QPE May09 * SG166 * Dive index * Mission links * Dive 285 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  166 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  2 ESCAPE_HEADING  0 ROLL_MIN  197 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  285 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3786 ALTIM_PING_DEPTH  200
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_DIVE  1750 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  1300 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_NO_BLEED  100 SM_CC  450 ROLL_CNV  0.028270001 XPDR_VALID  1
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  42 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  62 INT_PRESSURE_YINT  2.7
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  350 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  1.5 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0.025 DEVICE1  2
T_DIVE  413 UPLOAD_DIVES_MAX  -1 VBD_MIN  455 DEVICE2  53
T_MISSION  495 CALL_TRIES  5 VBD_MAX  3960 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  2945 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  120 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  -4 T_GPS  15 PITCH_VBD_SHIFT  0.0012300001 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_CHARGE  -10989.471 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  2 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  0 RAFOS_DEVICE  -1
MAX_BUOY  150 RAFOS_HIT_WINDOW  3600 AH0_24V  150 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  160 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3938 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2780 PRESSURE_YINT  -27.273609 SEABIRD_T_G  0.0043153614
RHO  1.0273 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001160501 SEABIRD_T_H  0.00063164165
MASS  51956 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_T_I  2.3580644e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.4654264e-06
FERRY_MAX  45 PITCH_GAIN  17 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -9.9826469
KALMAN_USE  2 PITCH_TIMEOUT  16 COMPASS_USE  0 SEABIRD_C_H  1.1204658
HD_A  0.0038360001 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.0010752195
HD_B  0.010078 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00016642714
HD_C  9.8500004e-06 PITCH_ADJ_GAIN  0.034000002 ALTIM_BOTTOM_TURN_MARGIN  25

Pre-dive calculations and measurements:
GPS1  180507,2510.164,12326.845,41,1.1,41,-3.7 TGT_NAME  OFF_4
_CALLS  1 TGT_LATLONG  2506.900,12323.900
_XMS_NAKs  13 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.53 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  181419,2510.397,12326.929,10,1.1,15,-3.7 MHEAD_RNG_PITCHd_Wd  229.4,8231,-14.9,-7.990
SPEED_LIMITS  0.138,0.241 D_GRID  1847

Post-dive calculations and measurements:
