Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 398 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 398 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 32 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 25 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 110 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 900 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1.5 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -7 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 0.059999999 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 420

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 398 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 32 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 120718,211544,-7405.5342,-11200.8887,0,4136.7,0,53.0,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.239

_CALLS 2 TGT_NAME E0

_XMS_NAKs 0 TGT_LATLONG -7409.500,-11159.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 13.15 MHEAD_RNG_PITCHd_Wd 119.6,7406,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -6.9 D_GRID 990

GPS2 120718,211544,-7405.5342,-11200.8887,0,4136.7,0,53.0,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 0.20,-1.768,-1.862,2,4,0 ALTIM_TOP_PING 8.6,8.5

FINISH 0.2,1.027323 _24V_AH 11.91,146.830

SM_CCo 8734,89.03,0.233,0,0,1353,350.04 _10V_AH 12.07,0.000

SM_GC 1.43,9.00,0.35,89.03,0.093,0.098,0.233,216,2306,1353,-8.01,-0.57,350.04,0,0,0,0,0,0,14.75,14.71,14.30 FG_AHR_24Vo 0.000

RAFOS_CLK 339 FG_AHR_10Vo 0.000

RAFOS 0,1531440095,0.032778,0.026389,116,65,60,58,54,49,381,200,174,159,146,118 MEM 280724

RAFOS_FIX -7405.935059,-11159.968750,130718,000056,2,110,0.08 DATA_FILE_SIZE 13467,387

IRIDIUM_FIX -7408.59,-11202.69,120718,143355 CAP_FILE_SIZE 74818,0

TT8_MAMPS 0.038199,0.289114 CFSIZE 1024409600,972111872

HUMID 48.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.10186 SOUNDSPEED 1448.6

TCM_TEMP 11.90 GPS 130718,001456,-7405.935,-11159.969,0,3110.0,0,53.0,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 292 44.20 nil 0 0 0.00

Roll_motor 85 108 111.14 nil 0 0 0.00

VBD_pump_during_apogee 373 2908 12952.98 nil 0 0 0.00

VBD_pump_during_surface 89 232 246.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 8738 2 280.88

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 22 420 111.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7319 2 204.07

TT8_Active 574 13 95.89

TT8_Sampling 902 34 378.79

TT8_CF8 129 52 82.45

TT8_Kalman 0 0 0.00

Analog_circuits 937 10 123.28

GPS_charging 0 0 0.00

Compass 559 7 50.59

RAFOS 720 1 13.04

Transponder 155 30 56.29

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

16.1 17.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

50.0 52.30 9000.00 0.0 0.00 0.00 52.30 0.0 1.03 1.00

518.5 36.30 9000.00 0.0 0.01 0.01 36.30 554.8 -0.03 1.00

530.0 19.80 9000.00 0.0 -0.05 0.76 19.80 549.8 -1.43 1.00

541.7 6.70 9000.00 0.0 -1.27 0.99 6.70 548.4 -1.12 1.00

536.6 18.00 9000.00 0.0 -1.08 0.80 18.00 0.0 -2.22 1.00

525.5 18.70 9000.00 0.0 -0.63 0.61 18.70 0.0 -0.06 1.00

509.3 32.30 9000.00 0.0 -0.55 0.87 32.30 0.0 -0.84 1.00

108.9 112.70 9000.00 0.0 -0.21 0.99 112.70 0.0 -0.20 1.00

97.2 100.90 9000.00 0.0 -0.18 0.97 100.90 -3.7 1.01 1.00

86.9 90.20 90.30 -3.4 1.02 1.00 90.20 -3.3 1.04 1.00

76.5 79.10 79.20 -2.7 1.05 1.00 79.10 -2.6 1.07 1.00

40.7 41.80 41.80 -1.1 1.05 1.00 41.80 -1.1 1.04 1.00

28.9 29.60 29.60 -0.7 1.04 1.00 29.60 -0.7 1.03 1.00

18.7 18.90 18.90 -0.2 1.04 1.00 18.90 -0.2 1.05 1.00

8.6 8.50 8.50 0.1 1.04 1.00 8.50 0.1 1.03 1.00

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -1.06 -107.1 2806 2302 2796 2724 0.0 0.0 0 21 0.00 0.00 -9.50 0.011 16390 0.000 0.000 2804 2301 3220 3248 3193 0 0 0 0 0 0 15.06 12.66 15.04

