Taiwan17 Dec16 * SG628 * Dive index * Mission links * Dive 35 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  628 HD_C  9.8500004e-06 ROLL_MAX  3902 ALTIM_BOTTOM_TURN_MARGIN  50
MISSION  3 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  35 ESCAPE_HEADING  0 C_ROLL_DIVE  2150 ALTIM_TOP_MIN_OBSTACLE  1
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1950 ALTIM_PING_DEPTH  400
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  50
D_FLARE  3 TGT_DEFAULT_LAT  4743.1001 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -12224.2 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1010 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  39 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 SM_CC  400 R_STBD_OVSHOOT  57 XPDR_VALID  2
D_BOOST  100 N_FILEKB  4 ROLL_AD_RATE  350 XPDR_INHIBIT  90
T_BOOST  4 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  9 VBD_MIN  734 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  2 VBD_MAX  3960 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  161 C_VBD  2988 DEVICE1  2
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  133
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  147
T_DIVE  380 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  410 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0013 DEVICE5  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  225 CAPMAXSIZE  400000 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERS  0
T_TURN_SAMPINT  -5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  0
T_NO_W  120 T_GPS  15 UNCOM_BLEED  60 LOGGERDEVICE2  0
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  0
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  3 LOGGERDEVICE4  0
USE_BATHY  -8 T_GPS_CHARGE  -123900.41 DBDW  0 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  1 PITCH_W_GAIN  7 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 PITCH_W_DBAND  0.5 PHONE_DEVICE  49
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  310 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_HIT_WINDOW  3600 AH0_10V  0 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  152 MINV_24V  11.5 SIM_W  0
MAX_BUOY  160 PITCH_MAX  3882 MINV_10V  10 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2800 FG_AHR_10V  0 SEABIRD_T_G  0.0044104406
GLIDE_SLOPE  30 PITCH_DBAND  0.0099999998 FG_AHR_24V  0 SEABIRD_T_H  0.00064404617
SPEED_FACTOR  1 PITCH_CNV  0.0031260001 PHONE_SUPPLY  -2 SEABIRD_T_I  2.5974168e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -167.58914 SEABIRD_T_J  3.1912264e-06
MASS  53567 PITCH_GAIN  30 PRESSURE_SLOPE  0.00014036 SEABIRD_C_G  -9.8867512
MASS_COMP  0 PITCH_TIMEOUT  17 AD7714Ch0Gain  32 SEABIRD_C_H  1.1496466
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.00071915763
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00012581857