FINISH  0.8,1.021704 _24V_AH  22.6,62.970
SM_CCo  23331,0.00,0.000,0,0,1065,461.16 _10V_AH  10.7,38.249
SM_GC  1.85,7.95,0.00,0.00,0.044,0.000,0.000,168,1760,1065,-8.16,0.28,461.16 DATA_FILE_SIZE  122995,2135
IRIDIUM_FIX  2458.45,12326.88,270998,111105 CAP_FILE_SIZE  255974,0
TT8_MAMPS  0.026845 CFSIZE  260165632,213307392
HUMID  1516 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,6,0
INTERNAL_PRESSURE  9.92684 CURRENT  0.326, 43.8,1
TCM_TEMP  25.00 GPS  040709,004437,2511.928,12329.170,31,1.0,31,-3.7
XPDR_PINGS  176

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor37235200.89 SBE_CT145424789.07
Roll_motor21162297.52 Optode1479331103.41
VBD_pump_during_apogee561149418957.65 WL_BB2F24831055894.52
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2510359.88 nil000.00
Iridium_during_connect42160153.06 nil000.00
Iridium_during_xfer3142231584.06
Transponder_ping52420493.58
Mmodem_TX000.00
Mmodem_RX000.00
GPS15508.32
TT8394319835.45
LPSleep136772320.51
TT8_Active75919160.81
TT8_Sampling4582391951.29
TT8_CF889045436.49
TT8_Kalman000.00
Analog_circuits278112357.12
GPS_charging000.00
Compass45388388.54
RAFOS000.00
Transponder553017.93

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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -1.06 -146.0 0.0 0.0 0 76 0.00 0.00 -57.22 0.000 2 0.000 0.000 168 1783 2426
79 -1.06 -146.0 3.4 -4.5 9 126 9.35 2.17 -29.25 0.000 4 0.235 0.053 2433 342 3541
201 -0.49 -146.0 28.2 -21.9 29 208 0.62 2.05 0.00 0.000 6 0.143 0.030 2619 1749 3542
547 -0.67 -146.0 63.0 -9.4 90 553 0.15 0.00 0.00 0.000 6 0.056 0.000 2541 1752 3543
888 -0.67 -146.0 97.3 -9.4 151 896 0.00 2.10 0.00 0.000 4 0.000 0.040 2541 3152 3544
948 -0.67 -146.0 102.7 -9.5 161 955 0.15 2.03 0.00 0.000 6 0.129 0.028 2570 1757 3544
1294 -0.81 -146.0 131.1 -8.8 222 1301 0.15 2.05 0.00 0.000 4 0.058 0.038 2498 3146 3544
1397 -0.70 -146.0 141.9 -10.3 240 1404 0.17 1.92 0.00 0.000 6 0.121 0.028 2550 1812 3544
1744 -0.79 -146.0 170.3 -7.8 301 1750 0.00 2.00 0.00 0.000 4 0.000 0.039 2560 3143 3544
1842 -0.95 -146.0 178.6 -8.8 318 1849 0.17 1.85 0.00 0.000 6 0.038 0.028 2442 1861 3544
2187 -0.67 -146.0 223.7 -12.6 379 2195 0.38 2.22 0.00 0.000 4 0.130 0.040 2559 364 3544
2295 -0.67 -146.0 233.9 -8.6 398 2302 0.00 2.12 0.00 0.000 6 0.000 0.028 2573 1846 3544
2642 -0.88 -146.0 259.4 -8.4 459 2649 0.17 1.92 0.00 0.000 4 0.056 0.041 2476 3150 3544
2741 -0.74 -146.0 270.3 -11.2 476 2748 0.15 1.88 0.00 0.000 6 0.126 0.029 2542 1857 3544
3094 -0.84 -146.0 301.1 -7.3 537 3097 0.00 1.92 0.00 0.000 4 0.000 0.042 2541 3148 3543
3152 -0.99 -146.0 305.4 -7.4 542 3156 0.22 1.80 0.00 0.000 6 0.049 0.030 2436 1886 3543
3484 -0.74 -146.0 338.6 -10.2 573 3488 0.30 1.90 0.00 0.000 4 0.134 0.042 2529 3151 3542
3584 -0.84 -146.0 347.9 -9.0 581 3590 0.00 1.85 0.00 0.000 6 0.000 0.030 2529 1864 3541
