Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 30 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 30 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2150 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2832 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -77230.242 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -77230.242

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2832 MASS 52000 R_PORT_OVSHOOT 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 30 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 165502,6148.768,-919.711,39,1.6,39,-9.5 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.032,-0.219

_SM_DEPTHo 1.02 KALMAN_X -39035.3,1364.5,488.0,-18756.1,3450.3

_SM_ANGLEo -58.3 KALMAN_Y -16933.4,55.2,-55.4,61255.4,14046.2

GPS2 170145,6148.840,-919.544,16,1.3,16,-9.5 MHEAD_RNG_PITCHd_Wd 181.2,16346,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027104 ALTIM_BOTTOM_PING 675.5,26.9

SM_CCo 18293,0.00,0.000,0,0,1607,300.49 _24V_AH 23.8,9.636

SM_GC 0.93,11.02,0.00,0.00,0.038,0.000,0.000,418,2173,1607,-10.40,0.65,300.49 _10V_AH 10.0,3.374

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44216,875

TT8_MAMPS 0.029146 CAP_FILE_SIZE 150110,0

HUMID 1667 CFSIZE 254472192,250355712

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,0,0

XPDR_PINGS 647 GPS 110608,220856,6150.714,-914.114,48,1.1,48,-9.5

ALTIM_TOP_PING 18.6,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 140 88.19 SBE_CT 600 24 342.72

Roll_motor 215 85 436.96 SBE_O2 646 19 292.46

VBD_pump_during_apogee 377 1305 11720.13 WL_BB2F 534 105 1336.94

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 45 160 174.94 nil 0 0 0.00

Iridium_during_xfer 181 223 962.56

Transponder_ping 168 420 1679.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.39

TT8 1677 19 332.20

LPSleep 13837 2 303.03

TT8_Active 536 19 106.14

TT8_Sampling 2039 39 811.80

TT8_CF8 598 45 273.97

TT8_Kalman 33 81 27.31

Analog_circuits 1591 12 191.02

GPS_charging 0 0 0.00

Compass 1989 8 159.14

RAFOS 0 0 0.00

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

24 -0.97 -146.6 0.0 0.0 0 105 0.00 0.00 -77.28 0.000 6 0.000 0.000 424 2170 3430

109 -0.97 -146.6 5.4 -7.0 4 125 10.70 2.55 0.00 0.000 4 0.140 0.064 2482 3562 3432

378 -0.72 -146.6 49.9 -11.4 15 383 0.28 2.53 0.00 0.000 6 0.086 0.047 2541 2139 3433

700 -0.66 -146.6 81.6 -10.1 31 704 0.00 2.60 0.00 0.000 4 0.000 0.064 2541 3557 3434

718 -0.61 -146.6 83.3 -9.9 32 723 0.12 2.50 0.00 0.000 6 0.090 0.048 2567 2152 3434

1045 -0.61 -146.6 111.6 -8.7 48 1049 0.00 2.58 0.00 0.000 4 0.000 0.063 2567 3556 3434

1112 -0.61 -146.6 118.1 -9.5 51 1116 0.00 2.50 0.00 0.000 6 0.000 0.047 2568 2146 3434

1433 -0.61 -146.6 144.9 -8.1 67 1437 0.00 2.60 0.00 0.000 4 0.000 0.065 2567 3558 3434

1450 -0.61 -146.6 146.3 -7.7 68 1454 0.00 2.50 0.00 0.000 6 0.000 0.050 2567 2152 3434

1776 -0.61 -146.6 170.9 -7.4 84 1781 0.00 2.58 0.00 0.000 4 0.000 0.065 2567 3557 3434

1789 -0.61 -146.6 171.8 -7.4 84 1794 0.00 2.50 0.00 0.000 6 0.000 0.049 2567 2150 3434

2104 -0.61 -146.6 195.8 -7.9 100 2108 0.00 2.60 0.00 0.000 4 0.000 0.066 2568 3561 3434

2148 -0.61 -146.6 199.5 -8.6 102 2152 0.00 2.50 0.00 0.000 6 0.000 0.048 2567 2145 3434

