OKMC 16May13 * SG181 * Dive index * Mission links * Dive 200 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 HD_C  1.5e-05 ROLL_MAX  3785 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  11 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  200 ESCAPE_HEADING  0 C_ROLL_DIVE  2450 ALTIM_TOP_MIN_OBSTACLE  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2350 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_FLARE  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1020 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  71 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  58 XPDR_VALID  2
D_BOOST  150 N_FILEKB  8 ROLL_AD_RATE  350 XPDR_INHIBIT  90
T_BOOST  5 FILEMGR  0 ROLL_MAXERRORS  2 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  9 VBD_MIN  440 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  163 C_VBD  2753 DEVICE1  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
T_DIVE  330 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  360 CALL_WAIT  60 PITCH_VBD_SHIFT  0.001 DEVICE5  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERS  1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_NO_W  120 T_GPS  15 UNCOM_BLEED  50 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  -9 T_GPS_CHARGE  -95951.781 DBDW  0 COMPASS_DEVICE  97
USE_ICE  0 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  149
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  350 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 AH0_10V  0 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  250 MINV_24V  12 SIM_W  0
MAX_BUOY  225 PITCH_MAX  3941 MINV_10V  12 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2700 FG_AHR_10V  0 SEABIRD_T_G  0.004364301
GLIDE_SLOPE  30 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00062910328
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PHONE_SUPPLY  2 SEABIRD_T_I  2.4425184e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -160.75446 SEABIRD_T_J  2.6404416e-06
MASS  52184 PITCH_GAIN  20 PRESSURE_SLOPE  0.000109412 SEABIRD_C_G  -9.9046793
MASS_COMP  0 PITCH_TIMEOUT  17 AD7714Ch0Gain  1 SEABIRD_C_H  1.1251128
NAV_MODE  2 PITCH_AD_RATE  165 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0019873739
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00023203803
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.0033 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0082 ROLL_MIN  209 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0

Pre-dive calculations and measurements:
GPS1  120613,103706,2333.108,12435.911,38,0.9,38,-3.4 TGT_NAME  OFFSHORE
_CALLS  1 TGT_LATLONG  2316.000,12430.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  -0.02 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  120613,104513,2333.098,12436.132,10,1.3,10,-3.4 MHEAD_RNG_PITCHd_Wd  246.6,33340,-13.4,-10.000,-16.52,3316
