Cuddy Jan14 * SG189 * Dive index * Mission links * Dive 23 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  189 HD_C  1.176e-05 ROLL_MAX  3924 ALTIM_BOTTOM_TURN_MARGIN  10
MISSION  30 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  23 ESCAPE_HEADING  90 C_ROLL_DIVE  2100 ALTIM_TOP_MIN_OBSTACLE  1
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2100 ALTIM_PING_DEPTH  500
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  15 ALTIM_PING_DELTA  10
D_FLARE  2 TGT_DEFAULT_LAT  4809 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -12540 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  -20 ALTIM_SENSITIVITY  4
D_NO_BLEED  500 SM_CC  250 R_STBD_OVSHOOT  -20 XPDR_VALID  4
D_BOOST  100 N_FILEKB  4 ROLL_AD_RATE  350 XPDR_INHIBIT  95
T_BOOST  0 FILEMGR  0 ROLL_MAXERRORS  2 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  -1
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  0 VBD_MIN  500 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  5 VBD_MAX  3960 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  163 C_VBD  2931 DEVICE1  2
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  115
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  101
T_DIVE  330 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  360 CALL_WAIT  60 PITCH_VBD_SHIFT  0 DEVICE5  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  6 DEVICE6  -1
T_TURN  290 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERS  3
T_TURN_SAMPINT  10 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  -1
T_NO_W  720 T_GPS  15 UNCOM_BLEED  50 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  30 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_CHARGE  -58145.93 DBDW  0 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  12 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  48
D_OFFGRID  1001 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  150 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 AH0_10V  97 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  165 MINV_24V  19 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3928 MINV_10V  7.9000001 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2486 FG_AHR_10V  0 SEABIRD_T_G  0.0043091727
GLIDE_SLOPE  45 PITCH_DBAND  0 FG_AHR_24V  0 SEABIRD_T_H  0.00062247959
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PHONE_SUPPLY  2 SEABIRD_T_I  2.1807595e-05
RHO  1.0233001 P_OVSHOOT  0.025006104 PRESSURE_YINT  -81.04335 SEABIRD_T_J  2.0889163e-06
MASS  57433 PITCH_GAIN  28 PRESSURE_SLOPE  0.0001182519 SEABIRD_C_G  -10.02883
MASS_COMP  4067.7 PITCH_TIMEOUT  18 AD7714Ch0Gain  128 SEABIRD_C_H  1.1489301
NAV_MODE  1 PITCH_AD_RATE  165 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0012180988
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00017992272
KALMAN_USE  1 PITCH_ADJ_GAIN  0.02 COMPASS_USE  4