2469 -0.61 -146.6 224.5 -8.1 118 2473 0.00 2.60 0.00 0.000 4 0.000 0.067 2567 3557 3434

2514 -0.65 -146.6 228.4 -8.5 120 2518 0.00 2.50 0.00 0.000 6 0.000 0.050 2567 2149 3434

2841 -0.65 -146.6 254.6 -8.0 136 2845 0.00 2.58 0.00 0.000 4 0.000 0.067 2567 3557 3434

2868 -0.65 -146.6 256.9 -8.0 137 2872 0.00 2.50 0.00 0.000 6 0.000 0.050 2567 2150 3433

3183 -0.65 -146.6 283.0 -8.6 152 3188 0.00 2.58 0.00 0.000 4 0.000 0.067 2568 3556 3433

3234 -0.69 -146.6 287.7 -9.5 154 3238 0.00 2.50 0.00 0.000 6 0.000 0.050 2567 2150 3434

3550 -0.69 -146.6 314.2 -7.9 169 3554 0.00 2.60 0.00 0.000 4 0.000 0.068 2567 3564 3433

3577 -0.74 -146.6 316.6 -8.6 170 3582 0.12 2.53 0.00 0.000 6 0.052 0.052 2530 2150 3433

3893 -0.67 -146.6 345.2 -8.7 185 3898 0.12 2.58 0.00 0.000 4 0.091 0.068 2555 3556 3433

3915 -0.67 -146.6 347.0 -7.9 186 3919 0.00 2.53 0.00 0.000 6 0.000 0.052 2555 2145 3433

4235 -0.67 -146.6 371.6 -7.9 202 4240 0.00 2.60 0.00 0.000 4 0.000 0.069 2555 3560 3432

4257 -0.67 -146.6 373.5 -7.9 203 4262 0.00 2.50 0.00 0.000 6 0.000 0.052 2555 2150 3432

4579 -0.67 -146.6 399.8 -8.2 219 4583 0.00 2.60 0.00 0.000 4 0.000 0.069 2555 3562 3432

4589 -0.67 -146.6 400.7 -8.1 219 4593 0.00 2.53 0.00 0.000 6 0.000 0.054 2555 2151 3432

4905 -0.67 -146.6 425.5 -7.3 234 4910 0.00 2.60 0.00 0.000 4 0.000 0.070 2555 3563 3432

4916 -0.67 -146.6 426.4 -7.1 234 4922 0.00 2.53 0.00 0.000 6 0.000 0.054 2555 2151 3432

5232 -0.67 -146.6 448.0 -6.7 250 5236 0.00 2.60 0.00 0.000 4 0.000 0.070 2555 3558 3432

5244 -0.67 -146.6 448.7 -6.4 250 5250 0.00 2.53 0.00 0.000 6 0.000 0.054 2555 2150 3431

5560 -0.67 -146.6 471.5 -7.4 266 5564 0.00 2.60 0.00 0.000 4 0.000 0.071 2555 3561 3431

5615 -0.67 -146.6 476.3 -8.7 268 5621 0.00 2.53 0.00 0.000 6 0.000 0.053 2555 2150 3431

5931 -0.67 -146.6 501.3 -7.5 284 5936 0.00 2.60 0.00 0.000 4 0.000 0.070 2555 3556 3431

5982 -0.67 -146.6 505.8 -7.9 286 5986 0.00 2.50 0.00 0.000 6 0.000 0.052 2555 2146 3430

6298 -0.67 -146.6 526.8 -6.2 301 6302 0.00 2.60 0.00 0.000 4 0.000 0.071 2555 3557 3430

6353 -0.67 -146.6 530.3 -6.1 303 6359 0.00 2.53 0.00 0.000 6 0.000 0.053 2555 2147 3430

6669 -0.67 -146.6 548.5 -6.0 319 6673 0.00 2.60 0.00 0.000 4 0.000 0.071 2556 3557 3430

6709 -0.67 -146.6 551.2 -7.1 321 6713 0.00 2.53 0.00 0.000 6 0.000 0.054 2555 2144 3430

