Glider dive log

WA coast Jul17 * SG204 * Dive index * Mission links * Dive 91 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 47 ALTIM_PULSE 2

MISSION 19 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 25 ALTIM_SENSITIVITY 2

DIVE 91 TGT_DEFAULT_LAT 4736 ROLL_AD_RATE 350 XPDR_VALID 5

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_SURF 2 SM_CC 598.77728 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.60000002

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 DEEPGLIDER 0

D_TGT 600 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 4

D_ABORT 1020 CALL_NDIVES 1 C_VBD 2941 DEVICE1 -1

D_NO_BLEED 200 COMM_SEQ 2 VBD_DBAND 2 DEVICE2 -1

D_BOOST 50 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

T_BOOST 4 N_NOCOMM 3 VBD_LP_IGNORE 0 DEVICE4 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE5 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0014 DEVICE6 -1

D_SAFE 0 UPLOAD_DIVES_MAX 1 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 0

D_CALL 0 CALL_TRIES 15 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE1 51

SURFACE_URGENCY 0 CALL_WAIT 120 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 85

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_DIVE 200 HEAPDBG 0 W_ADJ_DBAND 0.5 COMPASS_DEVICE 33

T_MISSION 250 T_GPS 5 DBDW 0 COMPASS2_DEVICE 147

T_ABORT 1440 N_GPS 100440 LOITER_W_DBAND 0 PHONE_DEVICE 48

T_TURN 225 T_RSLEEP 2 LOITER_DBDW 0 GPS_DEVICE 64

T_TURN_SAMPINT -5 STROBE 0 PITCH_W_GAIN 7 RAFOS_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_LOITER 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_W 0

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 AH0_24V 150 SIM_PITCH 0

USE_BATHY -1 RAFOS_MMODEM 0 AH0_10V 97 SEABIRD_T_G 0.0043580476

USE_ICE 0 PITCH_MIN 210 MINV_24V 20 SEABIRD_T_H 0.00063004985

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 MINV_10V 9 SEABIRD_T_I 2.4557072e-05

D_OFFGRID 1010 C_PITCH 3040 MAXI_24V 0.60000002 SEABIRD_T_J 2.6474129e-06

T_WATCHDOG 10 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_C_G -10.262359

RELAUNCH 1 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_H 1.1522416

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_I -0.00012417733

MAX_BUOY 150 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_J 0.00011025551

COURSE_BIAS 0 PITCH_GAIN 22 PRESSURE_YINT -171.29309 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_SLOPE 0.00010934046 SC_PROFILE 3.0

SPEED_FACTOR 1 PITCH_AD_RATE 160 AD7714Ch0Gain 1 SC_XMITPROFILE 0.0

RHO 1.0275 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_NDIVE 1.0

MASS 52433 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PM_PROFILE 3.0

NAV_MODE 2 ROLL_MIN 236 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITPROFILE 0.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_TOP_PING_RANGE 0 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITRAW 0.0

HD_A 0.0044816299 C_ROLL_DIVE 2400 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_B 0.0200298 C_ROLL_CLIMB 2700 ALTIM_TOP_MIN_OBSTACLE 0 PM_SENDDEPTH 1.0

HD_C 2.53195e-06 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_I 2.4557072e-05

AH0_10V 97 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 22 SEABIRD_T_J 2.6474129e-06

AH0_24V 150 FERRY_MAX 45 PITCH_MAX 3900 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_24V 0 PITCH_MIN 210 SM_CC 598.77728

ALTIM_FREQUENCY 13 FILEMGR 0 PITCH_TIMEOUT 25 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0014 STOP_T 0

ALTIM_PING_DEPTH 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0.5 STROBE 0

ALTIM_PULSE 2 GPS_DEVICE 64 PITCH_W_GAIN 7 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 HD_A 0.0044816299 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.0200298 PM_NDIVE 1.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_C 2.53195e-06 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_SENDDEPTH 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LAT 4736