24 -1.06 -107.1 2804 2301 3249 3194 0.0 0.0 0 26 1.02 0.00 0.00 0.000 4102 0.077 0.000 2451 2301 3221 3249 3193 0 0 0 0 0 0 14.67 14.81 14.78

349 -1.06 -107.1 2452 2302 3251 3192 70.0 -17.8 12 355 0.00 2.60 0.00 0.000 260 0.000 0.103 2440 3715 3220 3249 3191 0 0 0 0 0 0 15.13 14.48 15.15

418 -1.06 -107.1 2441 3716 3251 3192 83.1 -19.0 22 425 0.00 2.50 0.00 0.000 1030 0.000 0.044 2440 2290 3220 3249 3191 0 0 0 0 0 0 14.75 14.69 14.77

769 -1.06 -107.1 2439 2290 3249 3191 146.7 -18.1 36 770 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2286 3220 3248 3193 0 0 0 0 0 0 15.02 15.04 15.04

1148 -1.06 -107.1 2441 2290 3250 3191 216.7 -18.8 48 1149 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2289 3220 3249 3191 0 0 0 0 0 0 15.04 15.07 15.06

1497 -1.06 -107.1 2441 2290 3251 3191 282.5 -18.8 53 1504 0.00 2.67 0.00 0.000 260 0.000 0.101 2429 3706 3219 3249 3189 0 0 0 0 0 0 15.04 14.40 15.07

1545 -1.06 -107.1 2429 3707 3249 3190 292.4 -20.3 60 1554 0.10 2.50 0.00 0.000 3078 0.292 0.042 2451 2279 3219 3249 3189 0 0 0 0 0 0 14.26 14.69 14.39

1919 -1.06 -107.1 2451 2279 3249 3190 358.7 -17.7 68 1919 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2279 3219 3249 3190 0 0 0 0 0 0 15.04 15.07 15.07

2267 -1.06 -107.1 2450 2280 3249 3190 417.5 -16.6 73 2274 0.00 2.70 0.00 0.000 260 0.000 0.104 2442 3704 3219 3249 3189 0 0 0 0 0 0 15.03 14.37 15.05

2330 -1.06 -107.1 2441 3704 3249 3189 428.5 -17.7 82 2337 0.00 2.45 0.00 0.000 1030 0.000 0.044 2442 2299 3220 3249 3191 0 0 0 0 0 0 14.66 14.61 14.69

2687 -1.06 -107.1 2443 2298 3251 3190 484.8 -15.4 88 2693 0.00 2.58 0.00 0.000 516 0.000 0.076 2442 897 3219 3249 3189 0 0 0 0 0 0 15.02 14.38 15.05

2735 -1.06 -107.1 2443 899 3250 3190 492.6 -15.8 95 2742 0.00 2.58 0.00 0.000 1030 0.000 0.070 2431 2303 3219 3249 3189 0 0 0 0 0 0 14.57 14.50 14.63

3108 -1.06 -107.1 2432 2304 3251 3190 546.6 -14.6 103 3113 0.00 2.65 0.00 0.000 260 0.000 0.109 2420 3726 3219 3249 3189 0 0 0 0 0 0 15.14 14.41 15.16

3258 end dive: NO_VERTICAL_VELOCITY

state 3258 begin apogee

3267 -0.23 0.0 2420 2094 3249 3190 546.6 0.0 125 3388 1.08 0.00 117.90 2.909 10246 0.187 0.000 2723 2093 2780 2823 2738 0 0 0 0 0 0 14.26 13.71 12.40

3389 end apogee: CONTROL_FINISHED_OK

state 3389 begin climb

3391 1.06 107.1 2724 2093 2825 2739 546.7 0.0 126 3533 1.38 2.88 130.30 2.795 10756 0.126 0.088 3136 707 2342 2392 2292 0 0 0 0 0 0 13.69 13.19 11.93

