AMOS Jul22 * SG235 * Dive index * Mission links * Dive 9 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  235 TGT_DEFAULT_LON  -12218 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  -0.5
MISSION  21 TGT_AUTO_DEFAULT  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
DIVE  9 SM_CC  605.40039 VBD_MIN  500 DEEPGLIDERMB  0
N_DIVES  0 N_FILEKB  8 VBD_MAX  3960 MOTHERBOARD  6
STOP_T  0 FILEMGR  0 C_VBD  3265.1497 DEVICE1  -1
D_SURF  2 CALL_NDIVES  1 VBD_DBAND  2 DEVICE2  -1
D_FLARE  3 COMM_SEQ  15 VBD_CNV  -0.24529999 DEVICE3  -1
D_TGT  360 PROTOCOL  9 VBD_LP_IGNORE  0 DEVICE4  -1
D_ABORT  500 N_NOCOMM  1 VBD_TIMEOUT  800 DEVICE5  -1
D_NO_BLEED  50 NOCOMM_ACTION  131 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
D_BOOST  0 N_NOSURFACE  0 UNCOM_BLEED  20 LOGGERS  3
T_BOOST  0 UPLOAD_DIVES_MAX  3 VBD_MAXERRORS  2 LOGGERDEVICE1  7
D_FINISH  10 CALL_TRIES  3 C_VBD_AUTO_DELTA  0.5 LOGGERDEVICE2  35
D_PITCH  2 CALL_WAIT  45 C_VBD_AUTO_MAX  100 LOGGERDEVICE3  -1
D_SAFE  500 CAPUPLOAD  0 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
D_CALL  3 CAPMAXSIZE  10000 DBDW  0 COMPASS_DEVICE  66
SURFACE_URGENCY  20 T_GPS  3 LOITER_W_DBAND  2 COMPASS2_DEVICE  -1
SURFACE_URGENCY_TRY  20 N_GPS  100440 LOITER_DBDW  400 PHONE_DEVICE  33
SURFACE_URGENCY_FORCE  40 T_RSLEEP  1 LOITER_D_TOP  400 GPS_DEVICE  48
T_DIVE  120 STROBE  0 LOITER_D_BOTTOM  700 RAFOS_DEVICE  96
T_MISSION  150 RAFOS_PEAK_OFFSET  0 LOITER_N_DIVE  0 NAV_DEVICE  6
T_ABORT  1440 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  0 NAV2_DEVICE  6
T_TURN  225 RAFOS_HIT_WINDOW  3600 AH0_24V  575 NETWORK_DEVICE  1
T_TURN_SAMPINT  -5 RAFOS_MMODEM  0 AH0_10V  0 PRESSURE_DEVICE  34
T_NO_W  240 PITCH_MIN  230 MINV_24V  0 XPDR_DEVICE  -1
T_LOITER  0 PITCH_MAX  3900 MINV_10V  0 SIM_W  0
T_EPIRB  0 C_PITCH  2393.3745 MAXI_24V  5 SEABIRD_T_G  0.004415411
USE_BATHY  -1 PITCH_DBAND  0.1 MAXI_10V  2 SEABIRD_T_H  0.00064200663
USE_ICE  0 PITCH_CNV  0.0041299998 FG_AHR_10V  172.6274 SEABIRD_T_I  2.6329088e-05
ICE_FREEZE_MARGIN  0.1 PITCH_GAIN  18.117001 FG_AHR_24V  218.88911 SEABIRD_T_J  3.2522996e-06
D_OFFGRID  1000 PITCH_TIMEOUT  40 PHONE_SUPPLY  2 SEABIRD_C_G  -9.8064938
RELAUNCH  1 PITCH_MAXERRORS  1 PRESSURE_YINT  -158.7531 SEABIRD_C_H  1.0739573
APOGEE_PITCH  -5 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  0.00022957686 SEABIRD_C_I  -0.002841271
MAX_BUOY  150 PITCH_ADJ_DBAND  2 COMPASS_USE  49156 SEABIRD_C_J  0.00027081851