HD_A  0.0030066001 PITCH_ADJ_DBAND  2.5 ALTIM_BOTTOM_PING_RANGE  0
HD_B  0.0099999998 ROLL_MIN  359 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  200114,015035,4731.179,-12523.212,31,1.2,31,17.1 TGT_NAME  HOH_HEAD
_CALLS  1 TGT_LATLONG  4733.000,-12524.000
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.206,0.114
_SM_DEPTHo  1.63 KALMAN_X  13285.2,-527.4,-374.2,-41846.6,3048.2
_SM_ANGLEo  -71.1 KALMAN_Y  -6002.2,243.1,35.0,63135.0,1062.9
GPS2  200114,015559,4731.200,-12523.184,15,1.1,16,17.1 MHEAD_RNG_PITCHd_Wd  281.9,3486,-19.6,-10.000,-22.96,1809
SPEED_LIMITS  0.100,0.259 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.6,1.016316 _24V_AH  23.2,6.313
SM_CCo  12235,1.92,0.215,0,0,1907,250.21 _10V_AH  10.0,4.318
SM_GC  2.52,6.85,0.05,1.92,0.044,0.135,0.215,142,2084,1907,-7.25,0.68,250.21,0,0,0,0,0,0,26.29,26.38,26.15 FG_AHR_24Vo  0.000
IRIDIUM_FIX  4707.04,-12614.03,190114,202030 FG_AHR_10Vo  0.000
TT8_MAMPS  0.025466,0.025466 MEM  313220
HUMID  50.27 DATA_FILE_SIZE  30335,408
INTERNAL_PRESSURE  8.45349 CAP_FILE_SIZE  106288,0
TCM_TEMP  17.30 CFSIZE  260165632,254308352
XPDR_PINGS  9 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING  591.0,51.9 GPS  200114,052204,4732.621,-12525.079,37,0.8,37,17.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1720585.46 SBE_CT28323152.46
Roll_motor123135387.02 WL_BB2FLVMT30236257.52
VBD_pump_during_apogee29114049489.66 AA433063114208.58
VBD_pump_during_surface12149.60 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init264830.00 nil000.00
Iridium_during_connect1716065.57 nil000.00
Iridium_during_xfer168223871.50 nil000.00
Transponder_ping542048.72 nil000.00
GUMSTIX_24V000.00
GPS17264.67
TT8122711146.77
LPSleep93982205.82
TT8_Active4751156.82
TT8_Sampling129637485.24
TT8_CF81594572.73
TT8_Kalman336120.41
Analog_circuits101715152.65
GPS_charging000.00
Compass98415154.86
RAFOS000.00
Transponder21306.56

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
13 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.70 -119.2 142 2115 1887 1734 0.0 0.0 0 50 0.00 0.00 -32.17 0.000 16386 0.000 0.000 142 2116 2734 2739 2730 0 0 0 0 0 0 28.83 28.83 28.83
53 -0.70 -119.2 142 2115 2741 2730 2.6 -4.5 3 90 7.68 2.30 -18.65 0.000 18692 0.206 0.057 2251 3533 3418 3481 3356 0 0 0 0 0 0 25.89 26.06 26.33
283 -0.55 -119.2 2250 3533 3482 3356 40.2 -18.8 26 291 0.20 2.25 0.00 0.000 3078 0.151 0.031 2312 2080 3419 3482 3356 0 0 0 0 0 0 26.01 26.14 28.83
590 -0.55 -119.2 2312 2079 3482 3356 80.0 -10.7 57 599 0.00 2.25 0.00 0.000 4612 0.000 0.042 2313 668 3419 3483 3356 0 0 0 0 0 0 28.83 26.19 28.83
637 -0.55 -119.2 2312 667 3482 3356 84.2 -10.6 60 641 0.00 2.28 0.00 0.000 3078 0.000 0.031 2303 2130 3419 3483 3356 0 0 0 0 0 0 28.83 26.22 28.83
940 -0.55 -119.2 2303 2130 3484 3356 118.0 -11.4 75 945 0.00 2.22 0.00 0.000 2308 0.000 0.041 2293 3524 3419 3483 3356 0 0 0 0 0 0 28.83 26.25 28.83