7035 -0.67 -146.6 572.0 -6.7 337 7039 0.00 2.62 0.00 0.000 4 0.000 0.071 2555 3561 3430

7090 -0.67 -146.6 576.3 -8.3 339 7096 0.00 2.53 0.00 0.000 6 0.000 0.054 2555 2150 3430

7406 -0.67 -146.6 594.7 -5.1 355 7410 0.00 2.62 0.00 0.000 4 0.000 0.071 2555 3563 3430

7479 -0.72 -146.6 598.8 -5.2 358 7483 0.00 2.55 0.00 0.000 6 0.000 0.054 2555 2139 3430

7795 -0.76 -146.6 608.7 -1.4 373 7796 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2121 3430

8105 -0.82 -146.6 624.6 -2.9 388 8110 0.15 2.62 0.00 0.000 4 0.049 0.071 2513 3557 3430

8168 -0.71 -146.6 627.2 -5.0 391 8173 0.15 2.53 0.00 0.000 6 0.095 0.058 2543 2146 3430

8495 -0.71 -146.6 655.9 -6.7 407 8499 0.00 2.65 0.00 0.000 4 0.000 0.076 2543 3561 3430

8581 -0.66 -146.6 659.7 -1.9 411 8585 0.00 2.55 0.00 0.000 6 0.000 0.058 2543 2145 3430

8907 -0.66 -146.6 681.6 -12.9 427 8911 0.00 2.67 0.00 0.000 4 0.000 0.083 2543 3552 3430

8924 -0.72 -146.6 684.2 -15.3 428 8929 0.00 2.55 0.00 0.000 6 0.000 0.061 2543 2148 3430

9022 end dive: BOTTOM_OBSTACLE_DETECTED

state 9022 begin apogee

9028 -0.33 0.0 693.4 10.4 433 9156 0.40 0.00 124.88 1.305 6 0.088 0.000 2625 2136 2832

9157 end apogee: CONTROL_FINISHED_OK

state 9157 begin climb

9160 0.97 146.6 700.2 0.0 439 9291 1.30 2.70 123.30 1.273 4 0.062 0.085 2913 749 2234

9546 0.74 146.6 665.4 17.8 456 9553 0.25 2.62 0.00 0.000 6 0.077 0.071 2862 2146 2233

9863 1.05 301.2 652.6 1.8 472 9999 0.28 2.72 129.05 1.279 4 0.049 0.084 2935 3556 1604

10079 1.05 301.2 644.0 8.9 482 10084 0.00 2.65 0.00 0.000 6 0.000 0.071 2935 2155 1604

10400 1.05 301.2 612.2 10.6 498 10405 0.00 2.70 0.00 0.000 4 0.000 0.084 2935 3556 1603

10441 1.01 301.2 607.3 13.0 500 10445 0.00 2.62 0.00 0.000 6 0.000 0.066 2935 2144 1603

10768 0.94 301.2 560.4 14.0 516 10770 0.15 0.00 0.00 0.000 6 0.091 0.000 2904 2122 1602

11077 0.98 301.2 529.5 8.5 531 11081 0.00 2.60 0.00 0.000 4 0.000 0.077 2904 741 1601

11117 1.03 301.2 526.0 8.9 533 11121 0.00 2.60 0.00 0.000 6 0.000 0.065 2904 2151 1601

11444 1.08 301.2 499.6 8.0 549 11449 0.12 2.60 0.00 0.000 4 0.056 0.074 2941 3558 1601

11488 1.04 301.2 495.0 10.6 551 11493 0.00 2.58 0.00 0.000 6 0.000 0.058 2941 2147 1601

11810 0.98 301.2 461.5 10.7 567 11815 0.15 2.58 0.00 0.000 4 0.084 0.071 2908 741 1601

11860 1.02 301.2 456.4 10.1 569 11865 0.00 2.58 0.00 0.000 6 0.000 0.061 2908 2152 1601

12176 1.02 301.2 429.9 7.8 584 12177 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 2152 1601