GLIDE_SLOPE  30 C_PITCH_AUTO_DELTA  0.5 ALTIM_PING_FIT  0 OPTIONS  2
SPEED_FACTOR  1 C_PITCH_AUTO_MAX  200 ALTIM_TOP_PING_RANGE  0 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_GAIN_AUTO_DELTA  0.5 ALTIM_BOTTOM_TURN_MARGIN  0 SC_PROFILE  7.0
MASS  72594 PITCH_GAIN_AUTO_MAX  2 ALTIM_TOP_TURN_MARGIN  0 SC_XMITPROFILE  3.0
NAV_MODE  2 PITCH_W_GAIN  0 ALTIM_TOP_MIN_OBSTACLE  0 SC_NDIVE  1.0
FERRY_MAX  45 PITCH_W_DBAND  0 ALTIM_PING_DEPTH  0 PM_RECORDABOVE  2000.0
KALMAN_USE  2 ROLL_MIN  1200 ALTIM_PING_DELTA  0 PM_PROFILE  3.0
HD_A  0.003 ROLL_MAX  3900 ALTIM_FREQUENCY  13 PM_XMITPROFILE  3.0
HD_B  0.0099999998 ROLL_DEG  80 ALTIM_PULSE  3 PM_NDIVE  1.0
HD_C  1.6e-05 C_ROLL_DIVE  2750 ALTIM_SENSITIVITY  2 PM_XMITRAW  0.0
HEADING  -1 C_ROLL_CLIMB  2600 XPDR_VALID  4 PM_MOTORS  0.0
ESCAPE_HEADING  180 HEAD_ERRBAND  10 XPDR_INHIBIT  90 PM_SENDDEPTH  0.0
ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.054945 XPDR_INT  0
FIX_MISSING_TIMEOUT  20 ROLL_TIMEOUT  30 XPDR_REP  0
TGT_DEFAULT_LAT  4736 ROLL_MAXERRORS  0 INT_PRESSURE_SLOPE  1.9639999e-06

Pre-dive calculations and measurements:
GPS1  130722,041104,4722.341,-12523.432,2,1.9,15,15.8 TGT_RADIUS  1500.000
_CALLS  2 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.56 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  130722,041652,4722.312,-12523.513,3,1.1,5,15.8 MHEAD_RNG_PITCHd_Wd  173.2,4325,-17.6,-10.000,-21.24,2209,0.213
SPEED_LIMITS  0.173,0.257 D_GRID  1000
TGT_NAME  HOLD IRON  1.000000,0.010128,-0.063169,-0.087250,1.072990,-0.045988,-0.003437,0.060541,1.120606,-1044.861328,-999.930542,-222.078873
TGT_LATLONG  4720.000,-12524.000

Post-dive calculations and measurements:
NET  CACST,8,1,20220713060523.899175,06,341,13,0643,0150,276,02,02,02,02,-1,-01,-01,1,3,10611,0,150,-36.3,6.71,-100,-3.71,-01,0.33,66,10000,5000,0,-1,00,00*6D INTERNAL_PRESSURE  8.50387
MODEM_MSG  CACST,8,1,20220713040002.820577,18,14517,29,0112,0000,455,02,02,02,02,-1,-01,-01,1,3,0,0,150,-100.0,0.57,-100,2.43,-01,-0.02,13,925,0025,0,-1,00,00*33 _24V_AH  14.80,117.707
NAV  1657691947,65.0,start _10V_AH  14.79,0.000
WARN  HSCICON missed fuel gauge read FG_AHR_24Vo  219.129
FREEZE  0.18,16.473,-1.707,0,1,0 FG_AHR_10Vo  172.775
FINISH  0.2,1.022741 MEM0  60108,1,0,0
SM_CCo  7164.02,105.49,1.198,0,797.1,867.4,726.8,605.38 MEM1  65508,1,0,0
SM_GC  1.61,105.49,15.78,2.73,1.198,0.057,0.075,797.1,867.4,726.8,214.2,2727.6,0,0,0,11.73,15.67,15.68 MEM2  964444,24,81964,84