3909 -0.94 -146.0 376.7 -8.6 612 3914 0.15 2.25 0.00 0.000 4 0.058 0.043 2449 367 3540
3943 -0.70 -146.0 380.4 -11.8 614 3950 0.35 2.22 0.00 0.000 6 0.151 0.033 2552 1884 3539
4268 -0.88 -146.0 403.2 -6.2 645 4272 0.17 1.90 0.00 0.000 4 0.054 0.045 2461 3149 3537
4360 -0.80 -146.0 410.6 -8.4 653 4364 0.22 1.77 0.00 0.000 6 0.133 0.031 2524 1917 3536
4691 -0.92 -146.0 433.3 -6.9 684 4695 0.12 1.88 0.00 0.000 4 0.067 0.046 2462 3154 3534
4730 -0.83 -146.0 436.9 -9.2 687 4738 0.17 1.77 0.00 0.000 6 0.138 0.031 2509 1927 3534
5055 -0.95 -146.0 463.7 -8.5 718 5059 0.12 1.85 0.00 0.000 4 0.066 0.047 2449 3147 3531
5157 -0.77 -146.0 473.9 -10.5 727 5161 0.28 1.83 0.00 0.000 6 0.139 0.034 2525 1891 3531
5489 -0.93 -146.0 500.5 -7.5 758 5493 0.15 1.90 0.00 0.000 4 0.061 0.048 2455 3139 3529
5527 -0.83 -146.0 504.1 -9.3 759 5535 0.20 1.80 0.00 0.000 6 0.135 0.033 2512 1903 3528
5845 -0.92 -146.0 528.6 -7.7 775 5849 0.00 1.90 0.00 0.000 4 0.000 0.049 2515 3149 3526
5896 -1.07 -146.0 532.7 -8.0 777 5900 0.22 1.80 0.00 0.000 6 0.051 0.039 2409 1931 3526
6224 -0.81 -146.0 567.2 -10.7 793 6228 0.32 1.88 0.00 0.000 4 0.147 0.051 2512 3147 3524
6326 -0.89 -146.0 575.2 -7.8 797 6330 0.00 1.85 0.00 0.000 6 0.000 0.035 2509 1889 3524
6649 -1.01 -146.0 598.2 -7.0 813 6654 0.15 1.92 0.00 0.000 4 0.058 0.055 2435 3140 3522
6688 -0.87 -146.0 601.6 -8.7 814 6695 0.17 1.83 0.00 0.000 6 0.136 0.035 2494 1916 3522
7005 -0.96 -146.0 624.4 -7.4 830 7009 0.00 2.40 0.00 0.000 4 0.000 0.056 2494 362 3520
7093 -0.91 -146.0 631.3 -7.8 834 7097 0.00 2.30 0.00 0.000 6 0.000 0.044 2485 1891 3519
7421 -0.95 -146.0 655.9 -7.7 850 7422 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 1891 3518
7730 -1.04 -146.0 680.4 -7.8 865 7734 0.00 2.35 0.00 0.000 4 0.000 0.051 2483 370 3516
7774 -0.96 -146.0 684.2 -8.4 867 7778 0.00 2.30 0.00 0.000 6 0.000 0.042 2479 1892 3515
8102 -1.04 -146.0 708.9 -7.4 883 8105 0.00 1.90 0.00 0.000 4 0.000 0.054 2478 3136 3514
8163 -1.13 -146.0 713.7 -7.4 885 8170 0.17 1.80 0.00 0.000 6 0.058 0.039 2398 1924 3513
8480 -0.90 -146.0 742.9 -9.2 901 8484 0.25 1.88 0.00 0.000 4 0.147 0.054 2471 3146 3512
8609 -0.90 -146.0 752.5 -7.8 906 8615 0.00 1.90 0.00 0.000 6 0.000 0.039 2471 1890 3511
8927 -0.98 -146.0 775.0 -7.5 922 8931 0.00 2.35 0.00 0.000 4 0.000 0.054 2471 372 3510
8953 -0.98 -146.0 777.4 -8.1 923 8958 0.00 2.30 0.00 0.000 6 0.000 0.041 2468 1890 3510
9277 -1.05 -146.0 803.1 -8.1 939 9281 0.00 2.38 0.00 0.000 4 0.000 0.053 2469 365 3508
9345 -0.97 -146.0 809.4 -9.8 942 9349 0.00 2.28 0.00 0.000 6 0.000 0.041 2467 1867 3507
9665 -0.92 -146.0 837.0 -8.8 958 9669 0.00 2.35 0.00 0.000 4 0.000 0.054 2467 362 3507
9789 -0.82 -146.0 849.0 -9.4 963 9797 0.17 2.22 0.00 0.000 6 0.142 0.041 2517 1833 3506
10106 -1.03 -146.0 873.4 -7.5 979 10110 0.17 2.03 0.00 0.000 4 0.057 0.056 2427 3139 3505
