DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 208 * 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  15
MISSION  10 ESCAPE_HEADING  100 ROLL_MAX  3915 ALTIM_TOP_TURN_MARGIN  5
DIVE  208 ESCAPE_HEADING_DELTA  5 ROLL_DEG  45 ALTIM_TOP_MIN_OBSTACLE  1.8
D_SURF  2 FIX_MISSING_TIMEOUT  5 C_ROLL_DIVE  2460 ALTIM_PING_DEPTH  300
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  325 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  14 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  19 XPDR_INHIBIT  90
D_PITCH  1.75 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  500 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  3 KERMIT  0 ROLL_ADJ_GAIN  1.75 DEEPGLIDER  0
SURFACE_URGENCY  10 N_NOCOMM  0 ROLL_ADJ_DBAND  0.025 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  5 N_NOSURFACE  0 VBD_MIN  442 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  10 UPLOAD_DIVES_MAX  5 VBD_MAX  3793 DEVICE1  2
T_DIVE  360 CALL_TRIES  3 C_VBD  2800 DEVICE2  20
T_MISSION  420 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  1440 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  3 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  2 T_GPS_CHARGE  -34171.203 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.1 T_RSLEEP  60 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  0 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  2690 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  0 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  0.045000002 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  042716,6650.705,-5841.039,0,7095.7,0,-37.8 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  8 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  8.49 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -2.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  042716,6650.705,-5841.039,0,7095.7,0,-37.8 MHEAD_RNG_PITCHd_Wd  298.6,77783,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  907

Post-dive calculations and measurements:
FREEZE  8.95,-1.748,-1.793,2,3,0 ALTIM_BOTTOM_PING  851.6,10.3
FINISH1  9.0,1.026251,61 _24V_AH  22.5,45.838
FINISH2  8.2 _10V_AH  10.1,23.666
RAFOS_CLK  1228 FG_AHR_24Vo  0.000
RAFOS  0,1259395265,8.033334,8.018056,54,54,54,0,0,0,114,163,182,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6650.560059,-5844.695801,281109,080817,6,105,0.18 MEM  152556
IRIDIUM_FIX  6631.12,-5800.84,200299,141436 DATA_FILE_SIZE  56740,1436
TT8_MAMPS  0.027612 CAP_FILE_SIZE  184979,0