SUPER  19,71,254,1,0,0 DATA_FILE_SIZE  22480,802
IRIDIUM_FIX  4723.35,-12523.76,130722,030351 CAP_FILE_SIZE  347971,0
TCM_TEMP  14.47 SDSIZE  3918848,3875616
SC_FREEKB  3875808 SDFILEDIR  356,3
PM_FREEKB_00  61923712 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD  0 SOUNDSPEED  1465.0
RAFOS_CLK  0 CURRENT  0.034,358.1,1
MODEM  0,1657684802,47.00000,-122.50000,2.821,4132.1 MAGCAL  1.000000,-0.033192,0.015795,-0.108364,1.135403,-0.009958,0.013857,-0.058631,1.144136,-1132.7,-1060.2,-177.5,36,0.0445,0
RAFOS_FIX  4930.521484,-12154.555664,130722,030302,2,510,7659.95 IMPLIED_C_PITCH  2368,17.35,449,2380.6,17.73
HUMID  78.19 IMPLIED_C_VBD  3194,54.787689,434,3229.4
TEMP  10.85 GPS  130722,061814,4721.718,-12523.784,36,1.8,41,15.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump672164516390.66 nil000.00
Pitch_motor34271140.15 nil000.00
Roll_motor111275454.49 nil000.00
Iridium209212660.04 nil000.00
Transponder_ping000.00 nil000.00
GPS14153.27 nil000.00
Core33015250.00 SciCon70337767.86
Fast000.00 PMAR7035101109.04
Slow000.00 nil000.00
LPSleep4074019.28
Compass15495114.55
RAFOS5407403199.03
Transponder000.00
Compass2000.00

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

Guidance and control:
st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts
11 end surface: CONTROL_FINISHED_OK
state 11 begin dive
12.29 16386 -145.99 -1.15 0.00 695.0 745.0 645.1 211.9 2721.9 0.00 0.00 0 91.30 75.82 0.00 0.00 0.005 0.000 0.000 2435.03 2439.00 2431.06 211.75 2721.19 0 0 0 15.79 30.00 30.00
91.54 18727 -145.99 -1.15 80.00 2434.5 2437.8 2431.2 211.7 2720.8 3.27 -2.53 15 152.18 33.91 14.95 2.97 0.005 0.271 0.119 3859.91 3881.38 3838.44 2113.69 3912.12 0 0 0 15.80 15.65 15.73
200.36 1028 -145.99 -1.15 0.00 3862.1 3884.5 3839.7 2113.2 3911.2 25.99 -20.21 36 206.61 0.00 0.00 2.76 0.000 0.000 0.070 3861.75 3882.94 3840.56 2112.94 2725.94 0 0 0 30.00 30.00 15.78
395.39 260 -145.99 -1.15 80.00 3862.6 3885.7 3839.6 2113.8 2725.2 58.49 -15.58 70 400.98 0.00 0.00 2.99 0.000 0.000 0.116 3863.66 3886.94 3840.38 2113.06 3910.00 0 0 0 30.00 30.00 15.79
582.65 1028 -145.99 -1.15 0.00 3863.4 3886.8 3840.0 2112.5 3909.9 86.27 -13.81 107 589.63 0.00 0.00 2.76 0.000 0.000 0.070 3864.41 3888.56 3840.25 2113.38 2728.81 0 0 0 30.00 30.00 15.85
778.38 260 -145.99 -1.15 80.00 3864.8 3889.2 3840.4 2112.8 2729.1 112.18 -12.90 127 783.99 0.00 0.00 2.96 0.000 0.000 0.119 3864.44 3888.50 3840.38 2112.94 3910.88 0 0 0 30.00 30.00 15.84