12485 1.07 301.2 407.2 6.8 599 12490 0.10 2.60 0.00 0.000 4 0.058 0.069 2942 742 1602

12526 1.00 301.2 404.0 9.0 601 12531 0.12 2.55 0.00 0.000 6 0.084 0.058 2914 2150 1602

12853 1.00 301.2 382.4 6.5 617 12854 0.00 0.00 0.00 0.000 6 0.000 0.000 2915 2149 1603

13162 1.00 301.2 362.5 6.4 632 13167 0.00 2.60 0.00 0.000 4 0.000 0.067 2914 739 1603

13213 1.04 301.2 358.9 7.2 634 13218 0.00 2.58 0.00 0.000 6 0.000 0.057 2914 2161 1603

13529 1.04 301.2 338.9 6.6 649 13530 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 2161 1604

13838 1.04 301.2 317.2 6.9 664 13842 0.00 2.60 0.00 0.000 4 0.000 0.067 2914 743 1604

13888 1.08 301.2 313.2 7.9 666 13892 0.00 2.53 0.00 0.000 6 0.000 0.056 2914 2147 1604

14204 1.08 301.2 289.3 7.5 681 14205 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 2147 1605

14513 1.08 301.2 267.8 6.4 696 14518 0.00 2.60 0.00 0.000 4 0.000 0.067 2914 738 1605

14554 1.12 301.2 265.0 7.1 698 14559 0.12 2.55 0.00 0.000 6 0.051 0.055 2955 2155 1605

14881 1.02 301.2 237.0 8.7 714 14886 0.15 2.53 0.00 0.000 4 0.078 0.066 2918 3556 1605

14931 1.07 301.2 233.2 7.2 716 14935 0.00 2.53 0.00 0.000 6 0.000 0.051 2918 2147 1606

15247 1.07 301.2 212.7 6.4 731 15251 0.00 2.53 0.00 0.000 4 0.000 0.067 2918 744 1606

15309 1.07 301.2 208.2 7.5 734 15313 0.00 2.55 0.00 0.000 6 0.000 0.055 2919 2155 1606

15635 1.07 301.2 185.7 7.3 750 15636 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 2155 1606

15945 1.11 301.3 165.3 6.0 765 15950 0.10 2.60 0.00 0.000 4 0.055 0.066 2953 739 1606

15985 1.03 301.3 162.2 8.1 767 15990 0.15 2.55 0.00 0.000 6 0.081 0.055 2921 2160 1607

16312 1.03 301.3 139.5 7.3 783 16314 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 2158 1607

16623 1.03 301.3 116.7 7.1 798 16627 0.00 2.60 0.00 0.000 4 0.000 0.066 2920 743 1607

16679 1.08 301.3 112.0 8.0 800 16686 0.00 2.53 0.00 0.000 6 0.000 0.054 2920 2151 1608

16995 1.08 301.3 90.0 7.1 816 16999 0.00 2.53 0.00 0.000 4 0.000 0.065 2920 3557 1608

17035 1.13 301.3 86.8 7.4 818 17040 0.10 2.53 0.00 0.000 6 0.056 0.051 2955 2148 1608

17363 1.06 301.3 61.9 7.3 834 17368 0.12 2.53 0.00 0.000 4 0.081 0.066 2929 744 1608

17425 1.06 301.3 57.5 6.7 837 17430 0.00 2.53 0.00 0.000 6 0.000 0.054 2929 2150 1608

17753 1.06 301.3 35.7 6.9 853 17757 0.00 2.53 0.00 0.000 4 0.000 0.065 2929 3557 1608

17797 1.11 301.3 32.3 7.4 855 17802 0.00 2.53 0.00 0.000 6 0.000 0.050 2929 2142 1608

18120 1.16 301.3 9.1 7.8 871 18124 0.10 2.53 0.00 0.000 4 0.053 0.064 2965 738 1608