999 -0.55 -119.2 2293 3523 3483 3356 124.3 -10.6 78 1006 0.05 2.25 0.00 0.000 3078 0.184 0.029 2309 2061 3419 3483 3356 0 0 0 0 0 0 26.18 26.27 28.83
1310 -0.55 -133.4 2309 2062 3483 3356 153.7 -9.2 93 1316 0.00 2.17 -0.35 0.000 18948 0.000 0.059 2310 676 3484 3543 3426 0 0 0 0 0 0 28.83 26.29 26.43
1348 -0.55 -140.5 2309 676 3543 3427 156.8 -9.6 94 1352 0.00 2.25 -0.15 0.000 19462 0.000 0.031 2300 2130 3512 3569 3456 0 0 0 0 0 0 28.83 26.32 26.34
1661 -0.55 -146.6 2300 2130 3570 3456 187.6 -9.1 105 1663 0.00 0.00 -0.12 0.000 18438 0.000 0.000 2300 2130 3538 3593 3483 0 0 0 0 0 0 28.83 28.83 26.34
1960 -0.55 -146.6 2300 2131 3588 3489 217.9 -10.9 115 1966 0.00 2.30 0.00 0.000 2564 0.000 0.041 2300 674 3538 3588 3489 0 0 0 0 0 0 28.83 26.35 28.83
2021 -0.55 -146.6 2300 674 3587 3490 224.8 -11.2 117 2027 0.08 2.25 0.00 0.000 3078 0.161 0.031 2320 2128 3538 3587 3490 0 0 0 0 0 0 26.28 26.37 28.83
2351 -0.63 -146.6 2320 2128 3587 3490 255.9 -8.9 128 2357 0.10 2.28 0.00 0.000 4612 0.091 0.041 2264 678 3538 3587 3490 0 0 0 0 0 0 26.40 26.37 28.83
2400 -0.68 -146.6 2264 677 3586 3491 259.2 -9.3 129 2410 0.05 2.25 0.00 0.000 3078 0.199 0.031 2268 2133 3538 3586 3491 0 0 0 0 0 0 26.29 26.40 28.83
2710 -0.68 -146.6 2268 2133 3586 3491 294.9 -10.4 140 2716 0.00 2.30 0.00 0.000 4612 0.000 0.041 2269 672 3538 3586 3491 0 0 0 0 0 0 28.83 26.39 28.83
2778 -0.68 -146.6 2268 672 3586 3491 301.6 -10.8 142 2782 0.00 2.25 0.00 0.000 3078 0.000 0.032 2259 2128 3538 3586 3491 0 0 0 0 0 0 28.83 26.42 28.83
3120 -0.68 -146.6 2259 2128 3586 3491 343.3 -12.1 148 3121 0.00 0.00 0.00 0.000 2054 0.000 0.000 2259 2128 3538 3586 3491 0 0 0 0 0 0 28.83 28.83 28.83
3422 -0.68 -146.6 2259 2128 3586 3491 377.6 -11.3 153 3426 0.00 2.25 0.00 0.000 2564 0.000 0.042 2259 665 3538 3585 3491 0 0 0 0 0 0 28.83 26.43 28.83
3468 -0.68 -146.6 2259 663 3586 3492 377.6 -11.3 153 3473 0.08 2.28 0.00 0.000 3078 0.169 0.032 2272 2134 3539 3586 3492 0 0 0 0 0 0 26.34 26.45 28.83
3771 -0.68 -146.6 2272 2134 3586 3492 411.4 -9.1 158 3776 0.00 2.30 0.00 0.000 4612 0.000 0.042 2273 675 3538 3585 3492 0 0 0 0 0 0 28.83 26.44 28.83
3818 -0.68 -146.6 2273 674 3585 3491 411.4 -9.1 158 3822 0.00 2.25 0.00 0.000 3078 0.000 0.032 2264 2130 3538 3585 3491 0 0 0 0 0 0 28.83 26.46 28.83
4121 -0.68 -146.6 2263 2130 3585 3491 445.1 -9.8 163 4122 0.00 0.00 0.00 0.000 2054 0.000 0.000 2264 2130 3538 3585 3492 0 0 0 0 0 0 28.83 28.83 28.83
4421 -0.68 -146.6 2263 2130 3585 3491 472.4 -8.9 168 4426 0.00 2.30 0.00 0.000 2564 0.000 0.042 2264 674 3537 3584 3491 0 0 0 0 0 0 28.83 26.46 28.83
4528 -0.68 -146.6 2263 674 3584 3491 478.5 -9.1 169 4533 0.05 2.25 0.00 0.000 3078 0.195 0.033 2269 2129 3538 3584 3492 0 0 0 0 0 0 26.38 26.48 28.83
4832 -0.73 -146.6 2268 2129 3583 3491 510.2 -8.9 174 4834 0.08 0.00 0.00 0.000 4102 0.111 0.000 2226 2129 3537 3583 3491 0 0 0 0 0 0 26.49 28.83 28.83