SPEED_LIMITS  0.173,0.337 D_GRID  4135

Post-dive calculations and measurements:
FINISH  0.1,1.020944 _10V_AH  13.6,0.000
SM_CCo  12369,6.97,0.149,0,0,915,450.13 FG_AHR_24Vo  0.000
SM_GC  0.93,7.70,0.15,6.97,0.045,0.119,0.149,231,2483,915,-7.62,-0.79,450.13,0,0,0,0,0,0,14.80,14.78,14.66 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2333.28,12440.82,120613,070700 MEM  328368
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  23412,593
HUMID  46.22 CAP_FILE_SIZE  145745,0
INTERNAL_PRESSURE  9.766 CFSIZE  260034560,237727744
TCM_TEMP  26.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.361, 82.8,1
SC_FREEKB  3858944 GPS  120613,141306,2332.890,12436.595,28,1.4,28,-3.4
_24V_AH  13.5,73.570

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20384106.23 nil000.00
Roll_motor115126197.46 nil000.00
VBD_pump_during_apogee554171412841.41 nil000.00
VBD_pump_during_surface614914.05 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3011246.76 nil000.00
Iridium_during_connect2016043.99 SciCon1241361005.45
Iridium_during_xfer221223666.68 nil000.00
Transponder_ping04201.42 nil000.00
GUMSTIX_24V000.00
GPS13203.73
TT8191010284.80
LPSleep82562245.91
TT8_Active6151091.76
TT8_Sampling186228733.08
TT8_CF822235108.19
TT8_Kalman000.00
Analog_circuits149416325.15
GPS_charging000.00
Compass14546133.32
RAFOS000.00
Transponder050.04

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
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
19 -0.89 -219.0 231 2475 934 850 0.0 0.0 0 102 0.00 0.00 -80.40 0.000 16386 0.000 0.000 236 2475 2983 3038 2928 0 0 0 0 0 0 28.83 28.83 28.83
105 -0.89 -219.0 231 2474 3038 2929 3.6 -13.3 14 132 9.82 2.30 -11.15 0.000 18948 0.385 0.061 2406 1059 3648 3731 3565 0 0 0 0 0 0 14.39 14.71 14.92
245 -0.89 -219.0 2406 1058 3731 3569 50.3 -25.0 31 251 0.00 2.25 0.00 0.000 1030 0.000 0.055 2398 2434 3650 3731 3569 0 0 0 0 0 0 28.83 14.73 28.83
568 -0.89 -219.0 2398 2435 3731 3569 132.3 -24.4 47 574 0.00 2.20 0.00 0.000 260 0.000 0.074 2388 3782 3650 3731 3569 0 0 0 0 0 0 28.83 14.76 28.83
676 -0.89 -219.0 2388 3782 3731 3570 157.6 -24.5 52 683 0.00 2.03 0.00 0.000 1030 0.000 0.033 2388 2446 3650 3731 3570 0 0 0 0 0 0 28.83 14.88 28.83
995 -0.89 -219.0 2388 2439 3731 3571 233.5 -22.5 68 996 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2439 3651 3731 3571 0 0 0 0 0 0 28.83 28.83 28.83
1297 -0.89 -219.0 2388 2439 3731 3571 294.9 -20.3 83 1298 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2439 3651 3731 3571 0 0 0 0 0 0 28.83 28.83 28.83
1596 -0.89 -219.0 2388 2439 3731 3570 350.2 -17.0 98 1602 0.00 2.20 0.00 0.000 260 0.000 0.075 2378 3782 3650 3731 3570 0 0 0 0 0 0 28.83 14.87 28.83