10189 -0.91 -146.0 881.2 -8.8 982 10196 0.17 1.90 0.00 0.000 6 0.134 0.040 2484 1890 3504
10505 -1.04 -146.0 906.2 -7.8 998 10510 0.12 2.38 0.00 0.000 4 0.071 0.054 2424 367 3504
10763 -0.83 -146.0 933.8 -11.2 1009 10769 0.30 2.22 0.00 0.000 6 0.144 0.042 2514 1825 3502
11079 -1.01 -146.0 954.6 -6.3 1025 11084 0.17 2.05 0.00 0.000 4 0.057 0.058 2431 3139 3501
11181 -0.90 -146.0 962.7 -8.4 1029 11185 0.20 1.88 0.00 0.000 6 0.142 0.041 2486 1888 3501
11504 -0.95 -146.0 982.3 -5.6 1045 11508 0.00 2.38 0.00 0.000 4 0.000 0.056 2486 370 3500
11618 -0.89 -146.0 989.9 -6.1 1050 11622 0.00 2.25 0.00 0.000 1 0.000 0.043 2488 1841 3499
11622 end dive: TARGET_DEPTH_EXCEEDED
state 11622 begin apogee
11629 -0.29 0.0 990.4 6.5 1050 11766 0.60 0.00 125.53 1.494 6 0.129 0.000 2679 1317 2944
11767 end apogee: CONTROL_FINISHED_OK
state 11767 begin climb
11769 1.06 146.0 995.2 0.0 1057 11915 1.25 1.95 134.23 1.464 4 0.053 0.060 3134 210 2348
11934 0.43 146.0 986.2 14.7 1064 11941 0.77 1.77 0.00 0.000 6 0.186 0.041 2920 1290 2346
12250 0.33 146.0 958.4 8.1 1080 12254 0.12 2.20 0.00 0.000 4 0.153 0.051 2883 2701 2343
12335 0.36 165.5 952.1 7.3 1084 12358 0.00 2.17 17.80 1.378 6 0.000 0.048 2891 1302 2270
12666 0.39 197.3 928.2 6.8 1100 12702 0.00 2.30 29.48 1.420 4 0.000 0.053 2891 2702 2139
12787 0.41 211.1 919.1 7.5 1105 12813 0.00 2.17 15.80 1.183 6 0.000 0.052 2901 1317 2084
13125 0.49 227.1 894.1 7.4 1121 13155 0.12 2.28 17.38 1.225 4 0.064 0.054 2965 2711 2018
13302 0.34 227.1 876.2 9.9 1129 13307 0.30 2.12 0.00 0.000 6 0.150 0.047 2891 1347 2015
13632 0.55 256.3 853.7 6.9 1145 13675 0.20 1.90 29.50 1.325 4 0.051 0.062 2997 197 1898
13848 0.35 256.3 828.7 11.4 1154 13855 0.28 1.88 0.00 0.000 6 0.141 0.043 2898 1404 1894
14165 0.50 256.3 804.5 8.3 1170 14169 0.12 2.00 0.00 0.000 4 0.065 0.051 2964 2708 1892
14259 0.39 256.3 794.4 10.0 1174 14264 0.22 2.05 0.00 0.000 6 0.150 0.054 2911 1381 1891
14587 0.52 256.3 766.4 8.8 1190 14591 0.12 2.05 0.00 0.000 4 0.066 0.051 2971 2701 1891
14724 0.40 256.3 751.0 10.9 1196 14728 0.25 1.92 0.00 0.000 6 0.149 0.047 2910 1448 1890
15057 0.57 256.8 723.0 8.0 1212 15061 0.15 1.95 0.00 0.000 4 0.059 0.051 2982 2712 1890
15185 0.41 256.8 709.6 10.1 1217 15192 0.28 1.85 0.00 0.000 6 0.145 0.047 2912 1506 1890
15502 0.52 291.2 684.7 6.7 1233 15547 0.12 1.90 33.65 1.261 4 0.069 0.054 2973 2704 1755
15610 0.44 291.2 674.4 9.7 1237 15617 0.22 1.83 0.00 0.000 6 0.145 0.045 2918 1531 1752
15927 0.61 291.2 650.3 8.0 1253 15931 0.17 1.83 0.00 0.000 4 0.054 0.051 3012 2702 1751
15999 0.42 291.2 642.0 12.1 1256 16003 0.35 1.92 0.00 0.000 6 0.145 0.045 2919 1452 1751
16326 0.62 291.2 614.2 8.7 1272 16330 0.17 1.95 0.00 0.000 4 0.055 0.050 3012 2715 1750
16463 0.45 291.2 598.2 12.7 1278 16467 0.32 2.00 0.00 0.000 6 0.143 0.048 2928 1407 1750
