 6 0.000 0.080 2147 2480 3407 0 0 0 0 0 0
7275 -0.73 -146.0 659.7 -6.8 689 7277 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2479 3407 0 0 0 0 0 0
7581 -0.73 -146.0 680.6 -6.9 699 7582 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2479 3407 0 0 0 0 0 0
7888 -0.73 -146.0 701.8 -7.1 709 7889 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2480 3408 0 0 0 0 0 0
8194 -0.73 -146.0 723.5 -6.9 719 8195 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2480 3408 0 0 0 0 0 0
8500 -0.73 -146.0 745.3 -7.1 729 8504 0.00 2.42 0.00 0.000 4 0.000 0.097 2147 3913 3408 0 0 0 0 0 0
8554 -0.73 -146.0 749.4 -7.2 730 8560 0.00 2.35 0.00 0.000 6 0.000 0.071 2147 2470 3408 0 0 0 0 0 0
8867 -0.73 -146.0 772.4 -7.5 741 8868 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2470 3409 0 0 0 0 0 0
9173 -0.73 -146.0 795.1 -7.4 751 9174 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2470 3408 0 0 0 0 0 0
9479 -0.73 -146.0 817.7 -7.4 761 9480 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2470 3408 0 0 0 0 0 0
9785 -0.73 -146.0 840.3 -7.3 771 9787 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2470 3408 0 0 0 0 0 0
10091 -0.73 -146.0 862.4 -7.3 781 10093 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2470 3408 0 0 0 0 0 0
10398 -0.73 -146.0 885.3 -7.7 791 10402 0.00 2.60 0.00 0.000 4 0.000 0.091 2147 869 3408 0 0 0 0 0 0
10430 -0.73 -146.0 888.0 -8.6 792 10434 0.00 2.60 0.00 0.000 6 0.000 0.080 2147 2477 3408 0 0 0 0 0 0
10759 -0.73 -146.0 912.3 -7.3 803 10763 0.00 2.42 0.00 0.000 4 0.000 0.097 2147 3913 3408 0 0 0 0 0 0
10797 -0.73 -146.0 915.3 -8.4 804 10801 0.00 2.35 0.00 0.000 6 0.000 0.071 2147 2469 3409 0 0 0 0 0 0
11129 -0.73 -146.0 939.4 -7.3 815 11130 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2470 3408 0 0 0 0 0 0
11433 -0.73 -146.0 961.3 -6.9 825 11437 0.00 2.60 0.00 0.000 4 0.000 0.091 2147 868 3408 0 0 0 0 0 0
11471 -0.73 -146.0 964.0 -7.6 826 11475 0.00 2.60 0.00 0.000 6 0.000 0.081 2147 2472 3408 0 0 0 0 0 0
11761 end dive: TARGET_DEPTH_EXCEEDED
state 11761 begin apogee
11766 -0.16 0.0 983.6 6.6 836 11897 0.62 0.00 127.05 1.410 6 0.154 0.000 2336 1951 2800 0 0 0 0 0 0
11898 end apogee: CONTROL_FINISHED_OK
state 11898 begin climb
11900 0.73 146.0 983.5 0.0 840 12041 0.93 3.05 131.73 1.348 4 0.123 0.097 2624 369 2203 0 0 0 0 0 0
12192 0.73 146.0 954.7 12.1 849 12197 0.00 2.70 0.00 0.000 6 0.000 0.071 2624 1949 2196 0 0 0 0 0 0
12527 0.73 146.0 915.0 11.9 860 12528 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 1949 2194 0 0 0 0 0 0
12834 0.73 146.0 877.9 12.1 870 12835 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 1949 2192 0 0 0 0 0 0
13140 0.73 146.0 841.2 11.9 880 13144 0.00 2.67 0.00 0.000 4 0.000 0.097 2636 361 2192 0 0 0 0 0 0
13172 0.73 146.0 837.0 13.1 881 13176 0.00 2.58 0.00 0.000 6 0.000 0.074 2636 1950 2192 0 0 0 0 0 0
13507 0.73 146.0 796.1 12.1 892 13511 0.00 2.67 0.00 0.000 4 0.000 0.091 2636 3542 2191 0 0 0 0 0 0
13540 0.73 146.0 791.8 13.1 893 13545 0.00 2.65 0.00 0.000 6 0.000 0.078 2648 1950 2190 0 0 0 0 0 0
13868 0.73 146.0 748.5 13.4 904 13869 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 1950 2190 0 0 0 0 0 0