1660 -0.89 -219.0 2378 3783 3731 3570 362.2 -18.3 101 1667 0.15 2.03 0.00 0.000 3078 0.263 0.033 2412 2437 3650 3731 3570 0 0 0 0 0 0 14.69 14.95 28.83
1984 -0.89 -219.0 2412 2430 3730 3568 409.8 -14.1 117 1989 0.00 2.22 0.00 0.000 260 0.000 0.076 2404 3786 3649 3731 3568 0 0 0 0 0 0 28.83 14.87 28.83
2007 -0.89 -219.0 2404 3785 3731 3568 413.2 -14.4 118 2012 0.00 2.03 0.00 0.000 1030 0.000 0.034 2404 2444 3649 3731 3568 0 0 0 0 0 0 28.83 14.96 28.83
2330 -0.89 -219.0 2403 2437 3727 3566 463.7 -15.5 134 2335 0.00 2.22 0.00 0.000 260 0.000 0.079 2394 3785 3647 3728 3566 0 0 0 0 0 0 28.83 14.86 28.83
2392 -0.89 -219.0 2394 3785 3727 3565 474.4 -17.0 137 2397 0.00 2.05 0.00 0.000 1030 0.000 0.035 2394 2440 3646 3728 3565 0 0 0 0 0 0 28.83 14.95 28.83
2715 -0.89 -219.0 2394 2434 3728 3562 528.3 -16.7 153 2720 0.00 2.22 0.00 0.000 260 0.000 0.080 2384 3780 3644 3728 3561 0 0 0 0 0 0 28.83 14.86 28.83
2747 -0.89 -219.0 2384 3779 3727 3561 532.3 -16.9 154 2752 0.00 2.03 0.00 0.000 1030 0.000 0.036 2384 2446 3644 3727 3562 0 0 0 0 0 0 28.83 14.95 28.83
3059 -0.89 -219.0 2384 2441 3724 3558 589.9 -18.1 170 3065 0.00 2.22 0.00 0.000 260 0.000 0.083 2374 3777 3642 3727 3558 0 0 0 0 0 0 28.83 14.85 28.83
3103 -0.89 -219.0 2374 3777 3723 3553 598.1 -18.7 172 3110 0.15 2.03 0.00 0.000 3078 0.262 0.037 2409 2452 3640 3723 3558 0 0 0 0 0 0 14.69 14.96 28.83
3429 -0.89 -219.0 2409 2450 3722 3553 651.1 -16.0 183 3434 0.00 2.22 0.00 0.000 260 0.000 0.086 2402 3777 3638 3722 3554 0 0 0 0 0 0 28.83 14.84 28.83
3521 -0.89 -219.0 2401 3777 3720 3554 666.3 -15.9 186 3527 0.00 2.05 0.00 0.000 1030 0.000 0.038 2401 2450 3636 3720 3553 0 0 0 0 0 0 28.83 14.94 28.83
3856 -0.89 -219.0 2401 2443 3717 3549 715.8 -14.2 197 3862 0.00 2.25 0.00 0.000 260 0.000 0.088 2390 3780 3633 3717 3549 0 0 0 0 0 0 28.83 14.83 28.83
3893 -0.89 -219.0 1536 3779 3713 3547 721.0 -14.3 198 3898 0.00 2.05 0.00 0.000 1030 0.000 0.041 2392 2455 3632 3716 3549 0 0 0 0 0 0 28.83 14.95 28.83
4222 -0.89 -219.0 2392 2449 3715 3545 771.4 -14.9 209 4228 0.00 2.22 0.00 0.000 260 0.000 0.088 2379 3774 3630 3715 3545 0 0 0 0 0 0 28.83 14.83 28.83
4259 -0.89 -219.0 1512 3773 3710 3542 776.8 -14.8 210 4265 0.12 2.05 0.00 0.000 3078 0.262 0.041 2409 2449 3629 3714 3544 0 0 0 0 0 0 14.67 14.94 28.83
4588 -0.89 -219.0 2409 2443 3711 3540 823.3 -13.5 221 4590 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2443 3626 3712 3540 0 0 0 0 0 0 28.83 28.83 28.83
4888 -0.89 -219.0 2409 2443 3709 3537 862.6 -13.0 231 4893 0.00 2.28 0.00 0.000 260 0.000 0.091 2402 3780 3623 3709 3537 0 0 0 0 0 0 28.83 14.81 28.83
4905 -0.89 -219.0 2402 3780 3708 3537 862.6 -13.0 231 4910 0.00 2.08 0.00 0.000 1030 0.000 0.043 2402 2451 3622 3708 3537 0 0 0 0 0 0 28.83 14.95 28.83