HUMID  49.96 CFSIZE  260165632,233586688
INTERNAL_PRESSURE  8.91636 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.60 SOUNDSPEED  1455.1
XPDR_PINGS  11 GPS  281109,083117,6650.560,-5844.696,0,6104.7,0,-37.8
ALTIM_TOP_PING  19.9,19.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor622330.24 SBE_CT105224568.46
Roll_motor217145714.72 SBE_O2101519434.12
VBD_pump_during_apogee368132010945.67 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init01030.00 nil000.00
Iridium_during_connect01600.00 nil000.00
Iridium_during_xfer02230.00
Transponder_ping642061.42
GUMSTIX_24V000.00
GPS0500.00
TT8256619516.31
LPSleep122132284.95
TT8_Active51319103.23
TT8_Sampling2519391015.93
TT8_CF82024594.09
TT8_Kalman000.00
Analog_circuits183912222.94
GPS_charging000.00
Compass24748199.96
RAFOS2520138.18
Transponder29308.93

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -0.73 -146.0 0.0 0.0 0 22 0.00 0.00 -5.20 0.000 2 0.000 0.000 2720 358 2753 0 0 0 0 0 0
25 -0.73 -146.0 9.3 -0.0 1 56 0.80 6.12 -17.27 0.000 4 0.119 0.092 2458 3910 3398 0 0 0 0 0 0
309 -0.65 -146.0 48.7 -15.5 52 315 0.00 2.60 0.00 0.000 6 0.000 0.072 2458 2447 3400 0 0 0 0 0 0
653 -0.57 -146.0 96.1 -12.9 113 660 0.17 2.75 0.00 0.000 4 0.224 0.095 2488 3913 3400 0 0 0 0 0 0
913 -0.64 -146.0 127.2 -11.8 139 918 0.00 2.58 0.00 0.000 6 0.000 0.071 2488 2466 3400 0 0 0 0 0 0
1238 -0.71 -146.0 159.3 -9.2 169 1242 0.00 2.70 0.00 0.000 4 0.000 0.097 2488 3917 3400 0 0 0 0 0 0
1429 -0.83 -146.0 175.1 -7.9 185 1435 0.20 2.58 0.00 0.000 6 0.114 0.072 2422 2471 3400 0 0 0 0 0 0
1754 -0.71 -146.0 210.2 -10.3 216 1759 0.15 2.72 0.00 0.000 4 0.224 0.097 2453 3917 3400 0 0 0 0 0 0
1928 -0.71 -146.0 225.8 -8.9 231 1933 0.00 2.55 0.00 0.000 6 0.000 0.072 2453 2489 3399 0 0 0 0 0 0
2254 -0.71 -146.0 252.2 -8.4 261 2258 0.00 2.67 0.00 0.000 4 0.000 0.099 2453 3917 3399 0 0 0 0 0 0
2286 -0.71 -146.0 255.2 -8.8 263 2292 0.00 2.53 0.00 0.000 6 0.000 0.072 2453 2503 3398 0 0 0 0 0 0
2611 -0.71 -146.0 284.0 -8.6 294 2615 0.00 2.62 0.00 0.000 4 0.000 0.099 2453 3908 3399 0 0 0 0 0 0
2672 -0.71 -146.0 289.5 -9.2 299 2676 0.00 2.50 0.00 0.000 6 0.000 0.072 2453 2510 3398 0 0 0 0 0 0
2996 -0.71 -146.0 318.5 -9.2 329 3000 0.00 2.62 0.00 0.000 4 0.000 0.098 2453 3911 3398 0 0 0 0 0 0
3141 -0.71 -146.0 332.5 -10.2 341 3147 0.00 2.50 0.00 0.000 6 0.000 0.072 2453 2515 3398 0 0 0 0 0 0
3465 -0.71 -146.0 362.4 -8.7 372 3470 0.00 2.62 0.00 0.000 4 0.000 0.097 2453 3916 3398 0 0 0 0 0 0
3560 -0.71 -146.0 371.2 -9.5 380 3564 0.00 2.47 0.00 0.000 6 0.000 0.071 2453 2530 3398 0 0 0 0 0 0