822.66 1028 -145.99 -1.15 0.00 3864.7 3889.9 3839.4 2112.8 3912.8 118.09 -13.15 136 829.82 0.00 0.00 2.75 0.000 0.000 0.072 3864.88 3890.44 3839.31 2112.50 2727.94 0 0 0 30.00 30.00 15.87
1018.44 516 -145.99 -1.15 -80.00 3865.0 3890.2 3839.8 2113.1 2727.8 141.86 -12.85 156 1024.47 0.00 0.00 3.52 0.000 0.000 0.130 3865.59 3891.31 3839.88 2112.50 1282.06 0 0 0 30.00 30.00 15.85
1100.43 1028 -145.99 -1.15 0.00 3866.5 3891.6 3841.5 2113.0 1282.1 153.60 -14.07 172 1106.43 0.00 0.00 3.46 0.000 0.000 0.066 3866.03 3891.44 3840.62 2113.00 2766.56 0 0 0 30.00 30.00 15.88
1290.44 260 -145.99 -1.15 80.00 3866.6 3892.8 3840.5 2112.7 2766.8 176.35 -11.32 192 1296.13 0.00 0.00 2.86 0.000 0.000 0.123 3867.22 3892.62 3841.81 2112.62 3912.25 0 0 0 30.00 30.00 15.86
1340.45 1028 -145.99 -1.15 0.00 3866.1 3891.1 3841.0 2113.3 3912.2 182.07 -11.40 202 1346.11 0.00 0.00 2.73 0.000 0.000 0.074 3867.31 3892.62 3842.00 2112.50 2728.56 0 0 0 30.00 30.00 15.89
1530.45 0 -145.99 -1.15 0.00 3866.3 3891.8 3840.9 2112.8 2728.4 204.32 -12.27 222 1532.01 0.00 0.00 0.00 0.000 0.000 0.000 3865.91 3892.56 3839.25 2113.00 2728.88 0 0 0 30.00 30.00 30.00
1720.46 516 -145.99 -1.15 -80.00 3865.9 3891.9 3839.8 2112.6 2728.9 227.21 -11.96 241 1726.52 0.00 0.00 3.53 0.000 0.000 0.134 3866.47 3892.19 3840.75 2113.31 1282.88 0 0 0 30.00 30.00 15.86
1750.47 1028 -145.99 -1.15 0.00 3866.7 3892.1 3841.2 2113.5 1282.8 231.15 -13.13 247 1756.48 0.00 0.00 3.46 0.000 0.000 0.070 3867.16 3892.06 3842.25 2113.19 2765.62 0 0 0 30.00 30.00 15.90
1940.48 0 -145.99 -1.15 0.00 3866.5 3892.6 3840.4 2112.9 2766.3 254.11 -12.27 265 1942.04 0.00 0.00 0.00 0.000 0.000 0.000 3866.22 3891.88 3840.56 2113.12 2765.56 0 0 0 30.00 30.00 30.00
2275.56 516 -145.99 -1.15 -80.00 3866.0 3892.5 3839.5 2112.6 2765.7 292.15 -11.26 276 2285.29 0.00 0.00 3.62 0.000 0.000 0.133 3865.28 3891.56 3839.00 2112.12 1281.88 0 0 0 30.00 30.00 15.91
2323.36 1028 -145.99 -1.15 0.00 3865.7 3892.1 3839.2 2113.2 1281.6 298.80 -12.74 286 2330.10 0.00 0.00 3.47 0.000 0.000 0.073 3868.06 3894.31 3841.81 2114.31 2767.12 0 0 0 30.00 30.00 15.99
2634.11 516 -145.99 -1.15 -80.00 3865.2 3891.9 3838.4 2112.6 2766.4 337.21 -12.96 298 2640.19 0.00 0.00 3.63 0.000 0.000 0.134 3863.84 3891.50 3836.19 2113.12 1282.69 0 0 0 30.00 30.00 15.94
2668.38 1028 -145.99 -1.15 0.00 3865.1 3891.7 3838.6 2112.6 1282.8 342.15 -14.30 305 2675.12 0.00 0.00 3.45 0.000 0.000 0.074 3866.12 3892.81 3839.44 2112.75 2766.31 0 0 0 30.00 30.00 15.97