CALL_TRIES 15 ICE_FREEZE_MARGIN 0.30000001 PM_XMITRAW 0.0 TGT_DEFAULT_LON -12218

CALL_WAIT 120 ID 204 PRESSURE_SLOPE 0.00010934046 T_ABORT 1440

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -171.29309 T_BOOST 4

CAPUPLOAD 0 INT_PRESSURE_YINT 0.60000002 PROTOCOL 9 T_DIVE 200

CF8_MAXERRORS 20 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_EPIRB 0

COMM_SEQ 2 LOGGERDEVICE1 51 P_OVSHOOT_WITHG 0 T_GPS 5

COMPASS2_DEVICE 147 LOGGERDEVICE2 85 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_MISSION 250

COMPASS_USE 4 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 LOGGERS 0 RAFOS_MMODEM 0 T_RSLEEP 2

C_PITCH 3040 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_CLIMB 2700 LOITER_W_DBAND 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 2400 MASS 52433 RHO 1.0275 T_WATCHDOG 10

C_VBD 2941 MASS_COMP 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX 1

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_AD_RATE 350 USE_BATHY -1

DEVICE1 -1 MAX_BUOY 150 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 9 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 20 ROLL_MAX 3704 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 19 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_MIN 236 VBD_LP_IGNORE 0

DEVICE6 -1 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MAX 3960

DIVE 91 NOCOMM_ACTION 163 R_PORT_OVSHOOT 47 VBD_MAXERRORS 1

D_ABORT 1020 N_DIVES 0 R_STBD_OVSHOOT 25 VBD_MIN 500

D_BOOST 50 N_FILEKB 8 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_APOGEE 3

D_CALL 0 N_GPS 100440 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_NOCOMM 3 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_FLARE 3 N_NOSURFACE 0 SC_XMITPROFILE 0.0 W_ADJ_DBAND 0.5

D_NO_BLEED 200 PHONE_DEVICE 48 SEABIRD_C_G -10.262359 XPDR_DEVICE 24

D_OFFGRID 1010 PHONE_SUPPLY -2 SEABIRD_C_H 1.1522416 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_C_I -0.00012417733 XPDR_VALID 5

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_C_J 0.00011025551

D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_G 0.0043580476

D_TGT 600 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063004985

Pre-dive calculations and measurements:

GPS1 200717,073156,4714.9019,-12514.1875,39,1.4,65,16.0,0.4,0.0,8,10.0 SPEED_LIMITS 0.173,0.188

_CALLS 15 TGT_NAME SHELF3

_XMS_NAKs 0 TGT_LATLONG 4654.000,-12515.000

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.34 MHEAD_RNG_PITCHd_Wd 186.9,38520,-24.2,-10.000,-28.00,2247

_SM_ANGLEo -62.5 D_GRID 1000

GPS2 200717,081555,4714.7925,-12514.2236,28,1.2,61,16.0,0.3,0.0,8,10.0

Post-dive calculations and measurements:

FINISH 0.6,1.023038 _10V_AH 9.91,9.272

SM_CCo 10660,115.38,0.139,0,0,500,598.78 FG_AHR_24Vo 0.000

SM_GC 0.15,10.35,2.03,115.38,0.097,0.034,0.139,169,2381,500,-8.82,0.99,598.78,0,0,0,0,0,0,26.48,26.35,25.54 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4716.16,-12513.82,200717,081039 MEM 277664

TT8_MAMPS 0.050183,0.074151 DATA_FILE_SIZE 23346,646

HUMID 50.74 CAP_FILE_SIZE 94343,0

INTERNAL_PRESSURE 8.62765 CFSIZE 260030464,251609088

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 2 CURRENT 0.079,95.07,1

_24V_AH 23.89,10.849 GPS 200717,111656,4713.759,-12514.272,31,1.2,48,16.0,0.4,0.0,6,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 258 154.74 nil 0 0 0.00

Roll_motor 67 1235 1994.51 nil 0 0 0.00

VBD_pump_during_apogee 503 833 10016.38 nil 0 0 0.00

VBD_pump_during_surface 115 139 383.76 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 0 0 0.00

Iridium_during_xfer 831 63 1260.84 PMAR 0 0 0.00

Transponder_ping 0 420 5.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 63 12 7.97

