OKMC Nov11 * SG165 * Dive index * Mission links * Dive 335 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  165 HD_B  0.010078 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  50
DIVE  335 HEADING  210 ROLL_MIN  200 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3692 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  11 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  11 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1955 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1990 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  54 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  55 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.85000002
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  3 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  163 VBD_MIN  485 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE2  53
T_DIVE  300 UPLOAD_DIVES_MAX  -1 C_VBD  2786 DEVICE3  35
T_MISSION  340 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -7 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -271851.78 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1001 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  200 PITCH_MIN  180 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3922 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2950 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043567759
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -57.316994 SEABIRD_T_H  0.00062679156
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000116182 SEABIRD_T_I  2.4204959e-05
MASS  51872 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.6176024e-06
NAV_MODE  0 PITCH_GAIN  30 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.134539
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1435308
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0010041125
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  250 SEABIRD_C_J  0.00016055659

Pre-dive calculations and measurements:
GPS1  250112,032331,2108.602,11958.435,41,1.2,41,-2.5 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2059.210,11952.735
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.084,-0.266
_SM_DEPTHo  5.89 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  250112,033314,2108.562,11958.519,14,1.2,14,-2.5 MHEAD_RNG_PITCHd_Wd  212.5,20000,-17.0,-11.000
SPEED_LIMITS  0.191,0.306 D_GRID  3442

Post-dive calculations and measurements:
FINISH  4.3,1.023372 _24V_AH  22.4,73.253
SM_CCo  15898,0.00,0.000,0,0,481,565.17 _10V_AH  9.8,58.248
SM_GC  5.02,7.97,0.00,0.00,0.034,0.000,0.000,169,1972,481,-8.61,0.51,565.17,0,0,0,0,0,0 FG_AHR_24Vo  0.000
IRIDIUM_FIX  2101.76,11955.59,240112,222210 FG_AHR_10Vo  0.000
TT8_MAMPS  0.023968,0.023968 MEM  325304
HUMID  46.37 DATA_FILE_SIZE  80091,1400
INTERNAL_PRESSURE  9.32689 CAP_FILE_SIZE  211490,9
TCM_TEMP  23.90 CFSIZE  260165632,170086400
XPDR_PINGS  38 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
ALTIM_BOTTOM_PING  741.6,0.0 GPS  250112,075937,2106.617,11957.350,25,1.3,25,-2.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21240117.81 SBE_CT94924510.50
Roll_motor1357712337.05 AA38302963332190.97
VBD_pump_during_apogee683132220243.43 WL_BB2F7521051770.32
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010369.56 nil000.00