5224 -0.89 -219.0 2402 2445 3706 3535 909.4 -14.0 242 5229 0.00 2.28 0.00 0.000 260 0.000 0.093 2392 3780 3620 3706 3534 0 0 0 0 0 0 28.83 14.79 28.83
5287 -0.89 -219.0 2393 3781 3705 3535 919.6 -15.1 244 5292 0.00 2.10 0.00 0.000 1030 0.000 0.044 2392 2449 3619 3705 3534 0 0 0 0 0 0 28.83 14.91 28.83
5622 -0.89 -219.0 2393 2443 3703 3531 967.5 -14.2 255 5627 0.00 2.28 0.00 0.000 260 0.000 0.093 2383 3778 3616 3703 3530 0 0 0 0 0 0 28.83 14.78 28.83
5669 -0.89 -219.0 2383 3778 3701 3531 972.7 -14.3 256 5675 0.12 2.10 0.00 0.000 3078 0.262 0.044 2410 2442 3616 3702 3530 0 0 0 0 0 0 14.63 14.92 28.83
5805 end dive: TARGET_DEPTH_EXCEEDED
state 5806 begin apogee
5811 -0.25 0.0 2410 2334 3701 3530 993.0 -13.0 261 6036 0.68 0.00 218.15 1.714 10246 0.201 0.000 2612 2334 2750 2783 2718 0 0 0 0 0 0 14.64 28.83 13.55
6038 end apogee: CONTROL_FINISHED_OK
state 6038 begin climb
6040 0.89 219.0 2613 2333 2781 2715 1001.6 0.0 268 6278 1.12 2.35 227.30 1.657 10756 0.109 0.057 2992 978 1854 1894 1815 0 0 0 0 0 0 14.19 14.11 13.47
6401 0.89 219.0 2993 978 1887 1802 947.6 19.3 280 6406 0.00 2.35 0.00 0.000 1030 0.000 0.067 2992 2347 1845 1888 1802 0 0 0 0 0 0 28.83 14.44 28.83
6714 0.89 219.0 2992 2347 1888 1795 880.5 20.2 291 6719 0.00 2.45 0.00 0.000 260 0.000 0.096 2992 3762 1842 1888 1796 0 0 0 0 0 0 28.83 14.66 28.83
6750 0.89 219.0 2064 3761 1855 1784 873.2 20.6 292 6756 0.00 2.22 0.00 0.000 1030 0.000 0.043 3002 2365 1841 1888 1795 0 0 0 0 0 0 28.83 14.73 28.83
7080 0.89 219.0 3003 2362 1888 1792 801.9 21.7 303 7085 0.00 2.30 0.00 0.000 516 0.000 0.056 3013 954 1840 1888 1793 0 0 0 0 0 0 28.83 14.78 28.83
7146 0.89 219.0 2088 953 1854 1784 788.4 21.5 305 7153 0.00 2.33 0.00 0.000 1030 0.000 0.063 3013 2354 1839 1887 1792 0 0 0 0 0 0 28.83 14.76 28.83
7477 0.89 219.0 3013 2354 1887 1789 716.3 21.8 316 7478 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2354 1838 1887 1789 0 0 0 0 0 0 28.83 28.83 28.83
7775 0.89 219.0 3013 2354 1887 1788 649.1 22.1 326 7781 0.00 2.40 0.00 0.000 260 0.000 0.093 3013 3759 1837 1887 1788 0 0 0 0 0 0 28.83 14.78 28.83
7809 0.89 219.0 3013 3759 1887 1788 641.4 22.3 327 7815 0.15 2.22 0.00 0.000 5126 0.296 0.042 2991 2344 1837 1887 1788 0 0 0 0 0 0 14.62 14.88 28.83
8122 0.89 219.0 2991 2339 1887 1786 579.5 18.8 339 8124 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2339 1836 1887 1786 0 0 0 0 0 0 28.83 28.83 28.83
8424 0.89 219.0 2991 2339 1886 1785 524.5 18.2 354 8430 0.00 2.45 0.00 0.000 260 0.000 0.093 2991 3762 1835 1887 1784 0 0 0 0 0 0 28.83 14.78 28.83
8447 0.89 219.0 2991 3762 1886 1784 519.8 18.5 355 8452 0.00 2.22 0.00 0.000 1030 0.000 0.041 3000 2353 1836 1887 1785 0 0 0 0 0 0 28.83 14.88 28.83
8770 0.89 219.0 3000 2348 1886 1783 460.2 18.1 371 8775 0.00 2.25 0.00 0.000 516 0.000 0.054 3010 959 1835 1887 1783 0 0 0 0 0 0 28.83 14.84 28.83