18195 end climb: SURFACE_DEPTH_REACHED

state 18195 begin surface coast

18207 end surface coast: CONTROL_FINISHED_OK

state 18207 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	30	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2150	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2832	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-77230.242	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	165502,6148.768,-919.711,39,1.6,39,-9.5	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.032,-0.219
_SM_DEPTHo	1.02	KALMAN_X	-39035.3,1364.5,488.0,-18756.1,3450.3
_SM_ANGLEo	-58.3	KALMAN_Y	-16933.4,55.2,-55.4,61255.4,14046.2
GPS2	170145,6148.840,-919.544,16,1.3,16,-9.5	MHEAD_RNG_PITCHd_Wd	181.2,16346,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027104	ALTIM_BOTTOM_PING	675.5,26.9
SM_CCo	18293,0.00,0.000,0,0,1607,300.49	_24V_AH	23.8,9.636
SM_GC	0.93,11.02,0.00,0.00,0.038,0.000,0.000,418,2173,1607,-10.40,0.65,300.49	_10V_AH	10.0,3.374
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44216,875
TT8_MAMPS	0.029146	CAP_FILE_SIZE	150110,0
HUMID	1667	CFSIZE	254472192,250355712
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
XPDR_PINGS	647	GPS	110608,220856,6150.714,-914.114,48,1.1,48,-9.5
ALTIM_TOP_PING	18.6,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	140	88.19	SBE_CT	600	24	342.72
Roll_motor	215	85	436.96	SBE_O2	646	19	292.46
VBD_pump_during_apogee	377	1305	11720.13	WL_BB2F	534	105	1336.94
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	45	160	174.94	nil	0	0	0.00
Iridium_during_xfer	181	223	962.56
Transponder_ping	168	420	1679.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.39
TT8	1677	19	332.20
LPSleep	13837	2	303.03
TT8_Active	536	19	106.14
TT8_Sampling	2039	39	811.80
TT8_CF8	598	45	273.97
TT8_Kalman	33	81	27.31
Analog_circuits	1591	12	191.02
GPS_charging	0	0	0.00
Compass	1989	8	159.14
RAFOS	0	0	0.00