Iridium_during_connect59160213.37 nil000.00
Iridium_during_xfer3312231653.61 nil000.00
Transponder_ping942091.73 nil000.00
GUMSTIX_24V000.00
GPS16508.22
TT8325019630.74
LPSleep72742156.13
TT8_Active57019110.78
TT8_Sampling4915391917.40
TT8_CF844745200.76
TT8_Kalman000.00
Analog_circuits226312266.24
GPS_charging000.00
Compass450415662.10
RAFOS000.00
Transponder3300.91

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 pitch_volts roll_volts vbd_volts
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.81 -194.6 0.0 0.0 0 120 0.00 0.05 -98.18 0.000 6 0.000 0.771 128 1960 3582 0 0 0 0 0 0 28.83 23.77 26.54
124 -0.81 -194.6 13.0 -23.5 16 146 10.60 2.15 0.00 0.000 4 0.241 0.035 2691 549 3583 0 0 0 0 0 0 24.89 26.05 28.83
324 -0.75 -194.6 78.6 -26.5 52 332 0.00 2.15 0.00 0.000 6 0.000 0.034 2684 1944 3584 0 0 0 0 0 0 28.83 26.14 28.83
661 -0.71 -194.6 149.9 -12.3 113 668 0.12 2.20 0.00 0.000 4 0.175 0.045 2713 3368 3585 0 0 0 0 0 0 26.09 26.08 28.83
774 -0.71 -194.6 159.9 -8.8 133 780 0.00 2.12 0.00 0.000 6 0.000 0.031 2713 1956 3585 0 0 0 0 0 0 28.83 26.25 28.83
1106 -0.69 -194.6 199.5 -14.0 194 1113 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1956 3586 0 0 0 0 0 0 28.83 28.83 28.83
1413 -0.69 -194.6 244.4 -12.6 225 1419 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1956 3586 0 0 0 0 0 0 28.83 28.83 28.83
1725 -0.69 -194.6 280.6 -11.5 256 1735 0.00 2.20 0.00 0.000 4 0.000 0.048 2704 3362 3586 0 0 0 0 0 0 28.83 26.12 28.83
1759 -0.69 -194.6 284.6 -10.8 259 1767 0.00 2.10 0.00 0.000 6 0.000 0.031 2703 1956 3586 0 0 0 0 0 0 28.83 26.29 28.83
2067 -0.69 -194.6 317.3 -8.6 290 2076 0.00 2.20 0.00 0.000 4 0.000 0.048 2698 3357 3585 0 0 0 0 0 0 28.83 26.10 28.83
2122 -0.69 -194.6 321.3 -7.5 295 2129 0.00 2.12 0.00 0.000 6 0.000 0.032 2698 1951 3585 0 0 0 0 0 0 28.83 26.28 28.83
2429 -0.69 -194.6 352.1 -10.9 326 2438 0.00 2.17 0.00 0.000 4 0.000 0.049 2698 552 3584 0 0 0 0 0 0 28.83 26.13 28.83
2463 -0.69 -194.6 355.5 -11.0 329 2470 0.00 2.15 0.00 0.000 6 0.000 0.037 2698 1954 3584 0 0 0 0 0 0 28.83 26.22 28.83
2770 -0.69 -194.6 393.3 -13.6 360 2772 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 1954 3584 0 0 0 0 0 0 28.83 28.83 28.83
3072 -0.69 -194.6 432.4 -12.0 390 3073 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 1955 3582 0 0 0 0 0 0 28.83 28.83 28.83
3374 -0.69 -194.6 467.3 -10.2 420 3380 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 1954 3581 0 0 0 0 0 0 28.83 28.83 28.83
3682 -0.69 -194.6 494.2 -7.5 451 3691 0.00 2.20 0.00 0.000 4 0.000 0.051 2698 3353 3579 0 0 0 0 0 0 28.83 26.07 28.83
3718 -0.69 -194.6 496.4 -6.8 454 3725 0.00 2.12 0.00 0.000 6 0.000 0.032 2698 1951 3579 0 0 0 0 0 0 28.83 26.27 28.83
4024 -0.69 -194.6 515.0 -6.1 485 4032 0.00 2.15 0.00 0.000 4 0.000 0.050 2698 561 3577 0 0 0 0 0 0 28.83 26.10 28.83
4060 -0.69 -194.6 517.1 -6.7 488 4066 0.00 2.15 0.00 0.000 6 0.000 0.037 2698 1954 3577 0 0 0 0 0 0 28.83 26.20 28.83
4365 -0.69 -194.6 544.6 -11.3 519 4374 0.00 2.20 0.00 0.000 4 0.000 0.051 2698 3361 3576 0 0 0 0 0 0 28.83 26.05 28.83
4420 -0.71 -194.6 550.5 -11.3 524 4427 0.00 2.15 0.00 0.000 6 0.000 0.032 2698 1954 3576 0 0 0 0 0 0 28.83 26.25 28.83
4728 -0.72 -194.6 589.4 -12.6 555 4736 0.00 2.22 0.00 0.000 4 0.000 0.050 2698 3362 3575 0 0 0 0 0 0 28.83 26.04 28.83
