OKMC Nov11 * SG168 * Dive index * Mission links * Dive 70 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  168 HD_B  0.0099999998 PITCH_ADJ_GAIN  0.0049999999 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  70 HEADING  -1 ROLL_MIN  160 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3729 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2025 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1975 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  100 SM_CC  400 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  4 N_FILEKB  8 R_PORT_OVSHOOT  35 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  44 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_YINT  0
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  415 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  300 UPLOAD_DIVES_MAX  -1 C_VBD  2954 DEVICE3  35
T_MISSION  320 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  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -6 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -5662.1592 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
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  -8 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  210 PITCH_MIN  143 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3945 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2250 PHONE_SUPPLY  2 SEABIRD_T_G  0.0042821765
SPEED_FACTOR  1 PITCH_DBAND  0.050000001 PRESSURE_YINT  -64.650215 SEABIRD_T_H  0.00061988086
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000115925 SEABIRD_T_I  2.2270933e-05
MASS  51744 P_OVSHOOT  0.029999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.2936731e-06
NAV_MODE  0 PITCH_GAIN  37 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8276911
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1035888
KALMAN_USE  13 PITCH_AD_RATE  160 COMPASS_USE  0 SEABIRD_C_I  -0.0012978988
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.0001838774

Pre-dive calculations and measurements:
GPS1  251111,080155,2024.736,12404.406,41,1.3,41,-2.6 TGT_NAME  S2
_CALLS  1 TGT_LATLONG  2015.000,12420.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.233,-0.207
_SM_DEPTHo  3.73 KALMAN_X  8392782.0,0.0,0.0,5394055.0,1881.0
_SM_ANGLEo  -61.5 KALMAN_Y  1580575.2,0.0,0.0,687717.8,6045.0
GPS2  251111,080802,2024.767,12404.375,15,1.2,15,-2.6 MHEAD_RNG_PITCHd_Wd  126.3,32624,-15.9,-11.000
SPEED_LIMITS  0.191,0.311 D_GRID  5521

Post-dive calculations and measurements:
FINISH  2.9,1.009729 _10V_AH  10.3,13.830
SM_CCo  16600,0.00,0.000,0,0,550,589.70 FG_AHR_24Vo  0.000
SM_GC  3.75,6.15,0.05,0.00,0.021,0.140,0.000,104,2021,550,-6.56,-1.50,589.70,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2017.96,12405.64,251111,030306 MEM  329764
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  97248,1437
HUMID  41.02 CAP_FILE_SIZE  168594,0
INTERNAL_PRESSURE  9.44372 CFSIZE  260165632,214863872
TCM_TEMP  23.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  3 GPS  251111,124625,2023.286,12406.493,42,1.9,42,-2.6
_24V_AH  23.8,15.953

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1720182.43 SBE_CT98324561.57
Roll_motor112144386.61 AA43302233331754.21
VBD_pump_during_apogee758107819474.04 WL_BB2F6611051653.97
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010375.36 nil000.00