5131 -0.73 -146.6 2225 2129 3583 3492 542.9 -11.0 179 5137 0.08 2.28 0.00 0.000 2564 0.161 0.042 2250 677 3536 3582 3491 0 0 0 0 0 0 26.42 26.47 28.83
5239 -0.73 -146.6 2250 676 3582 3491 549.1 -10.7 180 5244 0.00 2.25 0.00 0.000 3078 0.000 0.033 2241 2132 3536 3582 3491 0 0 0 0 0 0 28.83 26.50 28.83
5542 -0.73 -146.6 2241 2132 3582 3492 586.0 -10.5 185 5546 0.00 2.20 0.00 0.000 2308 0.000 0.044 2231 3522 3536 3581 3491 0 0 0 0 0 0 28.83 26.48 28.83
5578 -0.73 -146.6 2230 3522 3581 3491 586.0 -10.5 185 5583 0.08 2.22 0.00 0.000 3078 0.153 0.030 2256 2066 3536 3581 3492 0 0 0 0 0 0 26.41 26.50 28.83
5891 -0.79 -146.6 2255 2066 3581 3492 617.4 -8.7 191 5897 0.08 2.15 0.00 0.000 4612 0.112 0.044 2211 680 3536 3581 3491 0 0 0 0 0 0 26.51 26.50 28.83
5958 -0.79 -146.6 2210 680 3581 3491 624.7 -9.5 192 5963 0.10 2.22 0.00 0.000 3078 0.152 0.032 2233 2126 3535 3580 3491 0 0 0 0 0 0 26.39 26.51 28.83
6059 end dive: BOTTOM_OBSTACLE_DETECTED
state 6059 begin apogee
6064 -0.18 0.0 2232 2125 3580 3491 636.5 -11.0 194 6184 0.52 0.00 116.32 1.405 10246 0.074 0.000 2439 2125 2930 3000 2860 0 0 0 0 0 0 26.46 28.83 23.47
6185 end apogee: CONTROL_FINISHED_OK
state 6185 begin climb
6188 0.70 146.6 2438 2125 3002 2862 636.4 0.0 196 6316 0.77 2.55 120.78 1.379 10756 0.069 0.044 2725 679 2333 2418 2248 0 0 0 0 0 0 24.39 24.06 23.16
6373 0.70 146.6 2724 679 2416 2247 626.5 7.8 199 6377 0.05 2.38 0.00 0.000 5126 0.187 0.029 2711 2124 2331 2415 2247 0 0 0 0 0 0 24.65 24.76 28.83
6696 0.61 146.6 2711 2125 2412 2247 579.3 13.6 205 6702 0.10 2.35 0.00 0.000 4612 0.174 0.043 2690 681 2329 2412 2247 0 0 0 0 0 0 25.38 25.47 28.83
6773 0.53 146.6 2690 682 2411 2247 571.7 13.5 206 6778 0.12 2.30 0.00 0.000 5126 0.148 0.031 2652 2123 2329 2411 2247 0 0 0 0 0 0 25.46 25.58 28.83
7107 0.53 151.2 2652 2123 2410 2247 537.0 9.7 212 7116 0.00 2.38 4.47 1.037 10756 0.000 0.044 2661 677 2314 2397 2231 0 0 0 0 0 0 28.83 25.68 24.83
7295 0.53 151.2 2661 676 2397 2231 518.1 10.9 215 7299 0.00 2.30 0.00 0.000 5126 0.000 0.031 2661 2128 2314 2397 2231 0 0 0 0 0 0 28.83 25.83 28.83
7627 0.53 151.2 2661 2129 2397 2231 479.5 10.9 221 7633 0.00 2.38 0.00 0.000 4612 0.000 0.044 2672 666 2314 2397 2231 0 0 0 0 0 0 28.83 25.94 28.83
7735 0.53 151.2 2672 667 2396 2231 473.2 10.8 222 7740 0.05 2.30 0.00 0.000 5126 0.187 0.031 2657 2132 2314 2397 2231 0 0 0 0 0 0 25.91 26.01 28.83
8037 0.53 175.8 2657 2131 2397 2231 441.2 8.6 227 8064 0.00 2.40 20.92 1.258 12804 0.000 0.045 2666 676 2213 2303 2124 0 0 0 0 0 0 28.83 25.50 24.70
8205 0.53 179.7 2666 676 2302 2124 428.5 9.8 229 8217 0.00 2.30 4.60 1.012 13318 0.000 0.031 2666 2123 2198 2288 2108 0 0 0 0 0 0 28.83 25.71 24.76
8517 0.53 179.7 2666 2123 2288 2107 389.2 11.0 235 8523 0.00 2.38 0.00 0.000 4612 0.000 0.044 2677 670 2197 2288 2107 0 0 0 0 0 0 28.83 25.83 28.83