TT8 0 0 0.00

LPSleep 10449 2 226.78

TT8_Active 767 13 101.37

TT8_Sampling 2115 44 923.03

TT8_CF8 87 55 47.90

TT8_Kalman 0 0 0.00

Analog_circuits 2153 11 243.27

GPS_charging 0 0 0.00

Compass 924 8 75.50

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

2 end surface: CONTROL_FINISHED_OK

state 3 begin dive

4 -1.30 -146.0 189 2376 561 437 0.0 0.0 0 109 0.00 0.00 -103.30 0.000 16386 0.000 0.000 188 2376 3079 3042 3117 0 0 0 0 0 0 27.01 28.83 27.08

111 -1.30 -146.0 189 2377 3044 3117 4.6 -8.4 10 137 11.27 2.38 -8.30 0.000 18724 0.259 1.235 2601 3694 3539 3523 3556 0 0 0 0 0 0 25.15 24.24 25.67

362 -1.30 -146.0 2602 3695 3526 3556 60.1 -17.6 60 367 0.00 2.00 0.00 0.000 1030 0.000 0.042 2609 2412 3540 3525 3556 0 0 0 0 0 0 26.22 26.18 26.26

682 -1.30 -146.0 2610 2411 3528 3556 111.4 -14.9 74 687 0.00 2.15 0.00 0.000 260 0.000 0.069 2601 3695 3541 3526 3556 0 0 0 0 0 0 27.06 25.53 27.12

746 -1.30 -146.0 2601 3695 3527 3556 121.6 -15.8 87 752 0.00 2.03 0.00 0.000 1030 0.000 0.041 2610 2401 3541 3526 3557 0 0 0 0 0 0 26.21 26.17 26.25

1072 -1.30 -146.0 2610 2401 3527 3556 168.9 -14.1 102 1072 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2401 3540 3526 3555 0 0 0 0 0 0 27.08 27.14 27.13

1371 -1.30 -146.0 2609 2402 3526 3554 211.3 -13.9 112 1377 0.00 2.12 0.00 0.000 260 0.000 0.063 2602 3686 3539 3526 3553 0 0 0 0 0 0 27.08 25.51 27.13

1406 -1.30 -146.0 2602 3686 3527 3553 216.5 -15.1 119 1412 0.00 2.05 0.00 0.000 1030 0.000 0.047 2609 2397 3539 3526 3553 0 0 0 0 0 0 26.06 26.01 26.10

1731 -1.30 -146.0 2610 2397 3527 3551 262.2 -14.0 133 1738 0.00 2.25 0.00 0.000 516 0.000 0.053 2620 1002 3538 3526 3551 0 0 0 0 0 0 27.08 25.65 27.14

1777 -1.30 -146.0 2620 1003 3527 3552 268.6 -14.1 142 1783 0.00 2.22 0.00 0.000 1030 0.000 0.043 2611 2397 3537 3525 3550 0 0 0 0 0 0 25.89 25.88 25.94

2092 -1.30 -146.0 2611 2397 3526 3547 313.6 -14.3 150 2093 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2397 3536 3526 3547 0 0 0 0 0 0 27.08 27.15 27.13

2392 -1.30 -146.0 2611 2397 3525 3544 356.7 -14.4 155 2393 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2397 3534 3524 3544 0 0 0 0 0 0 27.08 27.15 27.14

2692 -1.30 -146.0 2611 2398 3524 3544 399.0 -14.1 160 2693 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2397 3533 3523 3543 0 0 0 0 0 0 27.08 27.15 27.14

2992 -1.30 -146.0 2611 2397 3522 3541 440.7 -13.9 165 2993 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2397 3530 3520 3541 0 0 0 0 0 0 27.08 27.15 27.14

3292 -1.30 -146.0 2611 2398 3520 3540 481.0 -13.4 170 3298 0.00 2.25 0.00 0.000 516 0.000 0.048 2619 1000 3529 3520 3538 0 0 0 0 0 0 27.08 25.64 27.13

3332 -1.30 -146.0 2619 1000 3521 3538 486.4 -13.4 178 3338 0.00 2.22 0.00 0.000 1030 0.000 0.042 2611 2397 3528 3519 3538 0 0 0 0 0 0 25.84 25.79 25.89