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4
HD_A  0.0038360001 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0
HD_B  0.010078 ROLL_MIN  247 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  141216,064204,2302.440,12128.406,12,1.4,12,-3.5 TGT_NAME  N1
_CALLS  1 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.96 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -59.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  141216,064836,2302.642,12128.500,7,1.4,8,-3.5 MHEAD_RNG_PITCHd_Wd  254.4,4867,-15.6,-8.684,-18.78,2740
SPEED_LIMITS  0.150,0.255 D_GRID  645

Post-dive calculations and measurements:
FINISH  0.3,1.022836 _10V_AH  13.3,0.000
SM_CCo  12799,38.12,0.163,0,0,1356,400.08 FG_AHR_24Vo  0.000
SM_GC  1.32,7.22,0.30,38.12,0.106,0.080,0.163,147,2168,1356,-8.23,-1.22,400.08,0,0,0,0,0,0,14.79,14.85,14.74 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2253.38,12128.77,101009,202048 MEM  323152
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  134163,1798
HUMID  40.82 CAP_FILE_SIZE  161280,0
INTERNAL_PRESSURE  7.98859 CFSIZE  2097086464,2087452672
TCM_TEMP  21.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  2 CURRENT  0.064, 44.0,1
_24V_AH  13.7,12.382 GPS  141216,102449,2302.315,12127.523,49,1.0,49,-3.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor17651158.76 SBE_CT109223347.50
Roll_motor11986141.55 AA4831_22133351050.59
VBD_pump_during_apogee520154010990.27 WL_BB2FL1953551483.81
VBD_pump_during_surface3816285.11 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 empty000.00
Iridium_during_xfer307162685.78 empty000.00
Transponder_ping142010.07 empty000.00
GUMSTIX_24V000.00
GPS9111.36
TT8399412654.48
LPSleep47152137.34
TT8_Active66912109.74
TT8_Sampling3714321607.67
TT8_CF81563981.92
TT8_Kalman000.00
Analog_circuits235010340.68
GPS_charging000.00
Compass34067339.37
RAFOS000.00
Transponder11304.48

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 13 begin dive
14 -0.72 -155.7 114 2164 1346 1297 0.0 0.0 0 71 0.00 0.00 -54.33 0.000 16386 0.000 0.000 112 2164 3152 3164 3141 0 0 0 0 0 0 28.83 28.83 28.83
73 -0.72 -155.7 112 2164 3164 3141 3.7 -8.7 8 96 8.62 2.35 -7.60 0.000 18692 0.492 0.086 2548 3537 3626 3621 3631 0 0 0 0 0 0 14.54 14.78 14.97
195 -0.72 -155.7 1552 3536 3613 3633 32.9 -21.3 30 204 0.05 2.28 0.00 0.000 3078 0.351 0.035 2566 2133 3626 3618 3635 0 0 0 0 0 0 14.64 14.83 28.83
512 -0.72 -155.7 1568 2128 3612 3634 86.9 -6.9 91 519 0.00 2.25 0.00 0.000 516 0.000 0.056 2567 759 3627 3618 3636 0 0 0 0 0 0 28.83 14.87 28.83
566 -0.72 -155.7 1568 758 3613 3635 92.0 -10.7 101 574 0.00 2.22 0.00 0.000 3078 0.000 0.042 2558 2137 3627 3618 3636 0 0 0 0 0 0 28.83 14.88 28.83
879 -0.72 -155.7 2558 2138 3618 3639 128.0 -10.5 162 886 0.00 0.00 0.00 0.000 2054 0.000 0.000 2559 2138 3628 3618 3639 0 0 0 0 0 0 28.83 28.83 28.83