Iridium_during_connect1716065.01 nil000.00
Iridium_during_xfer1902231008.86 nil000.00
Transponder_ping04207.50 nil000.00
GUMSTIX_24V000.00
GPS17509.16
TT8333619680.38
LPSleep94212212.52
TT8_Active77919158.87
TT8_Sampling3062391255.28
TT8_CF835245166.44
TT8_Kalman0810.32
Analog_circuits219512271.37
GPS_charging000.00
Compass271715419.83
RAFOS000.00
Transponder050.03

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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
17 -0.68 -204.4 0.0 0.0 0 28 0.00 0.00 -8.48 0.000 2 0.000 0.000 103 1970 695 0 0 0 0 0 0 28.83 28.83 28.83
31 -0.68 -204.4 3.8 0.0 1 158 6.75 2.15 -108.45 0.000 4 0.191 0.056 2026 609 3790 0 0 0 0 0 0 25.70 26.01 26.34
217 -0.61 -204.4 35.2 -37.1 31 224 0.15 2.15 0.00 0.000 6 0.165 0.037 2057 2018 3790 0 0 0 0 0 0 25.89 26.08 28.83
548 -0.56 -204.4 139.1 -25.8 92 556 0.00 2.20 0.00 0.000 4 0.000 0.045 2057 613 3791 0 0 0 0 0 0 28.83 26.22 28.83
570 -0.51 -204.4 144.2 -23.9 95 577 0.12 2.12 0.00 0.000 6 0.149 0.034 2084 2029 3790 0 0 0 0 0 0 26.11 26.25 28.83
903 -0.50 -204.4 200.0 -14.4 156 904 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2031 3791 0 0 0 0 0 0 28.83 28.83 28.83
1206 -0.49 -204.4 239.5 -11.9 186 1213 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2031 3791 0 0 0 0 0 0 28.83 28.83 28.83
1517 -0.48 -204.4 278.9 -13.2 217 1523 0.00 0.00 0.00 0.000 6 0.000 0.000 2084 2031 3790 0 0 0 0 0 0 28.83 28.83 28.83
1825 -0.48 -204.4 319.4 -12.8 248 1833 0.00 2.15 0.00 0.000 4 0.000 0.045 2084 622 3789 0 0 0 0 0 0 28.83 26.42 28.83
1846 -0.48 -204.4 322.3 -12.8 250 1855 0.08 2.10 0.00 0.000 6 0.159 0.034 2103 2031 3789 0 0 0 0 0 0 26.35 26.44 28.83
2157 -0.50 -204.4 352.8 -9.4 281 2159 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2031 3787 0 0 0 0 0 0 28.83 28.83 28.83
2460 -0.53 -204.4 378.8 -8.2 311 2469 0.10 2.10 0.00 0.000 4 0.094 0.043 2002 3423 3785 0 0 0 0 0 0 26.58 26.46 28.83
2495 -0.53 -204.4 382.9 -10.7 314 2503 0.25 2.12 0.00 0.000 6 0.114 0.035 2085 2016 3785 0 0 0 0 0 0 26.34 26.48 28.83
2802 -0.54 -204.4 412.0 -8.0 345 2806 0.00 2.15 0.00 0.000 4 0.000 0.045 2085 609 3783 0 0 0 0 0 0 28.83 26.45 28.83
2825 -0.55 -204.4 413.7 -7.8 347 2834 0.00 2.08 0.00 0.000 6 0.000 0.034 2083 2015 3783 0 0 0 0 0 0 28.83 26.50 28.83
3134 -0.57 -204.4 434.2 -6.4 378 3144 0.08 2.17 0.00 0.000 4 0.124 0.040 1985 3440 3781 0 0 0 0 0 0 26.59 26.47 28.83
3200 -0.54 -204.4 441.9 -14.2 384 3208 0.28 2.15 0.00 0.000 6 0.115 0.035 2078 2021 3781 0 0 0 0 0 0 26.34 26.48 28.83
3507 -0.56 -204.4 468.8 -9.1 415 3508 0.00 0.00 0.00 0.000 6 0.000 0.000 2078 2021 3778 0 0 0 0 0 0 28.83 28.83 28.83
3811 -0.57 -204.4 496.8 -9.0 445 3817 0.00 0.00 0.00 0.000 6 0.000 0.000 2078 2021 3777 0 0 0 0 0 0 28.83 28.83 28.83
4118 -0.59 -204.4 522.9 -8.6 476 4127 0.00 2.15 0.00 0.000 4 0.000 0.047 2078 614 3775 0 0 0 0 0 0 28.83 26.46 28.83
4154 -0.61 -204.4 525.7 -8.5 479 4161 0.08 2.12 0.00 0.000 6 0.122 0.035 1987 2036 3775 0 0 0 0 0 0 26.45 26.50 28.83
4460 -0.57 -204.4 576.7 -17.3 510 4469 0.22 2.12 0.00 0.000 4 0.125 0.041 2056 3432 3772 0 0 0 0 0 0 26.34 26.47 28.83
4494 -0.56 -204.4 580.8 -13.5 513 4503 0.00 2.12 0.00 0.000 6 0.000 0.036 2055 2021 3772 0 0 0 0 0 0 28.83 26.49 28.83