8625 0.53 179.7 2677 670 2288 2107 382.4 11.1 236 8630 0.08 2.30 0.00 0.000 5126 0.160 0.031 2654 2129 2197 2288 2107 0 0 0 0 0 0 25.82 25.91 28.83
8928 0.59 181.8 2653 2129 2287 2107 347.1 9.9 241 8934 0.08 2.33 0.00 0.000 2564 0.110 0.044 2707 671 2197 2288 2107 0 0 0 0 0 0 26.04 26.01 28.83
9025 0.59 181.8 2707 670 2287 2107 339.9 10.3 242 9030 0.10 2.28 0.00 0.000 5126 0.153 0.031 2675 2126 2197 2287 2108 0 0 0 0 0 0 25.95 26.06 28.83
9338 0.59 181.8 2675 2126 2287 2107 302.4 10.3 248 9343 0.00 2.35 0.00 0.000 4612 0.000 0.044 2685 672 2197 2288 2107 0 0 0 0 0 0 28.83 26.11 28.83
9435 0.59 181.8 2684 672 2287 2107 292.7 10.5 250 9439 0.00 2.28 0.00 0.000 5126 0.000 0.031 2685 2128 2197 2287 2107 0 0 0 0 0 0 28.83 26.16 28.83
9748 0.59 181.8 2684 2129 2287 2107 256.5 11.4 261 9753 0.00 2.30 0.00 0.000 4612 0.000 0.044 2695 682 2197 2287 2107 0 0 0 0 0 0 28.83 26.18 28.83
9825 0.59 181.8 2695 682 2287 2107 249.3 11.7 263 9830 0.08 2.25 0.00 0.000 5126 0.158 0.031 2671 2128 2197 2287 2107 0 0 0 0 0 0 26.13 26.22 28.83
10128 0.64 181.8 2670 2128 2287 2107 215.5 10.3 273 10135 0.08 2.30 0.00 0.000 2564 0.110 0.044 2726 675 2197 2287 2107 0 0 0 0 0 0 26.27 26.24 28.83
10217 0.64 181.8 2725 675 2287 2107 204.4 11.7 276 10224 0.12 2.25 0.00 0.000 5126 0.145 0.031 2684 2127 2197 2287 2107 0 0 0 0 0 0 26.16 26.27 28.83
10548 0.64 181.8 2685 2127 2287 2107 167.9 10.6 287 10553 0.00 2.33 0.00 0.000 2564 0.000 0.045 2694 675 2197 2287 2107 0 0 0 0 0 0 28.83 26.28 28.83
10597 0.64 181.8 2694 674 2287 2107 164.9 10.4 288 10606 0.00 2.25 0.00 0.000 5126 0.000 0.031 2694 2126 2197 2287 2107 0 0 0 0 0 0 28.83 26.31 28.83
10907 0.64 181.8 2693 2126 2287 2107 132.0 10.1 302 10913 0.00 2.33 0.00 0.000 4612 0.000 0.045 2705 676 2197 2287 2107 0 0 0 0 0 0 28.83 26.31 28.83
11008 0.64 181.8 2704 676 2287 2107 120.8 11.1 307 11015 0.03 2.22 0.88 0.464 13318 0.171 0.031 2694 2126 2187 2278 2097 0 0 0 0 0 0 26.25 26.34 25.97
11330 0.70 193.0 2694 2126 2278 2097 87.9 9.4 323 11337 0.05 0.00 4.30 0.386 10246 0.144 0.000 2729 2125 2142 2238 2047 0 0 0 0 0 0 26.39 28.83 26.01
11628 0.70 193.0 2728 2126 2238 2047 56.2 10.3 349 11638 0.08 2.20 0.00 0.000 4356 0.165 0.041 2705 3529 2142 2238 2047 0 0 0 0 0 0 26.27 26.34 28.83
11678 0.76 213.9 2705 3529 2238 2047 51.6 8.8 354 11692 0.03 2.22 8.02 0.287 11270 0.109 0.031 2742 2083 2057 2157 1957 0 0 0 0 0 0 26.28 26.35 26.06
11990 0.76 213.9 2742 2082 2153 1957 21.3 10.1 385 12000 0.05 2.20 0.00 0.000 4612 0.190 0.044 2736 680 2055 2153 1957 0 0 0 0 0 0 26.29 26.31 28.83
12120 0.82 242.3 2735 680 2152 1957 9.1 8.4 398 12140 0.00 2.22 10.93 0.172 11270 0.000 0.031 2736 2131 1939 2043 1835 0 0 0 0 0 0 28.83 26.34 26.15
12188 end climb: SURFACE_DEPTH_REACHED
state 12188 begin surface coast
12219 end surface coast: CONTROL_FINISHED_OK
state 12219 begin surface