14175 0.73 146.0 707.7 13.3 914 14179 0.00 2.67 0.00 0.000 4 0.000 0.091 2648 3538 2190 0 0 0 0 0 0
14202 0.73 146.0 703.8 14.4 915 14207 0.15 2.65 0.00 0.000 6 0.216 0.078 2628 1941 2189 0 0 0 0 0 0
14537 0.73 146.0 663.1 12.1 926 14538 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 1941 2188 0 0 0 0 0 0
14842 0.73 146.0 625.9 12.2 936 14844 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 1941 2189 0 0 0 0 0 0
15152 0.73 146.0 589.0 11.7 950 15156 0.00 2.60 0.00 0.000 4 0.000 0.097 2638 358 2189 0 0 0 0 0 0
15190 0.73 146.0 584.1 12.7 953 15194 0.00 2.55 0.00 0.000 6 0.000 0.073 2637 1955 2189 0 0 0 0 0 0
15514 0.73 146.0 544.7 11.9 983 15518 0.00 2.62 0.00 0.000 4 0.000 0.089 2637 3541 2189 0 0 0 0 0 0
15546 0.73 146.0 540.5 12.5 985 15553 0.00 2.62 0.00 0.000 6 0.000 0.077 2650 1944 2188 0 0 0 0 0 0
15870 0.73 146.0 500.2 12.4 1016 15871 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 1945 2187 0 0 0 0 0 0
16191 0.73 146.0 460.3 12.5 1046 16192 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 1945 2187 0 0 0 0 0 0
16511 0.73 146.0 420.1 12.3 1076 16515 0.00 2.60 0.00 0.000 4 0.000 0.097 2662 355 2187 0 0 0 0 0 0
16549 0.73 146.0 414.6 13.7 1079 16554 0.15 2.55 0.00 0.000 6 0.211 0.074 2628 1956 2187 0 0 0 0 0 0
16873 0.73 146.0 377.6 10.4 1109 16877 0.00 2.62 0.00 0.000 4 0.000 0.089 2628 3539 2188 0 0 0 0 0 0
16917 0.73 146.0 372.3 12.3 1112 16922 0.00 2.60 0.00 0.000 6 0.000 0.077 2638 1954 2188 0 0 0 0 0 0
17241 0.73 146.0 337.0 10.0 1143 17245 0.00 2.65 0.00 0.000 4 0.000 0.090 2638 3539 2187 0 0 0 0 0 0
17273 0.73 146.0 333.3 10.2 1145 17280 0.00 2.60 0.00 0.000 6 0.000 0.077 2650 1953 2188 0 0 0 0 0 0
17597 0.73 146.0 300.4 10.0 1176 17598 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 1953 2188 0 0 0 0 0 0
17918 0.73 146.0 266.0 10.0 1206 17922 0.00 2.60 0.00 0.000 4 0.000 0.097 2662 361 2188 0 0 0 0 0 0
18013 0.73 146.0 254.8 11.9 1214 18018 0.15 2.53 0.00 0.000 6 0.204 0.074 2627 1950 2188 0 0 0 0 0 0
18337 0.73 146.0 223.5 9.4 1244 18338 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 1950 2188 0 0 0 0 0 0
18658 0.73 146.0 193.8 9.2 1274 18659 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 1951 2188 0 0 0 0 0 0
18977 0.79 201.0 168.4 6.9 1304 19025 0.00 0.00 42.80 0.887 6 0.000 0.000 2628 1950 1978 0 0 0 0 0 0
19343 0.81 213.4 137.6 8.6 1339 19359 0.00 2.72 10.30 0.825 4 0.000 0.091 2628 3542 1929 0 0 0 0 0 0
19431 0.81 213.4 128.4 12.2 1346 19438 0.00 2.70 0.00 0.000 6 0.000 0.080 2637 1942 1927 0 0 0 0 0 0
19758 0.84 237.0 98.9 8.2 1378 19784 0.00 2.78 20.40 0.846 4 0.000 0.091 2637 3544 1831 0 0 0 0 0 0
19813 0.84 240.7 94.3 9.0 1388 19825 0.00 2.70 4.50 0.644 6 0.000 0.081 2649 1954 1818 0 0 0 0 0 0
20164 0.85 244.8 63.3 9.0 1450 20175 0.00 2.70 4.38 0.653 4 0.000 0.101 2660 359 1801 0 0 0 0 0 0
20226 0.85 244.8 57.0 10.6 1461 20233 0.00 2.60 0.00 0.000 6 0.000 0.077 2660 1956 1800 0 0 0 0 0 0
20571 0.87 261.7 25.4 8.5 1522 20593 0.00 0.00 15.68 0.814 6 0.000 0.000 2661 1956 1730 0 0 0 0 0 0
20821 end climb: SURFACE_DEPTH_REACHED
state 20821 begin surface coast
20840 end surface coast: CONTROL_FINISHED_OK
state 20840 begin surface