4815 -0.57 -204.4 609.7 -9.0 540 4817 0.00 0.00 0.00 0.000 6 0.000 0.000 2055 2021 3769 0 0 0 0 0 0 28.83 28.83 28.83
5113 -0.58 -204.4 637.4 -9.4 555 5119 0.00 2.15 0.00 0.000 4 0.000 0.050 2055 625 3767 0 0 0 0 0 0 28.83 26.44 28.83
5152 -0.59 -204.4 641.3 -9.7 557 5158 0.00 2.10 0.00 0.000 6 0.000 0.037 2048 2023 3767 0 0 0 0 0 0 28.83 26.49 28.83
5473 -0.59 -204.4 672.2 -9.0 573 5479 0.00 2.15 0.00 0.000 4 0.000 0.046 2039 3435 3764 0 0 0 0 0 0 28.83 26.46 28.83
5512 -0.60 -204.4 675.6 -8.7 575 5519 0.05 2.17 0.00 0.000 6 0.184 0.036 2059 2012 3764 0 0 0 0 0 0 26.41 26.48 28.83
5835 -0.62 -204.4 697.8 -6.7 591 5840 0.00 2.12 0.00 0.000 4 0.000 0.050 2060 625 3762 0 0 0 0 0 0 28.83 26.43 28.83
5873 -0.63 -204.4 700.7 -6.9 593 5879 0.00 2.12 0.00 0.000 6 0.000 0.037 2055 2023 3762 0 0 0 0 0 0 28.83 26.47 28.83
6193 -0.64 -204.4 725.8 -8.6 609 6199 0.00 2.17 0.00 0.000 4 0.000 0.047 2046 3435 3760 0 0 0 0 0 0 28.83 26.44 28.83
6227 -0.65 -204.4 727.7 -8.9 610 6234 0.00 2.15 0.00 0.000 6 0.000 0.036 2046 2023 3759 0 0 0 0 0 0 28.83 26.47 28.83
6535 -0.66 -204.4 758.5 -9.8 626 6540 0.00 2.15 0.00 0.000 4 0.000 0.049 2046 621 3757 0 0 0 0 0 0 28.83 26.41 28.83
6564 -0.67 -204.4 760.5 -9.8 627 6572 0.00 2.10 0.00 0.000 6 0.000 0.037 2039 2018 3757 0 0 0 0 0 0 28.83 26.48 28.83
6873 -0.67 -204.4 793.0 -9.9 643 6877 0.00 2.17 0.00 0.000 4 0.000 0.047 2029 3439 3754 0 0 0 0 0 0 28.83 26.43 28.83
6917 -0.68 -204.4 797.0 -9.9 645 6922 0.00 2.15 0.00 0.000 6 0.000 0.036 2029 2019 3755 0 0 0 0 0 0 28.83 26.46 28.83
7236 -0.68 -204.4 830.5 -10.8 661 7238 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2018 3753 0 0 0 0 0 0 28.83 28.83 28.83
7537 -0.68 -204.4 863.1 -10.7 676 7538 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2018 3751 0 0 0 0 0 0 28.83 28.83 28.83
7836 -0.68 -204.4 895.1 -10.5 691 7842 0.00 2.17 0.00 0.000 4 0.000 0.051 2029 617 3750 0 0 0 0 0 0 28.83 26.39 28.83
7856 -0.68 -204.4 897.3 -10.5 692 7861 0.00 2.15 0.00 0.000 6 0.000 0.037 2021 2036 3749 0 0 0 0 0 0 28.83 26.45 28.83
8177 -0.68 -204.4 930.2 -9.6 708 8178 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 2037 3747 0 0 0 0 0 0 28.83 28.83 28.83
8476 -0.68 -204.4 957.7 -9.1 723 8482 0.00 2.17 0.00 0.000 4 0.000 0.050 2021 623 3746 0 0 0 0 0 0 28.83 26.38 28.83
8516 -0.68 -204.4 961.4 -9.1 725 8522 0.08 2.15 0.00 0.000 6 0.174 0.037 2037 2031 3746 0 0 0 0 0 0 26.32 26.44 28.83
8837 -0.69 -204.4 984.8 -7.2 741 8843 0.00 2.12 0.00 0.000 4 0.000 0.046 2027 3426 3745 0 0 0 0 0 0 28.83 26.41 28.83
8880 -0.70 -204.4 987.5 -7.0 743 8884 0.00 2.15 0.00 0.000 6 0.000 0.037 2027 2023 3744 0 0 0 0 0 0 28.83 26.43 28.83
8930 end dive: TARGET_DEPTH_EXCEEDED
state 8930 begin apogee
8936 -0.22 0.0 991.4 -6.7 746 9179 0.43 0.00 237.18 0.913 6 0.097 0.000 2182 1971 2953 0 0 0 0 0 0 26.28 28.83 24.17
9180 end apogee: CONTROL_FINISHED_OK
state 9180 begin climb
9182 0.68 204.4 998.5 0.0 758 9372 0.75 2.38 179.18 1.079 4 0.043 0.032 2483 3395 2109 0 0 0 0 0 0 24.89 24.52 23.80
9472 0.62 204.4 954.3 24.1 773 9478 0.17 2.28 0.00 0.000 6 0.163 0.037 2449 1977 2088 0 0 0 0 0 0 25.10 25.23 28.83
9787 0.56 204.4 892.9 18.4 789 9789 0.08 0.00 0.00 0.000 6 0.202 0.000 2432 1976 2084 0 0 0 0 0 0 25.75 28.83 28.83
10085 0.52 204.4 844.5 15.8 804 10091 0.00 2.17 0.00 0.000 4 0.000 0.032 2432 3395 2082 0 0 0 0 0 0 28.83 26.00 28.83