3884 -0.71 -146.0 401.2 -9.5 410 3888 0.00 2.60 0.00 0.000 4 0.000 0.097 2453 3918 3398 0 0 0 0 0 0
3939 -0.75 -146.0 406.2 -9.0 414 3944 0.00 2.47 0.00 0.000 6 0.000 0.071 2453 2527 3398 0 0 0 0 0 0
4263 -0.75 -146.0 433.1 -8.2 445 4268 0.00 2.60 0.00 0.000 4 0.000 0.097 2453 3918 3398 0 0 0 0 0 0
4313 -0.80 -146.0 437.3 -8.4 449 4318 0.00 2.47 0.00 0.000 6 0.000 0.071 2453 2531 3398 0 0 0 0 0 0
4638 -0.85 -146.0 463.9 -8.3 479 4640 0.12 0.00 0.00 0.000 6 0.120 0.000 2409 2532 3399 0 0 0 0 0 0
4957 -0.76 -146.0 496.2 -10.2 509 4962 0.15 2.60 0.00 0.000 4 0.222 0.094 2432 3911 3399 0 0 0 0 0 0
5034 -0.76 -146.0 504.0 -9.5 515 5040 0.00 2.47 0.00 0.000 6 0.000 0.069 2432 2540 3399 0 0 0 0 0 0
5358 -0.76 -146.0 535.6 -9.7 546 5363 0.00 2.58 0.00 0.000 4 0.000 0.097 2432 3918 3400 0 0 0 0 0 0
5419 -0.76 -146.0 541.7 -10.0 551 5424 0.00 2.42 0.00 0.000 6 0.000 0.070 2431 2553 3399 0 0 0 0 0 0
5745 -0.76 -146.0 572.7 -9.1 581 5749 0.00 2.55 0.00 0.000 4 0.000 0.095 2432 3919 3400 0 0 0 0 0 0
5777 -0.76 -146.0 576.0 -10.2 583 5783 0.00 2.42 0.00 0.000 6 0.000 0.069 2432 2552 3400 0 0 0 0 0 0
6110 -0.76 -146.0 605.6 -8.8 611 6114 0.00 2.55 0.00 0.000 4 0.000 0.095 2432 3918 3400 0 0 0 0 0 0
6159 -0.76 -146.0 610.1 -9.0 612 6163 0.00 2.40 0.00 0.000 6 0.000 0.068 2432 2566 3400 0 0 0 0 0 0
6479 -0.76 -146.0 636.8 -8.3 623 6483 0.00 2.53 0.00 0.000 4 0.000 0.095 2432 3916 3400 0 0 0 0 0 0
6500 -0.76 -146.0 638.8 -8.7 623 6505 0.00 2.40 0.00 0.000 6 0.000 0.067 2432 2562 3401 0 0 0 0 0 0
6813 -0.76 -146.0 665.0 -8.6 634 6814 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2563 3401 0 0 0 0 0 0
7118 -0.76 -146.0 691.4 -8.6 644 7123 0.00 2.53 0.00 0.000 4 0.000 0.094 2432 3917 3401 0 0 0 0 0 0
7168 -0.76 -146.0 695.9 -8.8 645 7172 0.00 2.38 0.00 0.000 6 0.000 0.067 2431 2576 3400 0 0 0 0 0 0
7480 -0.76 -146.0 721.5 -8.2 655 7481 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2577 3401 0 0 0 0 0 0
7786 -0.76 -146.0 745.5 -7.8 665 7790 0.00 2.50 0.00 0.000 4 0.000 0.094 2432 3915 3401 0 0 0 0 0 0
7814 -0.76 -146.0 747.7 -8.4 666 7818 0.00 2.35 0.00 0.000 6 0.000 0.067 2432 2585 3401 0 0 0 0 0 0
8148 -0.76 -146.0 773.7 -7.8 677 8149 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2586 3401 0 0 0 0 0 0
8454 -0.76 -146.0 797.8 -7.9 687 8458 0.00 2.47 0.00 0.000 4 0.000 0.094 2432 3910 3401 0 0 0 0 0 0
8488 -0.76 -146.0 800.7 -9.0 688 8492 0.00 2.35 0.00 0.000 6 0.000 0.067 2432 2583 3401 0 0 0 0 0 0