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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
24	-0.97	-146.6	0.0	0.0	0	105	0.00	0.00	-77.28	0.000	6	0.000	0.000	424	2170	3430
109	-0.97	-146.6	5.4	-7.0	4	125	10.70	2.55	0.00	0.000	4	0.140	0.064	2482	3562	3432
378	-0.72	-146.6	49.9	-11.4	15	383	0.28	2.53	0.00	0.000	6	0.086	0.047	2541	2139	3433
700	-0.66	-146.6	81.6	-10.1	31	704	0.00	2.60	0.00	0.000	4	0.000	0.064	2541	3557	3434
718	-0.61	-146.6	83.3	-9.9	32	723	0.12	2.50	0.00	0.000	6	0.090	0.048	2567	2152	3434
1045	-0.61	-146.6	111.6	-8.7	48	1049	0.00	2.58	0.00	0.000	4	0.000	0.063	2567	3556	3434
1112	-0.61	-146.6	118.1	-9.5	51	1116	0.00	2.50	0.00	0.000	6	0.000	0.047	2568	2146	3434
1433	-0.61	-146.6	144.9	-8.1	67	1437	0.00	2.60	0.00	0.000	4	0.000	0.065	2567	3558	3434
1450	-0.61	-146.6	146.3	-7.7	68	1454	0.00	2.50	0.00	0.000	6	0.000	0.050	2567	2152	3434
1776	-0.61	-146.6	170.9	-7.4	84	1781	0.00	2.58	0.00	0.000	4	0.000	0.065	2567	3557	3434
1789	-0.61	-146.6	171.8	-7.4	84	1794	0.00	2.50	0.00	0.000	6	0.000	0.049	2567	2150	3434
2104	-0.61	-146.6	195.8	-7.9	100	2108	0.00	2.60	0.00	0.000	4	0.000	0.066	2568	3561	3434
2148	-0.61	-146.6	199.5	-8.6	102	2152	0.00	2.50	0.00	0.000	6	0.000	0.048	2567	2145	3434
2469	-0.61	-146.6	224.5	-8.1	118	2473	0.00	2.60	0.00	0.000	4	0.000	0.067	2567	3557	3434
2514	-0.65	-146.6	228.4	-8.5	120	2518	0.00	2.50	0.00	0.000	6	0.000	0.050	2567	2149	3434
2841	-0.65	-146.6	254.6	-8.0	136	2845	0.00	2.58	0.00	0.000	4	0.000	0.067	2567	3557	3434
2868	-0.65	-146.6	256.9	-8.0	137	2872	0.00	2.50	0.00	0.000	6	0.000	0.050	2567	2150	3433
3183	-0.65	-146.6	283.0	-8.6	152	3188	0.00	2.58	0.00	0.000	4	0.000	0.067	2568	3556	3433
3234	-0.69	-146.6	287.7	-9.5	154	3238	0.00	2.50	0.00	0.000	6	0.000	0.050	2567	2150	3434
3550	-0.69	-146.6	314.2	-7.9	169	3554	0.00	2.60	0.00	0.000	4	0.000	0.068	2567	3564	3433
3577	-0.74	-146.6	316.6	-8.6	170	3582	0.12	2.53	0.00	0.000	6	0.052	0.052	2530	2150	3433
3893	-0.67	-146.6	345.2	-8.7	185	3898	0.12	2.58	0.00	0.000	4	0.091	0.068	2555	3556	3433
3915	-0.67	-146.6	347.0	-7.9	186	3919	0.00	2.53	0.00	0.000	6	0.000	0.052	2555	2145	3433
4235	-0.67	-146.6	371.6	-7.9	202	4240	0.00	2.60	0.00	0.000	4	0.000	0.069	2555	3560	3432
4257	-0.67	-146.6	373.5	-7.9	203	4262	0.00	2.50	0.00	0.000	6	0.000	0.052	2555	2150	3432
4579	-0.67	-146.6	399.8	-8.2	219	4583	0.00	2.60	0.00	0.000	4	0.000	0.069	2555	3562	3432
4589	-0.67	-146.6	400.7	-8.1	219	4593	0.00	2.53	0.00	0.000	6	0.000	0.054	2555	2151	3432
4905	-0.67	-146.6	425.5	-7.3	234	4910	0.00	2.60	0.00	0.000	4	0.000	0.070	2555	3563	3432
4916	-0.67	-146.6	426.4	-7.1	234	4922	0.00	2.53	0.00	0.000	6	0.000	0.054	2555	2151	3432
5232	-0.67	-146.6	448.0	-6.7	250	5236	0.00	2.60	0.00	0.000	4	0.000	0.070	2555	3558	3432
5244	-0.67	-146.6	448.7	-6.4	250	5250	0.00	2.53	0.00	0.000	6	0.000	0.054	2555	2150	3431