1196 -0.72 -155.7 1568 2136 3613 3638 165.7 -11.9 223 1203 0.00 2.30 0.00 0.000 2564 0.000 0.058 2559 747 3629 3618 3640 0 0 0 0 0 0 28.83 14.92 28.83
1261 -0.72 -155.7 1552 747 3613 3638 173.5 -12.3 235 1269 0.03 2.25 0.00 0.000 3078 0.422 0.042 2561 2142 3628 3618 3639 0 0 0 0 0 0 14.73 14.93 28.83
1576 -0.72 -155.7 2560 2143 3618 3640 209.0 -10.4 296 1584 0.00 2.35 0.00 0.000 2308 0.000 0.064 2551 3545 3629 3618 3640 0 0 0 0 0 0 28.83 14.92 28.83
1626 -0.72 -155.7 1568 3544 3612 3637 214.3 -10.7 305 1634 0.00 2.25 0.00 0.000 3078 0.000 0.035 2551 2152 3629 3618 3640 0 0 0 0 0 0 28.83 14.94 28.83
1940 -0.72 -155.7 1560 2149 3612 3638 247.2 -10.6 366 1949 0.05 2.30 0.00 0.000 2564 0.473 0.057 2566 743 3628 3617 3640 0 0 0 0 0 0 14.81 14.94 28.83
2009 -0.72 -155.7 2566 741 3616 3640 254.8 -9.9 379 2017 0.00 2.28 0.00 0.000 3078 0.000 0.044 2558 2144 3628 3617 3640 0 0 0 0 0 0 28.83 14.95 28.83
2316 -0.72 -155.7 2558 2145 3614 3640 288.2 -12.1 410 2317 0.00 0.00 0.00 0.000 2054 0.000 0.000 2558 2145 3627 3614 3640 0 0 0 0 0 0 28.83 28.83 28.83
2617 -0.72 -155.7 2558 2145 3612 3640 324.4 -12.0 440 2626 0.00 2.25 0.00 0.000 2564 0.000 0.062 2558 752 3625 3612 3639 0 0 0 0 0 0 28.83 15.01 28.83
2660 -0.72 -155.7 2558 752 3611 3640 329.8 -11.3 449 2668 0.03 2.28 0.00 0.000 3078 0.421 0.045 2561 2152 3626 3612 3640 0 0 0 0 0 0 14.81 15.00 28.83
2967 -0.72 -155.7 2561 2152 3610 3640 361.7 -9.9 480 2971 0.00 2.30 0.00 0.000 2308 0.000 0.068 2552 3554 3624 3610 3639 0 0 0 0 0 0 28.83 15.02 28.83
3011 -0.72 -155.7 1680 3553 3605 3638 366.0 -9.2 489 3020 0.03 2.25 0.00 0.000 3078 0.370 0.032 2563 2137 3624 3609 3640 0 0 0 0 0 0 14.83 15.03 28.83
3318 -0.72 -155.7 2563 2137 3609 3638 391.7 -8.5 520 3319 0.00 0.00 0.00 0.000 2054 0.000 0.000 2563 2137 3623 3609 3638 0 0 0 0 0 0 28.83 28.83 28.83
3619 -0.72 -155.7 2563 2137 3607 3636 417.9 -8.0 550 3620 0.00 0.00 0.00 0.000 2054 0.000 0.000 2563 2137 3622 3608 3636 0 0 0 0 0 0 28.83 28.83 28.83
3919 -0.72 -155.7 2563 2137 3606 3635 443.1 -9.2 580 3923 0.00 2.22 0.00 0.000 2564 0.000 0.060 2563 756 3620 3606 3635 0 0 0 0 0 0 28.83 15.06 28.83
4034 -0.72 -155.7 2563 756 3605 3635 454.4 -9.5 603 4038 0.00 2.20 0.00 0.000 3078 0.000 0.044 2554 2156 3619 3604 3635 0 0 0 0 0 0 28.83 15.07 28.83
4339 -0.72 -155.7 2555 2157 3603 3634 482.5 -9.3 634 4343 0.00 2.28 0.00 0.000 2308 0.000 0.070 2544 3545 3618 3603 3634 0 0 0 0 0 0 28.83 15.04 28.83
4396 -0.72 -155.7 2544 3545 3601 3634 488.3 -10.7 645 4405 0.10 2.20 0.00 0.000 3078 0.343 0.037 2574 2140 3618 3602 3634 0 0 0 0 0 0 14.92 15.09 28.83
4705 -0.72 -155.7 2574 2140 3602 3631 517.8 -9.9 677 4709 0.00 2.22 0.00 0.000 4612 0.000 0.063 2574 762 3616 3601 3631 0 0 0 0 0 0 28.83 15.06 28.83
4803 -0.72 -155.7 1728 762 3595 3629 528.0 -10.4 697 4811 0.00 2.25 0.00 0.000 1030 0.000 0.047 2567 2146 3614 3599 3630 0 0 0 0 0 0 28.83 15.02 28.83