4753 -0.73 -194.6 592.1 -12.6 557 4759 0.00 2.15 0.00 0.000 6 0.000 0.031 2698 1946 3574 0 0 0 0 0 0 28.83 26.26 28.83
5061 -0.74 -194.6 626.1 -9.9 576 5065 0.00 2.17 0.00 0.000 4 0.000 0.050 2698 560 3573 0 0 0 0 0 0 28.83 26.07 28.83
5086 -0.75 -194.6 628.3 -9.8 577 5091 0.00 2.17 0.00 0.000 6 0.000 0.038 2698 1968 3573 0 0 0 0 0 0 28.83 26.18 28.83
5400 -0.76 -194.6 654.4 -7.6 593 5406 0.00 2.17 0.00 0.000 4 0.000 0.051 2698 3352 3571 0 0 0 0 0 0 28.83 26.03 28.83
5492 -0.78 -194.6 660.0 -7.0 597 5499 0.00 2.12 0.00 0.000 6 0.000 0.031 2698 1953 3570 0 0 0 0 0 0 28.83 26.25 28.83
5800 -0.79 -194.6 682.8 -7.4 613 5806 0.00 2.25 0.00 0.000 4 0.000 0.050 2698 3362 3570 0 0 0 0 0 0 28.83 26.02 28.83
5843 -0.80 -194.6 685.7 -7.4 615 5847 0.00 2.15 0.00 0.000 6 0.000 0.031 2698 1948 3569 0 0 0 0 0 0 28.83 26.25 28.83
6155 -0.82 -194.6 710.6 -8.4 631 6156 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 1948 3568 0 0 0 0 0 0 28.83 28.83 28.83
6455 -0.83 -194.6 739.4 -10.4 646 6456 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 1948 3567 0 0 0 0 0 0 28.83 28.83 28.83
6755 -0.84 -194.6 774.3 -12.4 661 6760 0.00 2.17 0.00 0.000 4 0.000 0.052 2698 558 3566 0 0 0 0 0 0 28.83 26.02 28.83
6809 -0.86 -194.6 779.9 -13.5 663 6816 0.00 2.17 0.00 0.000 6 0.000 0.039 2698 1959 3565 0 0 0 0 0 0 28.83 26.15 28.83
7115 -0.87 -194.6 824.1 -14.1 679 7118 0.00 2.22 0.00 0.000 4 0.000 0.053 2697 3358 3564 0 0 0 0 0 0 28.83 25.97 28.83
7164 -0.89 -194.6 830.0 -14.0 681 7169 0.10 2.15 0.00 0.000 6 0.103 0.032 2641 1948 3564 0 0 0 0 0 0 26.15 26.22 28.83
7473 -0.87 -194.6 882.7 -16.0 696 7479 0.12 2.25 0.00 0.000 4 0.164 0.049 2671 3356 3563 0 0 0 0 0 0 26.13 25.98 28.83
7495 -0.85 -194.6 885.9 -15.8 697 7499 0.00 2.15 0.00 0.000 6 0.000 0.034 2671 1956 3563 0 0 0 0 0 0 28.83 26.20 28.83
7808 -0.85 -194.6 920.6 -9.6 713 7810 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 1956 3562 0 0 0 0 0 0 28.83 28.83 28.83
8114 -0.85 -194.6 946.4 -8.2 728 8118 0.00 2.22 0.00 0.000 4 0.000 0.054 2671 554 3564 0 0 0 0 0 0 28.83 25.97 28.83
8146 -0.85 -194.6 948.7 -8.1 729 8152 0.00 2.17 0.00 0.000 6 0.000 0.041 2671 1948 3562 0 0 0 0 0 0 28.83 26.10 28.83
8464 -0.85 -194.6 975.2 -8.7 745 8470 0.00 2.25 0.00 0.000 4 0.000 0.054 2671 3356 3560 0 0 0 0 0 0 28.83 25.92 28.83
8543 -0.86 -194.6 980.8 -8.4 748 8549 0.00 2.15 0.00 0.000 6 0.000 0.033 2671 1952 3559 0 0 0 0 0 0 28.83 26.20 28.83
8645 end dive: TARGET_DEPTH_EXCEEDED
state 8645 begin apogee
8650 -0.17 0.0 990.4 -9.1 753 8826 0.68 0.00 163.50 1.323 6 0.122 0.000 2892 1952 2785 0 0 0 0 0 0 25.50 28.83 22.92
8829 end apogee: CONTROL_FINISHED_OK
state 8829 begin climb
8833 0.81 194.6 997.4 0.0 762 9025 0.85 0.00 175.95 1.282 6 0.045 0.000 3226 1955 1990 0 0 0 0 0 0 24.89 28.83 22.36
9327 0.72 194.6 926.2 17.5 787 9333 0.12 2.28 0.00 0.000 4 0.171 0.046 3189 3392 1985 0 0 0 0 0 0 25.82 25.91 28.83
9462 0.66 194.6 904.6 15.5 792 9468 0.10 2.17 0.00 0.000 6 0.158 0.035 3166 1994 1984 0 0 0 0 0 0 25.77 26.12 28.83
9789 0.61 194.6 861.9 13.3 808 9794 0.00 2.22 0.00 0.000 4 0.000 0.046 3166 3397 1983 0 0 0 0 0 0 28.83 26.08 28.83
9851 0.56 194.6 853.8 14.7 810 9868 0.15 2.20 0.00 0.000 6 0.171 0.034 3136 1982 1982 0 0 0 0 0 0 25.85 26.22 28.83
10169 0.53 194.6 803.1 17.0 826 10174 0.00 2.20 0.00 0.000 4 0.000 0.046 3136 3394 1982 0 0 0 0 0 0 28.83 26.10 28.83