3552 1.18 210.9 3137 708 2391 2290 545.3 3.5 156 3686 0.12 2.72 125.72 2.744 11302 0.081 0.054 3188 2117 1920 1992 1848 0 0 0 0 0 0 13.46 13.45 11.91

4043 1.18 210.9 3187 2118 1981 1835 493.1 11.6 181 4050 0.00 2.65 0.00 0.000 260 0.000 0.096 3188 3510 1907 1981 1834 0 0 0 0 0 0 14.64 14.28 14.66

4140 1.18 210.9 3187 3509 1980 1835 480.8 12.6 195 4149 0.00 2.53 0.00 0.000 1030 0.000 0.047 3187 2100 1907 1980 1834 0 0 0 0 0 0 14.62 14.52 14.66

4533 1.18 210.9 3188 2100 1977 1833 438.7 10.5 206 4540 0.00 2.62 0.00 0.000 516 0.000 0.096 3189 692 1904 1977 1832 0 0 0 0 0 0 14.99 14.54 15.01

4588 1.18 210.9 3188 692 1975 1832 432.9 10.5 214 4596 0.00 2.53 0.00 0.000 1030 0.000 0.059 3188 2111 1903 1975 1832 0 0 0 0 0 0 14.81 14.69 14.85

4953 1.18 210.9 3188 2111 1974 1832 395.3 10.2 221 4959 0.00 2.58 0.00 0.000 260 0.000 0.098 3189 3501 1903 1975 1831 0 0 0 0 0 0 15.05 14.52 15.07

5029 1.18 210.9 3188 3501 1974 1832 386.1 12.2 232 5037 0.00 2.47 0.00 0.000 1030 0.000 0.047 3189 2092 1903 1975 1831 0 0 0 0 0 0 14.85 14.74 14.90

5445 1.18 210.9 3188 2093 1973 1831 342.0 10.6 246 5446 0.00 0.00 0.00 0.000 6 0.000 0.000 3189 2092 1902 1973 1831 0 0 0 0 0 0 15.07 15.11 15.10

5792 1.18 210.9 3188 2092 1972 1831 303.5 11.0 251 5800 0.00 2.62 0.00 0.000 260 0.000 0.096 3188 3504 1901 1972 1830 0 0 0 0 0 0 15.16 14.62 15.18

5827 1.18 210.9 3188 3504 1972 1831 298.8 13.4 256 5835 0.00 2.47 0.00 0.000 1030 0.000 0.047 3189 2092 1901 1972 1830 0 0 0 0 0 0 14.85 14.76 14.87

6214 1.18 210.9 3189 2093 1974 1831 251.4 12.2 266 6220 0.00 2.60 0.00 0.000 516 0.000 0.096 3189 691 1901 1972 1830 0 0 0 0 0 0 15.09 14.48 15.11

6240 1.18 210.9 3188 692 1970 1831 248.2 11.4 270 6248 0.00 2.53 0.00 0.000 1030 0.000 0.060 3189 2112 1900 1970 1830 0 0 0 0 0 0 14.85 14.73 14.90

6633 1.18 210.9 3190 2113 1972 1831 205.8 10.5 281 6639 0.00 2.58 0.00 0.000 260 0.000 0.097 3188 3503 1900 1970 1830 0 0 0 0 0 0 15.09 14.56 15.11

6688 1.18 210.9 3190 3504 1972 1830 199.7 11.2 289 6696 0.00 2.47 0.00 0.000 1030 0.000 0.047 3189 2089 1900 1970 1830 0 0 0 0 0 0 14.85 14.73 14.90

7068 1.21 210.9 3187 2089 1969 1830 165.6 8.9 304 7075 0.00 2.60 0.00 0.000 324 0.000 0.096 3189 3509 1900 1970 1830 0 0 0 0 0 0 15.16 14.60 15.19