8817 -0.76 -146.0 826.7 -7.7 699 8818 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2584 3401 0 0 0 0 0 0
9125 end dive: BOTTOM_OBSTACLE_DETECTED
state 9125 begin apogee
9131 -0.16 0.0 851.6 8.3 709 9260 0.75 0.00 125.22 1.321 6 0.191 0.000 2630 1945 2800 0 0 0 0 0 0
9261 end apogee: CONTROL_FINISHED_OK
state 9261 begin climb
9263 0.73 146.0 855.1 0.0 713 9404 1.00 2.90 131.85 1.262 4 0.140 0.094 2927 364 2202 0 0 0 0 0 0
9431 0.66 146.0 843.5 10.7 718 9436 0.00 2.67 0.00 0.000 6 0.000 0.070 2927 1949 2199 0 0 0 0 0 0
9750 0.58 146.0 808.3 10.9 729 9756 0.20 2.97 0.00 0.000 4 0.193 0.085 2881 3546 2194 0 0 0 0 0 0
9778 0.58 146.0 805.4 9.5 730 9783 0.00 2.92 0.00 0.000 6 0.000 0.075 2891 1951 2193 0 0 0 0 0 0
10113 0.64 156.2 776.2 8.7 741 10123 0.00 0.00 8.30 1.081 6 0.000 0.000 2891 1952 2162 0 0 0 0 0 0
10419 0.71 166.1 749.5 8.8 751 10435 0.00 2.90 10.30 1.127 4 0.000 0.086 2891 3542 2122 0 0 0 0 0 0
10456 0.71 166.1 746.0 9.3 752 10461 0.00 2.85 0.00 0.000 6 0.000 0.074 2903 1952 2121 0 0 0 0 0 0
10786 0.71 166.1 715.3 9.3 763 10790 0.00 2.55 0.00 0.000 4 0.000 0.095 2915 357 2120 0 0 0 0 0 0
10806 0.71 166.1 713.3 9.2 763 10814 0.00 2.53 0.00 0.000 6 0.000 0.071 2915 1958 2120 0 0 0 0 0 0
11119 0.71 166.1 682.3 9.9 774 11123 0.00 2.83 0.00 0.000 4 0.000 0.087 2915 3538 2120 0 0 0 0 0 0
11147 0.65 166.1 679.5 10.6 775 11151 0.00 2.83 0.00 0.000 6 0.000 0.076 2927 1949 2120 0 0 0 0 0 0
11481 0.59 166.1 644.3 10.7 786 11486 0.17 2.55 0.00 0.000 4 0.197 0.095 2895 358 2119 0 0 0 0 0 0
11542 0.65 166.1 638.3 9.4 788 11547 0.00 2.45 0.00 0.000 6 0.000 0.071 2895 1950 2119 0 0 0 0 0 0
11878 0.71 169.2 608.1 9.0 799 11887 0.00 2.85 3.50 0.701 4 0.000 0.087 2895 3528 2111 0 0 0 0 0 0
11920 0.71 169.2 603.7 10.5 800 11925 0.00 2.80 0.00 0.000 6 0.000 0.076 2907 1946 2110 0 0 0 0 0 0
12250 0.71 169.2 571.4 9.7 828 12254 0.00 2.53 0.00 0.000 4 0.000 0.095 2918 357 2110 0 0 0 0 0 0
12278 0.71 169.2 568.6 10.4 830 12283 0.00 2.45 0.00 0.000 6 0.000 0.072 2918 1949 2110 0 0 0 0 0 0
12602 0.71 169.2 534.1 10.6 860 12607 0.00 2.88 0.00 0.000 4 0.000 0.089 2918 3545 2110 0 0 0 0 0 0
12634 0.64 169.2 530.3 12.0 862 12641 0.15 2.83 0.00 0.000 6 0.201 0.076 2897 1948 2110 0 0 0 0 0 0
12959 0.70 169.2 498.4 9.8 893 12964 0.00 2.53 0.00 0.000 4 0.000 0.096 2906 359 2110 0 0 0 0 0 0
12992 0.75 169.2 495.0 9.8 895 12998 0.00 2.47 0.00 0.000 6 0.000 0.072 2906 1965 2110 0 0 0 0 0 0
13318 0.75 169.2 462.5 9.8 926 13323 0.00 2.83 0.00 0.000 4 0.000 0.089 2906 3543 2110 0 0 0 0 0 0