2814 end dive: TARGET_DEPTH_EXCEEDED
state 2814 begin apogee
2815.63 10243 0.00 -0.28 0.00 3864.4 3892.9 3835.9 2113.3 2575.5 361.42 -13.25 314 2931.32 108.08 1.45 0.07 1.646 0.140 0.276 3262.34 3323.44 3201.25 2327.62 2618.06 0 0 0 11.65 15.93 15.41
2942 end apogee: CONTROL_FINISHED_OK
state 2942 begin climb
2942.39 10243 145.99 1.15 0.00 3262.1 3323.1 3201.1 2326.9 2618.4 365.37 0.00 317 3064.25 111.50 2.27 0.00 1.574 0.084 0.000 2666.66 2741.94 2591.38 2678.31 2618.25 0 0 0 11.76 15.47 30.00
3371.18 16902 145.99 1.15 -80.00 2656.6 2723.8 2589.4 2677.9 2618.3 328.67 11.90 337 3377.24 0.00 0.00 3.55 0.000 0.000 0.138 2653.25 2720.19 2586.31 2677.94 1189.75 0 0 0 30.00 30.00 15.68
3450.46 17414 145.99 1.15 0.00 2654.7 2719.1 2590.3 2678.2 1188.9 317.59 14.00 353 3463.17 0.00 0.00 3.35 0.000 0.000 0.067 2655.16 2720.19 2590.12 2678.50 2620.50 0 0 0 30.00 30.00 15.75
3766.39 16902 145.99 1.15 -80.00 2653.8 2718.5 2589.2 2678.6 2620.0 285.45 9.43 365 3772.55 0.00 0.00 3.55 0.000 0.000 0.137 2654.62 2719.31 2589.94 2677.38 1184.94 0 0 0 30.00 30.00 15.79
3845.65 17414 145.99 1.15 0.00 2653.1 2717.4 2588.8 2678.1 1185.0 276.52 11.40 381 3852.34 0.00 0.00 3.33 0.000 0.000 0.067 2651.38 2714.38 2588.38 2677.94 2620.50 0 0 0 30.00 30.00 15.84
4156.44 8742 197.01 1.22 -80.00 2651.8 2715.0 2588.7 2678.6 2621.1 251.89 7.63 393 4204.45 39.56 0.00 3.58 1.486 0.000 0.140 2460.38 2534.25 2386.50 2677.62 1189.00 0 0 0 11.75 30.00 15.62
4237.72 1028 197.01 1.22 0.00 2456.1 2525.7 2386.6 2678.2 1189.5 243.32 12.82 409 4243.68 0.00 0.00 3.34 0.000 0.000 0.067 2454.47 2523.31 2385.62 2678.44 2620.62 0 0 0 30.00 30.00 15.69
4427.70 16646 197.01 1.22 80.00 2452.7 2522.5 2382.9 2678.0 2620.2 222.12 11.00 429 4433.60 0.00 0.00 3.25 0.000 0.000 0.132 2454.59 2526.50 2382.69 2678.12 3912.06 0 0 0 30.00 30.00 15.74
4512.00 17414 197.01 1.22 0.00 2451.5 2519.9 2383.1 2678.1 3911.8 212.68 11.29 446 4519.32 0.00 0.00 3.15 0.000 0.000 0.080 2451.09 2521.31 2380.88 2677.56 2579.75 0 0 0 30.00 30.00 15.79
4707.74 16902 197.01 1.22 -80.00 2451.8 2521.5 2382.1 2679.0 2579.5 192.28 10.61 466 4713.75 0.00 0.00 3.43 0.000 0.000 0.143 2451.34 2520.75 2381.94 2678.38 1188.00 0 0 0 30.00 30.00 15.79
4747.76 17414 197.01 1.22 0.00 2450.6 2519.0 2382.2 2679.3 1187.8 187.28 12.86 474 4753.72 0.00 0.00 3.31 0.000 0.000 0.067 2451.31 2519.75 2382.88 2678.19 2622.19 0 0 0 30.00 30.00 15.83