5111 -0.72 -155.7 2567 2145 3599 3629 560.6 -10.6 728 5112 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2145 3613 3599 3628 0 0 0 0 0 0 28.83 28.83 28.83
5411 -0.72 -155.7 2567 2146 3597 3627 591.2 -9.4 758 5420 0.00 2.33 0.00 0.000 260 0.000 0.072 2558 3553 3612 3597 3627 0 0 0 0 0 0 28.83 15.04 28.83
5472 -0.72 -155.7 2558 3552 3597 3627 597.2 -9.9 770 5476 0.00 2.20 0.00 0.000 3078 0.000 0.038 2557 2159 3612 3597 3627 0 0 0 0 0 0 28.83 15.09 28.83
5787 -0.72 -155.7 2557 2158 3596 3626 629.1 -10.0 788 5793 0.00 2.30 0.00 0.000 2564 0.000 0.067 2557 747 3610 3595 3626 0 0 0 0 0 0 28.83 15.06 28.83
5840 -0.72 -155.7 2557 747 3595 3625 634.8 -10.6 799 5847 0.05 2.25 0.00 0.000 3078 0.490 0.050 2564 2150 3609 3594 3625 0 0 0 0 0 0 14.88 15.07 28.83
5966 end dive: TARGET_DEPTH_EXCEEDED
state 5966 begin apogee
5969 -0.17 0.0 2564 1930 3595 3624 646.1 -8.4 806 6171 0.50 0.00 198.18 1.453 10246 0.256 0.000 2746 1929 2987 3028 2947 0 0 0 0 0 0 14.94 28.83 13.80
6172 end apogee: CONTROL_FINISHED_OK
state 6172 begin climb
6174 0.72 155.7 2746 1928 3020 2938 649.2 0.0 816 6335 0.73 2.45 150.93 1.541 10756 0.162 0.073 3037 576 2338 2365 2312 0 0 0 0 0 0 14.24 14.21 13.71
6455 0.72 155.7 3037 576 2347 2298 626.7 10.9 874 6460 0.00 2.28 0.00 0.000 5126 0.000 0.044 3037 1957 2322 2347 2297 0 0 0 0 0 0 28.83 14.60 28.83
6767 0.72 155.7 3037 1957 2347 2291 596.5 10.0 892 6771 0.00 2.33 0.00 0.000 4356 0.000 0.067 3037 3353 2319 2347 2291 0 0 0 0 0 0 28.83 14.81 28.83
6915 0.72 155.7 2176 3351 2308 2284 577.2 13.4 922 6924 0.03 2.30 0.00 0.000 5126 0.439 0.044 3039 1973 2318 2347 2290 0 0 0 0 0 0 14.65 14.83 28.83
7223 0.72 155.7 3039 1974 2347 2286 541.8 11.2 953 7227 0.00 2.38 0.00 0.000 4612 0.000 0.074 3048 543 2316 2346 2286 0 0 0 0 0 0 28.83 14.91 28.83
7256 0.72 155.7 2152 542 2303 2279 537.7 11.8 960 7264 0.03 2.30 0.00 0.000 5126 0.410 0.045 3039 1949 2315 2344 2286 0 0 0 0 0 0 14.73 14.91 28.83
7563 0.72 155.7 3039 1949 2345 2285 504.9 10.0 991 7564 0.00 0.00 0.00 0.000 4102 0.000 0.000 3039 1949 2315 2345 2285 0 0 0 0 0 0 28.83 28.83 28.83
7864 0.72 155.7 3039 1949 2345 2283 472.5 10.0 1021 7873 0.00 2.30 0.00 0.000 4356 0.000 0.068 3039 3347 2313 2344 2283 0 0 0 0 0 0 28.83 14.97 28.83
8018 0.72 155.7 3039 3348 2344 2283 454.9 11.3 1052 8026 0.03 2.28 0.00 0.000 5126 0.651 0.045 3036 1941 2313 2345 2282 0 0 0 0 0 0 14.80 14.99 28.83
8325 0.72 155.7 3037 1940 2344 2281 425.8 8.6 1083 8329 0.00 2.28 0.00 0.000 4612 0.000 0.070 3045 550 2312 2344 2281 0 0 0 0 0 0 28.83 14.99 28.83
8353 0.72 155.7 2160 549 2301 2274 423.2 8.9 1089 8362 0.00 2.28 0.00 0.000 5126 0.000 0.045 3045 1947 2311 2342 2281 0 0 0 0 0 0 28.83 14.98 28.83
8661 0.72 155.7 3045 1947 2342 2281 392.1 10.9 1120 8665 0.00 2.30 0.00 0.000 4612 0.000 0.070 3056 542 2311 2342 2281 0 0 0 0 0 0 28.83 15.00 28.83