7115 1.21 210.9 3188 3509 1970 1830 160.6 10.7 311 7125 0.00 2.47 0.00 0.000 1030 0.000 0.047 3189 2098 1899 1970 1829 0 0 0 0 0 0 14.84 14.73 14.89

7459 1.21 210.9 3187 2097 1969 1830 126.7 10.1 324 7466 0.00 2.60 0.00 0.000 516 0.000 0.096 3189 699 1899 1969 1829 0 0 0 0 0 0 15.16 14.50 15.19

7479 1.21 210.9 3188 702 1968 1830 124.5 10.4 327 7489 0.00 2.50 0.00 0.000 1030 0.000 0.059 3189 2107 1899 1969 1829 0 0 0 0 0 0 14.83 14.70 14.88

7822 1.21 210.9 3190 2109 1971 1830 88.5 10.4 340 7830 0.00 2.60 0.00 0.000 260 0.000 0.097 3189 3509 1899 1969 1829 0 0 0 0 0 0 15.17 14.52 15.20

7850 1.21 210.9 3189 3506 1971 1830 85.3 11.4 344 7858 0.00 2.47 0.00 0.000 1030 0.000 0.047 3189 2093 1898 1968 1829 0 0 0 0 0 0 14.73 14.67 14.78

8216 1.21 210.9 3188 2093 1968 1830 46.7 10.4 360 8217 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2093 1898 1969 1828 0 0 0 0 0 0 15.14 15.17 15.16

8552 1.23 210.9 3190 2093 1970 1829 13.7 8.6 372 8558 0.00 2.58 0.00 0.000 580 0.000 0.096 3189 693 1898 1968 1828 0 0 0 0 0 0 15.14 14.52 15.17

8628 1.25 210.9 3190 694 1969 1829 6.6 9.4 383 8637 0.00 2.50 0.00 0.000 1094 0.000 0.058 3189 2106 1899 1967 1832 0 0 0 0 0 0 14.68 14.60 14.73

8688 end climb: SURFACE_DEPTH_REACHED

state 8688 begin surface coast

8717 end surface coast: CONTROL_FINISHED_OK

state 8717 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	398	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	32	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	25	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	110	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	900	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1.5	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-7	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	0.059999999	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	120718,211544,-7405.5342,-11200.8887,0,4136.7,0,53.0,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.239
_CALLS	2	TGT_NAME	E0
_XMS_NAKs	0	TGT_LATLONG	-7409.500,-11159.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	13.15	MHEAD_RNG_PITCHd_Wd	119.6,7406,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-6.9	D_GRID	990
GPS2	120718,211544,-7405.5342,-11200.8887,0,4136.7,0,53.0,0.0,0.0,0,0.0

FREEZE	0.20,-1.768,-1.862,2,4,0	ALTIM_TOP_PING	8.6,8.5
FINISH	0.2,1.027323	_24V_AH	11.91,146.830
SM_CCo	8734,89.03,0.233,0,0,1353,350.04	_10V_AH	12.07,0.000
SM_GC	1.43,9.00,0.35,89.03,0.093,0.098,0.233,216,2306,1353,-8.01,-0.57,350.04,0,0,0,0,0,0,14.75,14.71,14.30	FG_AHR_24Vo	0.000
RAFOS_CLK	339	FG_AHR_10Vo	0.000
RAFOS	0,1531440095,0.032778,0.026389,116,65,60,58,54,49,381,200,174,159,146,118	MEM	280724
RAFOS_FIX	-7405.935059,-11159.968750,130718,000056,2,110,0.08	DATA_FILE_SIZE	13467,387
IRIDIUM_FIX	-7408.59,-11202.69,120718,143355	CAP_FILE_SIZE	74818,0
TT8_MAMPS	0.038199,0.289114	CFSIZE	1024409600,972111872
HUMID	48.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.10186	SOUNDSPEED	1448.6
TCM_TEMP	11.90	GPS	130718,001456,-7405.935,-11159.969,0,3110.0,0,53.0,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	292	44.20	nil	0	0	0.00
Roll_motor	85	108	111.14	nil	0	0	0.00
VBD_pump_during_apogee	373	2908	12952.98	nil	0	0	0.00
VBD_pump_during_surface	89	232	246.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	8738	2	280.88
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	22	420	111.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7319	2	204.07
TT8_Active	574	13	95.89
TT8_Sampling	902	34	378.79
TT8_CF8	129	52	82.45
TT8_Kalman	0	0	0.00
Analog_circuits	937	10	123.28
GPS_charging	0	0	0.00
Compass	559	7	50.59
RAFOS	720	1	13.04
Transponder	155	30	56.29