10225 0.51 194.6 793.7 17.4 828 10230 0.00 2.17 0.00 0.000 6 0.000 0.033 3144 1987 1982 0 0 0 0 0 0 28.83 26.26 28.83
10551 0.48 194.6 736.1 17.3 844 10557 0.12 2.20 0.00 0.000 4 0.160 0.048 3110 579 1981 0 0 0 0 0 0 26.15 26.10 28.83
10579 0.46 194.6 731.6 17.0 845 10583 0.00 2.17 0.00 0.000 6 0.000 0.033 3113 2004 1980 0 0 0 0 0 0 28.83 26.22 28.83
10902 0.49 228.4 692.8 9.7 861 10942 0.00 2.25 29.58 1.123 4 0.000 0.047 3113 3386 1854 0 0 0 0 0 0 28.83 25.68 23.93
11080 0.57 296.0 677.1 8.4 868 11162 0.00 2.17 61.33 1.115 6 0.000 0.033 3123 1982 1579 0 0 0 0 0 0 28.83 26.03 23.72
11461 0.75 434.6 653.0 5.7 887 11601 0.17 2.30 121.10 1.088 4 0.073 0.057 3227 586 1012 0 0 0 0 0 0 26.20 24.96 23.58
11613 0.72 434.6 634.3 15.3 894 11631 0.17 2.22 0.00 0.000 6 0.138 0.031 3179 1993 1011 0 0 0 0 0 0 25.14 25.36 28.83
11937 0.72 434.6 590.9 14.5 912 11943 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 1993 1008 0 0 0 0 0 0 28.83 28.83 28.83
12273 0.72 434.6 537.2 16.1 943 12287 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 1993 1007 0 0 0 0 0 0 28.83 28.83 28.83
12600 0.73 434.6 485.8 14.7 974 12608 0.00 2.22 0.00 0.000 4 0.000 0.050 3186 583 1008 0 0 0 0 0 0 28.83 26.10 28.83
12644 0.74 434.6 479.9 13.2 978 12651 0.00 2.12 0.00 0.000 6 0.000 0.031 3186 1992 1007 0 0 0 0 0 0 28.83 26.26 28.83
12951 0.74 434.6 436.8 13.6 1009 12959 0.00 2.17 0.00 0.000 4 0.000 0.044 3186 3386 1007 0 0 0 0 0 0 28.83 26.10 28.83
12975 0.75 434.6 433.9 13.0 1011 12982 0.00 2.17 0.00 0.000 6 0.000 0.033 3196 1967 1007 0 0 0 0 0 0 28.83 26.23 28.83
13310 0.75 434.6 378.7 18.1 1042 13319 0.00 2.15 0.00 0.000 4 0.000 0.050 3206 592 1007 0 0 0 0 0 0 28.83 26.09 28.83
13381 0.75 434.6 364.9 18.4 1049 13390 0.00 2.12 0.00 0.000 6 0.000 0.031 3206 1993 1007 0 0 0 0 0 0 28.83 26.27 28.83
13691 0.75 434.6 302.2 16.9 1080 13700 0.00 2.17 0.00 0.000 4 0.000 0.044 3206 3389 1007 0 0 0 0 0 0 28.83 26.08 28.83
13737 0.75 434.6 295.9 14.7 1084 13746 0.00 2.17 0.00 0.000 6 0.000 0.033 3215 1989 1007 0 0 0 0 0 0 28.83 26.24 28.83
14047 0.83 501.5 265.7 8.5 1115 14146 0.00 2.30 71.95 0.787 4 0.000 0.050 3226 587 738 0 0 0 0 3 0 28.83 25.51 24.08
14201 0.85 501.5 248.0 11.8 1130 14211 0.00 2.15 0.00 0.000 6 0.000 0.030 3226 1993 730 0 0 0 0 0 0 28.83 25.84 28.83
14518 0.86 501.5 187.4 22.1 1166 14525 0.00 0.00 0.00 0.000 6 0.000 0.000 3226 1993 727 0 0 0 0 0 0 28.83 28.83 28.83
14850 1.00 593.9 136.0 7.5 1227 14927 0.12 2.25 59.85 0.691 4 0.088 0.042 3299 3382 484 0 0 0 0 1 0 26.39 25.59 24.34
14953 1.00 593.9 123.6 11.8 1243 14961 0.15 2.17 0.00 0.000 6 0.150 0.033 3269 1975 483 0 0 0 0 0 0 25.52 25.76 28.83
15286 1.09 647.8 97.3 9.0 1304 15294 0.00 2.17 0.00 0.000 4 0.000 0.050 3277 605 482 0 0 0 0 0 0 28.83 26.02 28.83
15393 1.12 647.8 85.2 11.1 1323 15400 0.10 2.10 0.00 0.000 6 0.101 0.029 3333 2001 482 0 0 0 0 0 0 26.13 26.21 28.83
15724 1.11 647.8 18.2 20.9 1384 15732 0.00 2.17 0.00 0.000 4 0.000 0.044 3333 3387 482 0 0 0 0 0 0 28.83 26.06 28.83
15746 1.09 647.8 13.0 23.0 1387 15754 0.15 2.12 0.00 0.000 6 0.147 0.032 3300 1978 482 0 0 0 0 0 0 25.94 26.22 28.83
15760 end climb: SURFACE_DEPTH_REACHED
state 15760 begin surface coast
15818 end surface coast: CONTROL_FINISHED_OK
state 15821 begin surface