16795 0.63 296.7 569.5 7.8 1294 16805 0.15 1.90 5.68 0.982 4 0.058 0.058 3015 190 1734
16909 0.46 296.7 558.5 9.6 1299 16913 0.30 1.92 0.00 0.000 6 0.143 0.043 2929 1469 1734
17231 0.65 303.9 535.2 7.7 1315 17245 0.17 1.95 8.25 1.079 4 0.054 0.052 3023 2708 1706
17370 0.48 303.9 519.3 12.2 1321 17375 0.35 2.00 0.00 0.000 6 0.146 0.046 2932 1402 1705
17693 0.69 309.0 492.2 7.8 1341 17705 0.17 2.08 6.30 0.971 4 0.052 0.050 3028 2708 1685
17802 0.51 309.0 481.1 11.0 1350 17809 0.32 2.10 0.00 0.000 6 0.143 0.051 2944 1344 1685
18127 0.75 336.6 457.7 7.0 1381 18163 0.20 1.85 26.15 1.131 4 0.050 0.059 3058 204 1572
18237 0.53 336.6 445.7 12.5 1390 18244 0.30 1.73 0.00 0.000 6 0.142 0.041 2952 1321 1569
18562 0.72 336.6 417.0 8.7 1421 18567 0.17 2.15 0.00 0.000 4 0.053 0.046 3043 2717 1568
18668 0.56 336.6 404.3 11.5 1430 18675 0.32 2.12 0.00 0.000 6 0.140 0.044 2957 1325 1568
18995 0.78 336.6 375.5 8.3 1461 18999 0.20 1.75 0.00 0.000 4 0.049 0.056 3066 198 1568
19090 0.55 336.6 364.1 12.1 1469 19097 0.30 1.67 0.00 0.000 6 0.142 0.049 2960 1290 1568
19415 0.79 336.6 337.8 8.3 1500 19419 0.17 1.70 0.00 0.000 4 0.051 0.055 3064 198 1568
19496 0.58 336.6 329.0 11.4 1507 19500 0.32 1.73 0.00 0.000 6 0.141 0.047 2969 1349 1568
19826 0.76 336.6 299.4 9.1 1538 19833 0.15 1.80 0.00 0.000 4 0.055 0.054 3053 208 1568
19886 0.59 336.6 292.7 12.0 1548 19892 0.22 1.77 0.00 0.000 6 0.136 0.038 2967 1388 1568
20232 0.82 336.6 263.7 8.2 1609 20238 0.17 1.98 0.00 0.000 4 0.051 0.043 3068 2702 1568
20290 0.61 336.6 257.4 11.1 1619 20298 0.32 2.03 0.00 0.000 6 0.143 0.044 2982 1370 1568
20637 0.81 336.6 228.0 8.4 1680 20644 0.17 2.03 0.00 0.000 4 0.051 0.042 3077 2709 1568
20782 0.64 336.6 211.6 12.1 1705 20788 0.32 1.95 0.00 0.000 6 0.140 0.040 2988 1412 1568
21128 0.87 386.5 184.9 6.2 1766 21186 0.17 1.90 46.28 0.865 4 0.050 0.051 3095 195 1368
21288 0.72 386.5 169.5 10.9 1793 21296 0.22 1.80 0.00 0.000 6 0.134 0.036 3011 1379 1366
21633 0.92 386.5 139.5 8.9 1854 21640 0.17 1.85 0.00 0.000 4 0.050 0.051 3122 202 1364
21740 0.73 386.5 127.6 11.9 1872 21747 0.30 1.67 0.00 0.000 6 0.137 0.038 3013 1321 1364
22087 1.01 386.5 99.7 8.2 1933 22094 0.20 1.75 0.00 0.000 4 0.049 0.050 3141 199 1364
22168 0.78 386.5 90.4 11.6 1947 22176 0.32 1.62 0.00 0.000 6 0.135 0.033 3037 1306 1364
22515 1.03 416.7 61.1 6.9 2008 22548 0.17 1.70 27.15 0.750 4 0.050 0.048 3149 199 1245
22654 0.91 416.7 48.5 9.2 2031 22662 0.22 1.58 0.00 0.000 6 0.127 0.032 3077 1267 1244
23001 1.14 460.1 23.5 6.4 2092 23046 0.17 2.15 38.28 0.706 4 0.050 0.035 3177 2704 1067
23083 1.08 460.1 15.5 10.7 2105 23090 0.22 2.20 0.00 0.000 6 0.143 0.036 3123 1245 1067
23217 end climb: SURFACE_DEPTH_REACHED
state 23217 begin surface coast
23253 end surface coast: CONTROL_FINISHED_OK
state 23253 begin surface