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
16.1	17.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
50.0	52.30	9000.00	0.0	0.00	0.00	52.30	0.0	1.03	1.00
518.5	36.30	9000.00	0.0	0.01	0.01	36.30	554.8	-0.03	1.00
530.0	19.80	9000.00	0.0	-0.05	0.76	19.80	549.8	-1.43	1.00
541.7	6.70	9000.00	0.0	-1.27	0.99	6.70	548.4	-1.12	1.00

536.6	18.00	9000.00	0.0	-1.08	0.80	18.00	0.0	-2.22	1.00
525.5	18.70	9000.00	0.0	-0.63	0.61	18.70	0.0	-0.06	1.00
509.3	32.30	9000.00	0.0	-0.55	0.87	32.30	0.0	-0.84	1.00
108.9	112.70	9000.00	0.0	-0.21	0.99	112.70	0.0	-0.20	1.00
97.2	100.90	9000.00	0.0	-0.18	0.97	100.90	-3.7	1.01	1.00
86.9	90.20	90.30	-3.4	1.02	1.00	90.20	-3.3	1.04	1.00
76.5	79.10	79.20	-2.7	1.05	1.00	79.10	-2.6	1.07	1.00
40.7	41.80	41.80	-1.1	1.05	1.00	41.80	-1.1	1.04	1.00
28.9	29.60	29.60	-0.7	1.04	1.00	29.60	-0.7	1.03	1.00
18.7	18.90	18.90	-0.2	1.04	1.00	18.90	-0.2	1.05	1.00
8.6	8.50	8.50	0.1	1.04	1.00	8.50	0.1	1.03	1.00