3652 -1.30 -146.0 2611 2396 3519 3537 529.6 -13.5 187 3653 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2396 3528 3519 3537 0 0 0 0 0 0 27.08 27.15 27.14

3952 -1.30 -146.0 2611 2397 3518 3535 569.8 -13.3 192 3958 0.00 2.17 0.00 0.000 260 0.000 0.065 2601 3701 3525 3516 3534 0 0 0 0 0 0 27.08 25.27 27.13

3982 -1.30 -146.0 2601 3702 3516 3536 574.0 -14.5 198 3988 0.00 2.08 0.00 0.000 1030 0.000 0.044 2609 2385 3525 3516 3534 0 0 0 0 0 0 25.98 25.95 26.03

4191 end dive: TARGET_DEPTH_EXCEEDED

state 4191 begin apogee

4194 -0.23 0.0 2609 2705 3516 3533 601.7 -13.1 207 4360 1.45 0.00 162.65 0.833 10246 0.198 0.000 2959 2706 2940 3024 2856 0 0 0 0 0 0 24.01 24.97 24.03

4360 end apogee: CONTROL_FINISHED_OK

state 4360 begin climb

4362 1.30 146.0 2960 2706 3021 2848 608.7 0.0 209 4530 1.67 1.70 158.90 0.816 10500 0.139 0.074 3440 3693 2337 2433 2242 0 0 0 0 0 0 25.06 24.49 23.89

4719 1.30 146.0 3440 3694 2416 2222 590.8 9.9 284 4725 0.00 1.55 0.00 0.000 1030 0.000 0.037 3445 2700 2318 2416 2221 0 0 0 0 0 0 26.34 26.28 26.39

5064 1.32 158.2 3445 2700 2415 2218 558.5 9.4 298 5074 0.00 0.00 9.05 0.793 8230 0.000 0.000 3445 2701 2295 2395 2196 0 0 0 0 0 0 26.99 25.63 24.70

5364 1.32 158.2 3445 2701 2380 2185 529.2 9.8 303 5365 0.00 0.00 0.00 0.000 6 0.000 0.000 3445 2700 2281 2379 2183 0 0 0 0 0 0 27.00 27.08 27.06

5664 1.36 184.7 3445 2700 2379 2182 502.6 8.8 308 5697 0.00 0.00 32.25 0.780 8230 0.000 0.000 3445 2700 2187 2291 2083 0 0 0 0 0 0 27.03 25.44 24.56

5964 1.36 184.7 3445 2700 2265 2065 472.0 10.4 313 5970 0.00 2.17 0.00 0.000 516 0.000 0.041 3456 1315 2164 2263 2065 0 0 0 0 0 0 26.95 26.08 27.01

6029 1.36 184.7 3456 1316 2264 2066 465.0 10.9 326 6036 0.00 2.20 0.00 0.000 1030 0.000 0.042 3447 2697 2163 2262 2065 0 0 0 0 0 0 26.15 26.09 26.19

6385 1.36 184.7 3447 2698 2262 2065 425.5 11.1 342 6385 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 2697 2162 2261 2063 0 0 0 0 0 0 27.03 27.10 27.10

6684 1.36 184.7 3448 2697 2262 2063 392.1 11.2 347 6690 0.00 2.20 0.00 0.000 516 0.000 0.041 3456 1307 2161 2261 2062 0 0 0 0 0 0 27.05 25.96 27.11

6739 1.36 184.7 3456 1308 2261 2063 386.0 11.0 358 6747 0.00 2.25 0.00 0.000 1030 0.000 0.045 3447 2706 2161 2260 2062 0 0 0 0 0 0 25.94 25.89 26.01

7044 1.36 184.7 3448 2707 2259 2063 352.2 11.0 364 7051 0.00 2.22 0.00 0.000 516 0.000 0.044 3456 1316 2160 2259 2061 0 0 0 0 0 0 27.05 25.84 27.12

7115 1.36 184.7 3456 1317 2260 2063 344.7 10.6 378 7121 0.00 2.20 0.00 0.000 1030 0.000 0.043 3447 2695 2160 2259 2062 0 0 0 0 0 0 25.96 25.91 26.01