4937.76 16386 197.01 1.22 0.00 2450.2 2519.0 2381.3 2678.8 2621.6 167.19 10.23 494 4939.31 0.00 0.00 0.00 0.000 0.000 0.000 2446.38 2515.75 2377.00 2676.81 2621.56 0 0 0 30.00 30.00 30.00
5127.77 16646 197.01 1.22 80.00 2449.4 2518.7 2380.1 2678.1 2621.6 149.40 8.81 513 5133.70 0.00 0.00 3.23 0.000 0.000 0.129 2451.66 2522.50 2380.81 2677.50 3910.38 0 0 0 30.00 30.00 15.82
5177.79 17414 197.01 1.22 0.00 2448.9 2517.8 2380.0 2678.6 3909.6 144.84 9.18 523 5183.64 0.00 0.00 3.12 0.000 0.000 0.079 2448.19 2518.31 2378.06 2678.50 2580.06 0 0 0 30.00 30.00 15.86
5367.82 8226 244.56 1.27 0.00 2449.2 2517.8 2380.6 2678.8 2580.1 129.37 7.79 543 5409.67 37.73 0.00 0.00 1.374 0.000 0.000 2265.66 2347.06 2184.25 2678.44 2579.69 0 0 0 11.71 30.00 30.00
5597.80 16902 244.56 1.27 -80.00 2259.2 2337.6 2180.9 2678.6 2579.6 109.66 8.71 568 5603.80 0.00 0.00 3.44 0.000 0.000 0.144 2258.78 2337.81 2179.75 2680.12 1188.81 0 0 0 30.00 30.00 15.76
5737.83 17414 244.56 1.27 0.00 2258.0 2334.8 2181.2 2678.2 1189.1 93.81 11.81 596 5743.78 0.00 0.00 3.34 0.000 0.000 0.068 2258.50 2335.31 2181.69 2678.38 2623.06 0 0 0 30.00 30.00 15.86
5927.87 10275 327.93 1.38 0.00 2258.1 2335.5 2180.8 2677.9 2622.8 79.65 6.12 616 5995.55 63.96 0.29 0.00 1.318 0.079 0.000 1927.56 2015.75 1839.38 2736.56 2622.69 0 0 0 11.80 15.89 30.00
6181.86 16386 327.93 1.38 80.00 1918.5 2001.3 1835.7 2738.2 2621.9 57.64 8.74 646 6183.42 0.00 0.00 0.00 0.000 0.000 0.000 1915.06 1997.75 1832.38 2737.38 2622.44 0 0 0 30.00 30.00 30.00
6366.92 8742 386.20 1.45 -80.00 1916.5 1997.6 1835.4 2738.5 2621.8 42.91 7.29 673 6421.04 44.38 0.00 3.60 1.245 0.000 0.141 1687.75 1777.19 1598.31 2738.25 1190.12 0 0 0 11.74 30.00 15.56
6444.28 1028 386.20 1.45 0.00 1685.7 1772.7 1598.8 2737.9 1189.7 37.24 8.13 688 6450.96 0.00 0.00 3.37 0.000 0.000 0.066 1685.16 1772.19 1598.12 2738.56 2620.62 0 0 0 30.00 30.00 15.64
6631.44 16386 386.20 1.45 0.00 1682.3 1767.6 1597.0 2738.4 2621.6 21.96 8.28 725 6635.83 0.00 0.00 0.00 0.000 0.000 0.000 1681.78 1766.38 1597.19 2738.88 2621.38 0 0 0 30.00 30.00 30.00
6816.54 10535 455.94 1.53 80.00 1680.5 1765.6 1595.5 2738.4 2621.2 9.47 6.76 762 6880.78 52.55 0.16 3.27 1.204 0.099 0.125 1404.00 1496.75 1311.25 2778.62 3910.69 0 0 0 11.68 15.78 15.54
6974 end climb: SURFACE_DEPTH_REACHED
state 6974 begin surface coast
7019 end surface coast: CONTROL_FINISHED_OK
state 7019 begin surface