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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-1.06	-107.1	2806	2302	2796	2724	0.0	0.0	0	21	0.00	0.00	-9.50	0.011	16390	0.000	0.000	2804	2301	3220	3248	3193	0	0	0	0	0	0	15.06	12.66	15.04
24	-1.06	-107.1	2804	2301	3249	3194	0.0	0.0	0	26	1.02	0.00	0.00	0.000	4102	0.077	0.000	2451	2301	3221	3249	3193	0	0	0	0	0	0	14.67	14.81	14.78
349	-1.06	-107.1	2452	2302	3251	3192	70.0	-17.8	12	355	0.00	2.60	0.00	0.000	260	0.000	0.103	2440	3715	3220	3249	3191	0	0	0	0	0	0	15.13	14.48	15.15
418	-1.06	-107.1	2441	3716	3251	3192	83.1	-19.0	22	425	0.00	2.50	0.00	0.000	1030	0.000	0.044	2440	2290	3220	3249	3191	0	0	0	0	0	0	14.75	14.69	14.77
769	-1.06	-107.1	2439	2290	3249	3191	146.7	-18.1	36	770	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2286	3220	3248	3193	0	0	0	0	0	0	15.02	15.04	15.04
1148	-1.06	-107.1	2441	2290	3250	3191	216.7	-18.8	48	1149	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2289	3220	3249	3191	0	0	0	0	0	0	15.04	15.07	15.06
1497	-1.06	-107.1	2441	2290	3251	3191	282.5	-18.8	53	1504	0.00	2.67	0.00	0.000	260	0.000	0.101	2429	3706	3219	3249	3189	0	0	0	0	0	0	15.04	14.40	15.07
1545	-1.06	-107.1	2429	3707	3249	3190	292.4	-20.3	60	1554	0.10	2.50	0.00	0.000	3078	0.292	0.042	2451	2279	3219	3249	3189	0	0	0	0	0	0	14.26	14.69	14.39
1919	-1.06	-107.1	2451	2279	3249	3190	358.7	-17.7	68	1919	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2279	3219	3249	3190	0	0	0	0	0	0	15.04	15.07	15.07
2267	-1.06	-107.1	2450	2280	3249	3190	417.5	-16.6	73	2274	0.00	2.70	0.00	0.000	260	0.000	0.104	2442	3704	3219	3249	3189	0	0	0	0	0	0	15.03	14.37	15.05
2330	-1.06	-107.1	2441	3704	3249	3189	428.5	-17.7	82	2337	0.00	2.45	0.00	0.000	1030	0.000	0.044	2442	2299	3220	3249	3191	0	0	0	0	0	0	14.66	14.61	14.69
2687	-1.06	-107.1	2443	2298	3251	3190	484.8	-15.4	88	2693	0.00	2.58	0.00	0.000	516	0.000	0.076	2442	897	3219	3249	3189	0	0	0	0	0	0	15.02	14.38	15.05
2735	-1.06	-107.1	2443	899	3250	3190	492.6	-15.8	95	2742	0.00	2.58	0.00	0.000	1030	0.000	0.070	2431	2303	3219	3249	3189	0	0	0	0	0	0	14.57	14.50	14.63
3108	-1.06	-107.1	2432	2304	3251	3190	546.6	-14.6	103	3113	0.00	2.65	0.00	0.000	260	0.000	0.109	2420	3726	3219	3249	3189	0	0	0	0	0	0	15.14	14.41	15.16
3258	end dive: NO_VERTICAL_VELOCITY
state	3258	begin apogee
3267	-0.23	0.0	2420	2094	3249	3190	546.6	0.0	125	3388	1.08	0.00	117.90	2.909	10246	0.187	0.000	2723	2093	2780	2823	2738	0	0	0	0	0	0	14.26	13.71	12.40
3389	end apogee: CONTROL_FINISHED_OK
state	3389	begin climb
3391	1.06	107.1	2724	2093	2825	2739	546.7	0.0	126	3533	1.38	2.88	130.30	2.795	10756	0.126	0.088	3136	707	2342	2392	2292	0	0	0	0	0	0	13.69	13.19	11.93
3552	1.18	210.9	3137	708	2391	2290	545.3	3.5	156	3686	0.12	2.72	125.72	2.744	11302	0.081	0.054	3188	2117	1920	1992	1848	0	0	0	0	0	0	13.46	13.45	11.91
4043	1.18	210.9	3187	2118	1981	1835	493.1	11.6	181	4050	0.00	2.65	0.00	0.000	260	0.000	0.096	3188	3510	1907	1981	1834	0	0	0	0	0	0	14.64	14.28	14.66
4140	1.18	210.9	3187	3509	1980	1835	480.8	12.6	195	4149	0.00	2.53	0.00	0.000	1030	0.000	0.047	3187	2100	1907	1980	1834	0	0	0	0	0	0	14.62	14.52	14.66