8842 0.89 219.0 3010 959 1886 1783 449.1 17.6 374 8848 0.00 2.30 0.00 0.000 1030 0.000 0.061 3010 2354 1835 1886 1784 0 0 0 0 0 0 28.83 14.81 28.83
9156 0.89 219.0 3010 2355 1886 1783 389.9 17.9 390 9157 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2354 1834 1886 1783 0 0 0 0 0 0 28.83 28.83 28.83
9456 0.89 219.0 3010 2355 1886 1782 338.1 16.7 405 9462 0.00 2.28 0.00 0.000 516 0.000 0.051 3016 958 1834 1886 1783 0 0 0 0 0 0 28.83 14.84 28.83
9565 0.89 219.0 2048 957 1850 1774 322.3 14.9 410 9571 0.15 2.30 0.00 0.000 5126 0.260 0.060 2986 2357 1834 1886 1783 0 0 0 0 0 0 14.61 14.81 28.83
9884 0.89 219.0 2986 2357 1885 1782 279.2 13.3 426 9889 0.00 2.28 0.00 0.000 516 0.000 0.050 2993 958 1834 1885 1783 0 0 0 0 0 0 28.83 14.85 28.83
9942 0.89 219.0 2993 958 1885 1783 273.5 13.4 428 9949 0.00 2.28 0.00 0.000 1030 0.000 0.058 2993 2349 1833 1885 1782 0 0 0 0 0 0 28.83 14.81 28.83
10247 0.89 219.0 2993 2349 1891 1783 227.6 14.6 444 10252 0.00 2.25 0.00 0.000 516 0.000 0.050 3003 960 1834 1886 1783 0 0 0 0 0 0 28.83 14.84 28.83
10274 0.89 219.0 3003 959 1886 1783 224.3 14.6 445 10279 0.00 2.28 0.00 0.000 1030 0.000 0.057 3003 2349 1834 1885 1783 0 0 0 0 0 0 28.83 14.81 28.83
10592 0.89 219.0 3003 2350 1885 1783 181.2 11.7 461 10597 0.00 2.25 0.00 0.000 516 0.000 0.049 3012 952 1834 1886 1783 0 0 0 0 0 0 28.83 14.85 28.83
10676 0.89 219.0 3012 952 1886 1784 171.9 11.2 465 10681 0.00 2.30 0.00 0.000 1030 0.000 0.055 3012 2359 1835 1886 1784 0 0 0 0 0 0 28.83 14.78 28.83
10999 0.89 219.0 3012 2359 1886 1785 133.3 11.9 481 11005 0.00 2.35 0.00 0.000 260 0.000 0.083 3012 3762 1835 1886 1785 0 0 0 0 0 0 28.83 14.78 28.83
11027 0.89 219.0 2048 3761 1850 1779 130.2 12.1 482 11033 0.15 2.20 0.00 0.000 5126 0.270 0.037 2989 2334 1836 1886 1787 0 0 0 0 0 0 14.62 14.89 28.83
11346 0.93 259.6 2986 2328 1886 1787 98.1 8.7 498 11370 0.00 2.38 18.45 0.412 8452 0.000 0.079 2990 3752 1695 1744 1646 0 0 0 0 0 0 28.83 14.81 14.48
11422 0.93 259.6 2989 3753 1750 1660 90.8 11.2 501 11431 0.00 2.17 1.62 0.207 9222 0.000 0.036 2997 2345 1693 1742 1645 0 0 0 0 0 0 28.83 14.86 14.61
11728 0.97 298.0 2997 2341 1755 1659 59.4 8.8 517 11757 0.00 2.25 20.75 0.302 8708 0.000 0.047 3006 964 1542 1589 1495 0 0 0 0 0 0 28.83 14.77 14.55
11831 1.03 364.7 3007 964 1598 1500 51.3 7.9 522 11871 0.00 2.25 33.62 0.282 9222 0.000 0.051 3007 2358 1264 1311 1218 0 0 0 0 0 0 28.83 14.78 14.54
12171 1.11 437.1 3007 2359 1325 1229 21.5 7.8 559 12213 0.12 0.00 34.95 0.197 10758 0.125 0.000 3076 2358 969 1009 930 0 0 0 0 0 0 14.83 28.83 14.59
12330 end climb: SURFACE_DEPTH_REACHED
state 12330 begin surface coast
12352 end surface coast: CONTROL_FINISHED_OK
state 12352 begin surface