13345 0.75 169.2 459.2 12.2 928 13350 0.00 2.83 0.00 0.000 6 0.000 0.077 2918 1951 2110 0 0 0 0 0 0
13669 0.75 169.2 425.3 10.1 958 13674 0.00 2.53 0.00 0.000 4 0.000 0.096 2930 359 2110 0 0 0 0 0 0
13701 0.75 169.2 421.9 10.8 960 13707 0.00 2.50 0.00 0.000 6 0.000 0.072 2930 1957 2110 0 0 0 0 0 0
14027 0.75 169.2 389.6 9.4 991 14031 0.00 2.83 0.00 0.000 4 0.000 0.087 2930 3539 2110 0 0 0 0 0 0
14076 0.66 169.2 384.3 11.4 995 14082 0.15 2.80 0.00 0.000 6 0.199 0.077 2909 1956 2110 0 0 0 0 0 0
14401 0.72 169.2 355.3 9.3 1025 14406 0.00 2.55 0.00 0.000 4 0.000 0.096 2918 351 2110 0 0 0 0 0 0
14429 0.72 172.5 352.6 9.0 1027 14440 0.00 2.45 4.78 0.774 6 0.000 0.072 2918 1950 2096 0 0 0 0 0 0
14759 0.72 172.5 320.9 9.8 1058 14763 0.00 2.88 0.00 0.000 4 0.000 0.088 2918 3546 2096 0 0 0 0 0 0
14790 0.72 172.5 317.5 10.2 1060 14797 0.00 2.85 0.00 0.000 6 0.000 0.077 2930 1937 2095 0 0 0 0 0 0
15116 0.74 188.1 288.3 8.5 1091 15137 0.00 2.88 14.68 0.940 4 0.000 0.089 2930 3537 2033 0 0 0 0 0 0
15217 0.68 188.1 278.4 10.1 1100 15223 0.12 2.83 0.00 0.000 6 0.202 0.077 2916 1955 2031 0 0 0 0 0 0
15542 0.79 201.4 250.2 8.6 1130 15563 0.00 2.60 12.40 0.905 4 0.000 0.096 2925 358 1978 0 0 0 0 0 0
15591 0.86 211.7 245.9 8.7 1134 15608 0.12 2.50 10.45 0.877 6 0.130 0.073 2965 1973 1935 0 0 0 0 0 0
15925 0.86 211.7 206.4 12.0 1166 15930 0.00 2.83 0.00 0.000 4 0.000 0.088 2965 3538 1933 0 0 0 0 0 0
16009 0.75 211.7 195.4 12.6 1173 16014 0.17 2.80 0.00 0.000 6 0.195 0.077 2937 1976 1931 0 0 0 0 0 0
16334 0.85 218.5 163.7 8.9 1203 16348 0.00 2.90 6.70 0.796 4 0.000 0.088 2937 3545 1908 0 0 0 0 0 0
16366 0.91 225.6 160.6 8.9 1206 16381 0.10 2.78 7.90 0.811 6 0.133 0.077 2979 1991 1879 0 0 0 0 0 0
16706 0.91 225.6 124.8 10.5 1238 16710 0.00 2.62 0.00 0.000 4 0.000 0.097 2990 353 1877 0 0 0 0 0 0
16783 0.86 225.6 116.2 10.6 1244 16789 0.00 2.55 0.00 0.000 6 0.000 0.074 2990 1994 1876 0 0 0 0 0 0
17117 0.86 225.6 81.3 10.4 1290 17123 0.00 2.65 0.00 0.000 4 0.000 0.099 3001 353 1876 0 0 0 0 0 0
17180 0.79 225.6 74.5 11.1 1301 17186 0.22 2.55 0.00 0.000 6 0.185 0.074 2945 1996 1876 0 0 0 0 0 0
17527 0.97 262.9 47.0 7.6 1362 17569 0.17 2.88 32.25 0.842 4 0.110 0.091 3003 3538 1727 0 0 0 0 0 0
17617 0.88 262.9 36.8 13.4 1378 17623 0.17 2.78 0.00 0.000 6 0.196 0.079 2976 2011 1724 0 0 0 0 0 0
17904 end climb: FINISH_DEPTH_REACHED
state 17904 begin subsurface finish
17911 0.07 60.6 9.0 -8.5 1429 17947 0.88 2.60 -27.17 0.000 4 0.160 0.110 2719 367 2557 0 0 0 0 0 0
17948 end subsurface finish: CONTROL_FINISHED_OK
state 17948 begin surface