4533	1.18	210.9	3188	2100	1977	1833	438.7	10.5	206	4540	0.00	2.62	0.00	0.000	516	0.000	0.096	3189	692	1904	1977	1832	0	0	0	0	0	0	14.99	14.54	15.01
4588	1.18	210.9	3188	692	1975	1832	432.9	10.5	214	4596	0.00	2.53	0.00	0.000	1030	0.000	0.059	3188	2111	1903	1975	1832	0	0	0	0	0	0	14.81	14.69	14.85
4953	1.18	210.9	3188	2111	1974	1832	395.3	10.2	221	4959	0.00	2.58	0.00	0.000	260	0.000	0.098	3189	3501	1903	1975	1831	0	0	0	0	0	0	15.05	14.52	15.07
5029	1.18	210.9	3188	3501	1974	1832	386.1	12.2	232	5037	0.00	2.47	0.00	0.000	1030	0.000	0.047	3189	2092	1903	1975	1831	0	0	0	0	0	0	14.85	14.74	14.90
5445	1.18	210.9	3188	2093	1973	1831	342.0	10.6	246	5446	0.00	0.00	0.00	0.000	6	0.000	0.000	3189	2092	1902	1973	1831	0	0	0	0	0	0	15.07	15.11	15.10
5792	1.18	210.9	3188	2092	1972	1831	303.5	11.0	251	5800	0.00	2.62	0.00	0.000	260	0.000	0.096	3188	3504	1901	1972	1830	0	0	0	0	0	0	15.16	14.62	15.18
5827	1.18	210.9	3188	3504	1972	1831	298.8	13.4	256	5835	0.00	2.47	0.00	0.000	1030	0.000	0.047	3189	2092	1901	1972	1830	0	0	0	0	0	0	14.85	14.76	14.87
6214	1.18	210.9	3189	2093	1974	1831	251.4	12.2	266	6220	0.00	2.60	0.00	0.000	516	0.000	0.096	3189	691	1901	1972	1830	0	0	0	0	0	0	15.09	14.48	15.11
6240	1.18	210.9	3188	692	1970	1831	248.2	11.4	270	6248	0.00	2.53	0.00	0.000	1030	0.000	0.060	3189	2112	1900	1970	1830	0	0	0	0	0	0	14.85	14.73	14.90
6633	1.18	210.9	3190	2113	1972	1831	205.8	10.5	281	6639	0.00	2.58	0.00	0.000	260	0.000	0.097	3188	3503	1900	1970	1830	0	0	0	0	0	0	15.09	14.56	15.11
6688	1.18	210.9	3190	3504	1972	1830	199.7	11.2	289	6696	0.00	2.47	0.00	0.000	1030	0.000	0.047	3189	2089	1900	1970	1830	0	0	0	0	0	0	14.85	14.73	14.90
7068	1.21	210.9	3187	2089	1969	1830	165.6	8.9	304	7075	0.00	2.60	0.00	0.000	324	0.000	0.096	3189	3509	1900	1970	1830	0	0	0	0	0	0	15.16	14.60	15.19
7115	1.21	210.9	3188	3509	1970	1830	160.6	10.7	311	7125	0.00	2.47	0.00	0.000	1030	0.000	0.047	3189	2098	1899	1970	1829	0	0	0	0	0	0	14.84	14.73	14.89
7459	1.21	210.9	3187	2097	1969	1830	126.7	10.1	324	7466	0.00	2.60	0.00	0.000	516	0.000	0.096	3189	699	1899	1969	1829	0	0	0	0	0	0	15.16	14.50	15.19
7479	1.21	210.9	3188	702	1968	1830	124.5	10.4	327	7489	0.00	2.50	0.00	0.000	1030	0.000	0.059	3189	2107	1899	1969	1829	0	0	0	0	0	0	14.83	14.70	14.88
7822	1.21	210.9	3190	2109	1971	1830	88.5	10.4	340	7830	0.00	2.60	0.00	0.000	260	0.000	0.097	3189	3509	1899	1969	1829	0	0	0	0	0	0	15.17	14.52	15.20
7850	1.21	210.9	3189	3506	1971	1830	85.3	11.4	344	7858	0.00	2.47	0.00	0.000	1030	0.000	0.047	3189	2093	1898	1968	1829	0	0	0	0	0	0	14.73	14.67	14.78
8216	1.21	210.9	3188	2093	1968	1830	46.7	10.4	360	8217	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	2093	1898	1969	1828	0	0	0	0	0	0	15.14	15.17	15.16
8552	1.23	210.9	3190	2093	1970	1829	13.7	8.6	372	8558	0.00	2.58	0.00	0.000	580	0.000	0.096	3189	693	1898	1968	1828	0	0	0	0	0	0	15.14	14.52	15.17
8628	1.25	210.9	3190	694	1969	1829	6.6	9.4	383	8637	0.00	2.50	0.00	0.000	1094	0.000	0.058	3189	2106	1899	1967	1832	0	0	0	0	0	0	14.68	14.60	14.73
8688	end climb: SURFACE_DEPTH_REACHED
state	8688	begin surface coast
8717	end surface coast: CONTROL_FINISHED_OK
state	8717	begin surface