5560	-0.67	-146.6	471.5	-7.4	266	5564	0.00	2.60	0.00	0.000	4	0.000	0.071	2555	3561	3431
5615	-0.67	-146.6	476.3	-8.7	268	5621	0.00	2.53	0.00	0.000	6	0.000	0.053	2555	2150	3431
5931	-0.67	-146.6	501.3	-7.5	284	5936	0.00	2.60	0.00	0.000	4	0.000	0.070	2555	3556	3431
5982	-0.67	-146.6	505.8	-7.9	286	5986	0.00	2.50	0.00	0.000	6	0.000	0.052	2555	2146	3430
6298	-0.67	-146.6	526.8	-6.2	301	6302	0.00	2.60	0.00	0.000	4	0.000	0.071	2555	3557	3430
6353	-0.67	-146.6	530.3	-6.1	303	6359	0.00	2.53	0.00	0.000	6	0.000	0.053	2555	2147	3430
6669	-0.67	-146.6	548.5	-6.0	319	6673	0.00	2.60	0.00	0.000	4	0.000	0.071	2556	3557	3430
6709	-0.67	-146.6	551.2	-7.1	321	6713	0.00	2.53	0.00	0.000	6	0.000	0.054	2555	2144	3430
7035	-0.67	-146.6	572.0	-6.7	337	7039	0.00	2.62	0.00	0.000	4	0.000	0.071	2555	3561	3430
7090	-0.67	-146.6	576.3	-8.3	339	7096	0.00	2.53	0.00	0.000	6	0.000	0.054	2555	2150	3430
7406	-0.67	-146.6	594.7	-5.1	355	7410	0.00	2.62	0.00	0.000	4	0.000	0.071	2555	3563	3430
7479	-0.72	-146.6	598.8	-5.2	358	7483	0.00	2.55	0.00	0.000	6	0.000	0.054	2555	2139	3430
7795	-0.76	-146.6	608.7	-1.4	373	7796	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2121	3430
8105	-0.82	-146.6	624.6	-2.9	388	8110	0.15	2.62	0.00	0.000	4	0.049	0.071	2513	3557	3430
8168	-0.71	-146.6	627.2	-5.0	391	8173	0.15	2.53	0.00	0.000	6	0.095	0.058	2543	2146	3430
8495	-0.71	-146.6	655.9	-6.7	407	8499	0.00	2.65	0.00	0.000	4	0.000	0.076	2543	3561	3430
8581	-0.66	-146.6	659.7	-1.9	411	8585	0.00	2.55	0.00	0.000	6	0.000	0.058	2543	2145	3430
8907	-0.66	-146.6	681.6	-12.9	427	8911	0.00	2.67	0.00	0.000	4	0.000	0.083	2543	3552	3430
8924	-0.72	-146.6	684.2	-15.3	428	8929	0.00	2.55	0.00	0.000	6	0.000	0.061	2543	2148	3430
9022	end dive: BOTTOM_OBSTACLE_DETECTED
state	9022	begin apogee
9028	-0.33	0.0	693.4	10.4	433	9156	0.40	0.00	124.88	1.305	6	0.088	0.000	2625	2136	2832
9157	end apogee: CONTROL_FINISHED_OK
state	9157	begin climb
9160	0.97	146.6	700.2	0.0	439	9291	1.30	2.70	123.30	1.273	4	0.062	0.085	2913	749	2234
9546	0.74	146.6	665.4	17.8	456	9553	0.25	2.62	0.00	0.000	6	0.077	0.071	2862	2146	2233
9863	1.05	301.2	652.6	1.8	472	9999	0.28	2.72	129.05	1.279	4	0.049	0.084	2935	3556	1604
10079	1.05	301.2	644.0	8.9	482	10084	0.00	2.65	0.00	0.000	6	0.000	0.071	2935	2155	1604
10400	1.05	301.2	612.2	10.6	498	10405	0.00	2.70	0.00	0.000	4	0.000	0.084	2935	3556	1603
10441	1.01	301.2	607.3	13.0	500	10445	0.00	2.62	0.00	0.000	6	0.000	0.066	2935	2144	1603
10768	0.94	301.2	560.4	14.0	516	10770	0.15	0.00	0.00	0.000	6	0.091	0.000	2904	2122	1602
11077	0.98	301.2	529.5	8.5	531	11081	0.00	2.60	0.00	0.000	4	0.000	0.077	2904	741	1601
11117	1.03	301.2	526.0	8.9	533	11121	0.00	2.60	0.00	0.000	6	0.000	0.065	2904	2151	1601
11444	1.08	301.2	499.6	8.0	549	11449	0.12	2.60	0.00	0.000	4	0.056	0.074	2941	3558	1601
11488	1.04	301.2	495.0	10.6	551	11493	0.00	2.58	0.00	0.000	6	0.000	0.058	2941	2147	1601