8769 0.72 155.7 2152 541 2300 2274 379.4 11.7 1142 8777 0.05 2.30 0.00 0.000 5126 0.363 0.046 3038 1954 2310 2340 2281 0 0 0 0 0 0 14.83 15.00 28.83
9076 0.72 155.7 3038 1955 2341 2281 346.8 10.3 1173 9081 0.00 2.30 0.00 0.000 4356 0.000 0.067 3038 3356 2310 2340 2281 0 0 0 0 0 0 28.83 15.00 28.83
9242 0.72 155.7 3038 3357 2340 2281 329.9 9.5 1206 9246 0.00 2.25 0.00 0.000 5126 0.000 0.041 3046 1954 2311 2341 2281 0 0 0 0 0 0 28.83 15.03 28.83
9547 0.72 155.7 3046 1955 2341 2281 303.6 8.7 1237 9551 0.00 2.30 0.00 0.000 4356 0.000 0.063 3046 3354 2310 2340 2281 0 0 0 0 0 0 28.83 15.01 28.83
9585 0.72 155.7 3046 3355 2341 2281 299.8 10.0 1245 9594 0.05 2.30 0.00 0.000 5126 0.386 0.040 3038 1942 2310 2341 2280 0 0 0 0 0 0 14.80 15.00 28.83
9893 0.78 155.7 3038 1942 2341 2280 276.6 7.9 1276 9898 0.00 2.28 0.00 0.000 2564 0.000 0.070 3047 545 2310 2341 2280 0 0 0 0 0 0 28.83 15.00 28.83
9910 0.78 155.7 3046 545 2341 2280 275.2 8.5 1279 9920 0.00 2.22 0.00 0.000 1030 0.000 0.044 3047 1955 2310 2340 2280 0 0 0 0 0 0 28.83 15.03 28.83
10220 0.78 155.7 2048 1953 2291 2273 248.5 8.8 1312 10227 0.00 2.33 0.00 0.000 260 0.000 0.063 3047 3338 2310 2341 2280 0 0 0 0 0 0 28.83 14.98 28.83
10275 0.78 155.7 3047 3338 2341 2280 243.4 9.5 1322 10282 0.00 2.28 0.00 0.000 5126 0.000 0.041 3056 1945 2310 2341 2280 0 0 0 0 0 0 28.83 14.99 28.83
10589 0.78 155.7 3056 1944 2341 2280 214.4 10.3 1383 10597 0.00 0.00 0.00 0.000 4102 0.000 0.000 3056 1944 2310 2341 2280 0 0 0 0 0 0 28.83 28.83 28.83
10903 0.78 155.7 3056 1944 2341 2280 184.1 9.8 1444 10910 0.00 2.33 0.00 0.000 4612 0.000 0.067 3067 555 2310 2341 2280 0 0 0 0 0 0 28.83 14.91 28.83
11009 0.78 155.7 2080 555 2294 2273 174.1 9.0 1464 11017 0.03 2.25 0.00 0.000 5126 0.413 0.042 3058 1949 2310 2341 2280 0 0 0 0 0 0 14.73 14.92 28.83
11326 0.83 155.7 2048 1947 2292 2273 148.0 7.9 1525 11333 0.00 2.35 0.00 0.000 2308 0.000 0.062 3058 3336 2311 2342 2280 0 0 0 0 0 0 28.83 14.90 28.83
11563 0.83 155.7 3058 3336 2343 2282 128.6 8.6 1571 11571 0.00 2.28 0.00 0.000 1030 0.000 0.038 3066 1956 2311 2342 2281 0 0 0 0 0 0 28.83 14.90 28.83
11880 1.04 318.1 2048 1954 2292 2273 108.7 2.6 1632 12062 0.15 2.40 171.57 0.936 11012 0.192 0.057 3145 3340 1678 1726 1631 0 0 0 0 0 0 14.82 14.40 14.00
12292 1.04 318.1 2128 3339 1679 1605 60.2 12.6 1704 12300 0.05 2.33 0.00 0.000 5126 0.379 0.039 3139 1946 1661 1714 1609 0 0 0 0 0 0 14.53 14.71 28.83
12609 1.04 318.1 2080 1944 1677 1601 21.9 12.8 1765 12616 0.00 2.35 0.00 0.000 4612 0.000 0.068 3148 534 1659 1713 1606 0 0 0 0 0 0 28.83 14.79 28.83
12628 1.04 318.1 2144 533 1678 1601 19.1 14.8 1768 12636 0.00 2.30 0.00 0.000 5126 0.000 0.040 3148 1955 1658 1711 1606 0 0 0 0 0 0 28.83 14.81 28.83
12764 end climb: SURFACE_DEPTH_REACHED
state 12764 begin surface coast
12785 end surface coast: CONTROL_FINISHED_OK
state 12786 begin surface