10159 0.49 204.4 834.8 16.0 807 10166 0.15 2.22 0.00 0.000 6 0.155 0.037 2400 1967 2082 0 0 0 0 0 0 25.84 26.01 28.83
10466 0.46 204.4 797.1 11.3 823 10471 0.00 2.17 0.00 0.000 4 0.000 0.034 2400 3399 2080 0 0 0 0 0 0 28.83 26.13 28.83
10520 0.44 204.4 792.4 11.6 825 10527 0.10 2.20 0.00 0.000 6 0.171 0.037 2383 1977 2080 0 0 0 0 0 0 25.98 26.12 28.83
10828 0.44 215.7 759.1 10.6 841 10829 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 1976 2079 0 0 0 0 0 0 28.83 28.83 28.83
11127 0.43 215.7 723.7 12.4 856 11128 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 1976 2079 0 0 0 0 0 0 28.83 28.83 28.83
11426 0.42 215.7 684.9 12.9 871 11432 0.00 2.15 0.00 0.000 4 0.000 0.035 2383 3391 2078 0 0 0 0 0 0 28.83 26.27 28.83
11458 0.42 215.7 682.1 13.1 872 11465 0.00 2.20 0.00 0.000 6 0.000 0.037 2391 1966 2078 0 0 0 0 0 0 28.83 26.26 28.83
11767 0.40 215.7 640.2 12.5 888 11768 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 1966 2078 0 0 0 0 0 0 28.83 28.83 28.83
12066 0.39 215.7 605.4 11.5 903 12068 0.08 0.00 0.00 0.000 6 0.197 0.000 2375 1965 2077 0 0 0 0 0 0 26.32 28.83 28.83
12368 0.39 217.5 573.7 10.9 930 12377 0.00 0.00 4.25 0.704 6 0.000 0.000 2375 1965 2065 0 0 0 0 0 0 28.83 28.83 25.43
12677 0.42 235.7 540.7 10.3 961 12705 0.00 0.00 25.45 0.761 6 0.000 0.000 2375 1965 1991 0 0 0 0 0 0 28.83 28.83 25.37
13008 0.49 284.5 508.3 9.2 994 13058 0.10 0.00 46.78 0.789 6 0.093 0.000 2452 1965 1793 0 0 0 0 0 0 26.22 28.83 24.85
13355 0.46 284.5 448.2 18.9 1029 13357 0.17 0.00 0.00 0.000 6 0.142 0.000 2398 1965 1767 0 0 0 0 0 0 25.78 28.83 28.83
13657 0.46 284.5 409.4 11.9 1059 13665 0.00 2.20 0.00 0.000 4 0.000 0.037 2398 3393 1765 0 0 0 0 0 0 28.83 26.08 28.83
13708 0.47 284.5 402.8 12.7 1064 13717 0.00 2.22 0.00 0.000 6 0.000 0.039 2406 1968 1764 0 0 0 0 0 0 28.83 26.08 28.83
14018 0.47 284.5 365.1 12.1 1095 14019 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 1968 1763 0 0 0 0 0 0 28.83 28.83 28.83
14319 0.47 284.5 329.1 12.0 1125 14328 0.00 2.15 0.00 0.000 4 0.000 0.048 2417 565 1762 0 0 0 0 0 0 28.83 26.22 28.83
14361 0.48 284.5 324.1 11.7 1129 14370 0.00 2.10 0.00 0.000 6 0.000 0.026 2417 1990 1762 0 0 0 0 0 0 28.83 26.27 28.83
14670 0.48 284.5 285.1 12.2 1160 14674 0.00 2.20 0.00 0.000 4 0.000 0.048 2427 569 1763 0 0 0 0 0 0 28.83 26.27 28.83
14694 0.48 284.5 282.4 12.1 1162 14705 0.05 2.05 0.00 0.000 6 0.131 0.026 2406 1979 1763 0 0 0 0 0 0 26.17 26.34 28.83
15005 0.55 325.9 250.8 9.5 1193 15044 0.08 0.00 33.90 0.620 6 0.121 0.000 2473 1980 1615 0 0 0 0 0 0 26.44 28.83 25.38
15346 0.52 325.9 193.3 18.8 1230 15354 0.15 0.00 0.00 0.000 6 0.140 0.000 2422 1980 1603 0 0 0 0 0 0 26.01 28.83 28.83
15681 0.59 366.5 154.8 9.5 1291 15732 0.00 2.20 42.33 0.524 4 0.000 0.037 2422 3369 1450 0 0 0 0 0 0 28.83 25.84 25.32
15758 0.69 428.2 147.5 8.8 1303 15816 0.15 2.20 49.25 0.536 6 0.076 0.039 2527 1968 1197 0 0 0 0 0 0 25.89 25.87 24.96
16140 0.69 428.2 78.3 15.3 1372 16149 0.15 2.22 0.00 0.000 4 0.133 0.046 2483 570 1181 0 0 0 0 0 0 25.89 25.95 28.83
16243 0.96 594.3 72.1 5.0 1390 16391 0.17 2.10 140.27 0.256 6 0.031 0.025 2605 1965 531 0 0 0 0 0 0 26.10 26.08 25.27
16511 end climb: SURFACE_DEPTH_REACHED
state 16511 begin surface coast
16524 end surface coast: CONTROL_FINISHED_OK
state 16524 begin surface