11810	0.98	301.2	461.5	10.7	567	11815	0.15	2.58	0.00	0.000	4	0.084	0.071	2908	741	1601
11860	1.02	301.2	456.4	10.1	569	11865	0.00	2.58	0.00	0.000	6	0.000	0.061	2908	2152	1601
12176	1.02	301.2	429.9	7.8	584	12177	0.00	0.00	0.00	0.000	6	0.000	0.000	2908	2152	1601
12485	1.07	301.2	407.2	6.8	599	12490	0.10	2.60	0.00	0.000	4	0.058	0.069	2942	742	1602
12526	1.00	301.2	404.0	9.0	601	12531	0.12	2.55	0.00	0.000	6	0.084	0.058	2914	2150	1602
12853	1.00	301.2	382.4	6.5	617	12854	0.00	0.00	0.00	0.000	6	0.000	0.000	2915	2149	1603
13162	1.00	301.2	362.5	6.4	632	13167	0.00	2.60	0.00	0.000	4	0.000	0.067	2914	739	1603
13213	1.04	301.2	358.9	7.2	634	13218	0.00	2.58	0.00	0.000	6	0.000	0.057	2914	2161	1603
13529	1.04	301.2	338.9	6.6	649	13530	0.00	0.00	0.00	0.000	6	0.000	0.000	2914	2161	1604
13838	1.04	301.2	317.2	6.9	664	13842	0.00	2.60	0.00	0.000	4	0.000	0.067	2914	743	1604
13888	1.08	301.2	313.2	7.9	666	13892	0.00	2.53	0.00	0.000	6	0.000	0.056	2914	2147	1604
14204	1.08	301.2	289.3	7.5	681	14205	0.00	0.00	0.00	0.000	6	0.000	0.000	2914	2147	1605
14513	1.08	301.2	267.8	6.4	696	14518	0.00	2.60	0.00	0.000	4	0.000	0.067	2914	738	1605
14554	1.12	301.2	265.0	7.1	698	14559	0.12	2.55	0.00	0.000	6	0.051	0.055	2955	2155	1605
14881	1.02	301.2	237.0	8.7	714	14886	0.15	2.53	0.00	0.000	4	0.078	0.066	2918	3556	1605
14931	1.07	301.2	233.2	7.2	716	14935	0.00	2.53	0.00	0.000	6	0.000	0.051	2918	2147	1606
15247	1.07	301.2	212.7	6.4	731	15251	0.00	2.53	0.00	0.000	4	0.000	0.067	2918	744	1606
15309	1.07	301.2	208.2	7.5	734	15313	0.00	2.55	0.00	0.000	6	0.000	0.055	2919	2155	1606
15635	1.07	301.2	185.7	7.3	750	15636	0.00	0.00	0.00	0.000	6	0.000	0.000	2918	2155	1606
15945	1.11	301.3	165.3	6.0	765	15950	0.10	2.60	0.00	0.000	4	0.055	0.066	2953	739	1606
15985	1.03	301.3	162.2	8.1	767	15990	0.15	2.55	0.00	0.000	6	0.081	0.055	2921	2160	1607
16312	1.03	301.3	139.5	7.3	783	16314	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	2158	1607
16623	1.03	301.3	116.7	7.1	798	16627	0.00	2.60	0.00	0.000	4	0.000	0.066	2920	743	1607
16679	1.08	301.3	112.0	8.0	800	16686	0.00	2.53	0.00	0.000	6	0.000	0.054	2920	2151	1608
16995	1.08	301.3	90.0	7.1	816	16999	0.00	2.53	0.00	0.000	4	0.000	0.065	2920	3557	1608
17035	1.13	301.3	86.8	7.4	818	17040	0.10	2.53	0.00	0.000	6	0.056	0.051	2955	2148	1608
17363	1.06	301.3	61.9	7.3	834	17368	0.12	2.53	0.00	0.000	4	0.081	0.066	2929	744	1608
17425	1.06	301.3	57.5	6.7	837	17430	0.00	2.53	0.00	0.000	6	0.000	0.054	2929	2150	1608
17753	1.06	301.3	35.7	6.9	853	17757	0.00	2.53	0.00	0.000	4	0.000	0.065	2929	3557	1608
17797	1.11	301.3	32.3	7.4	855	17802	0.00	2.53	0.00	0.000	6	0.000	0.050	2929	2142	1608
18120	1.16	301.3	9.1	7.8	871	18124	0.10	2.53	0.00	0.000	4	0.053	0.064	2965	738	1608
18195	end climb: SURFACE_DEPTH_REACHED
state	18195	begin surface coast
18207	end surface coast: CONTROL_FINISHED_OK
state	18207	begin surface