7465 1.36 184.7 3448 2695 2260 2061 307.4 10.6 393 7466 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 2695 2159 2258 2061 0 0 0 0 0 0 27.05 27.13 27.12

7765 1.36 184.7 3447 2696 2258 2062 275.3 10.7 398 7766 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 2695 2159 2257 2061 0 0 0 0 0 0 27.06 27.13 27.12

8066 1.36 184.7 3447 2695 2258 2060 243.5 10.4 404 8071 0.00 2.20 0.00 0.000 516 0.000 0.040 3456 1307 2159 2257 2061 0 0 0 0 0 0 27.06 25.84 27.12

8100 1.36 184.7 3456 1308 2257 2062 240.0 10.1 411 8106 0.00 2.22 0.00 0.000 1030 0.000 0.044 3447 2693 2159 2257 2061 0 0 0 0 0 0 25.84 25.79 25.90

8425 1.36 184.7 3448 2693 2256 2060 206.0 10.9 426 8432 0.00 2.20 0.00 0.000 516 0.000 0.039 3456 1302 2158 2256 2061 0 0 0 0 0 0 27.06 25.82 27.12

8536 1.36 184.7 3456 1302 2258 2061 194.5 10.2 448 8542 0.00 2.25 0.00 0.000 1030 0.000 0.043 3447 2708 2158 2256 2061 0 0 0 0 0 0 25.81 25.76 25.86

8846 1.36 184.7 3447 2708 2257 2060 164.1 9.7 460 8847 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 2708 2157 2255 2060 0 0 0 0 0 0 27.06 27.13 27.13

9146 1.40 216.7 3446 2709 2256 2061 137.1 8.5 470 9183 0.15 2.25 24.65 0.650 10788 0.161 0.041 3514 1301 2054 2158 1950 0 0 0 0 1 0 26.41 25.54 24.47

9222 1.40 216.7 3514 1302 2163 1954 129.5 10.9 485 9228 0.00 2.22 0.00 0.000 1030 0.000 0.041 3514 2699 2058 2164 1953 0 0 0 0 0 0 26.19 26.13 26.24

9537 1.40 216.7 3514 2699 2165 1954 94.8 11.6 498 9544 0.00 1.67 0.00 0.000 260 0.000 0.074 3514 3689 2059 2164 1955 0 0 0 0 0 0 27.01 25.26 27.07

9768 1.43 237.0 3514 3690 2165 1955 69.6 9.1 544 9805 0.00 1.52 31.42 0.591 9254 0.000 0.039 3520 2702 1968 2074 1862 0 0 0 0 0 0 26.25 26.22 24.73

10109 1.48 270.4 3521 2701 2054 1848 38.4 8.5 570 10131 0.00 2.20 15.23 0.226 8740 0.000 0.039 3531 1296 1836 1946 1726 0 0 0 0 0 0 26.98 25.76 25.28

10220 1.48 270.4 3531 1296 1956 1740 28.8 9.8 592 10226 0.00 2.22 1.62 0.194 9222 0.000 0.041 3530 2698 1835 1945 1726 0 0 0 0 0 0 26.08 26.03 25.26

10530 1.66 398.0 3530 2698 1953 1740 11.3 4.2 624 10604 0.15 1.62 67.50 0.165 10532 0.158 0.071 3570 3687 1313 1429 1197 0 0 0 0 0 0 26.37 25.71 25.54

10633 end climb: SURFACE_DEPTH_REACHED

state 10633 begin surface coast

10642 end surface coast: CONTROL_FINISHED_OK

state 10642 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	47	ALTIM_PULSE	2
MISSION	19	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	25	ALTIM_SENSITIVITY	2
DIVE	91	TGT_DEFAULT_LAT	4736	ROLL_AD_RATE	350	XPDR_VALID	5
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_SURF	2	SM_CC	598.77728	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.60000002
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	DEEPGLIDER	0
D_TGT	600	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	4
D_ABORT	1020	CALL_NDIVES	1	C_VBD	2941	DEVICE1	-1
D_NO_BLEED	200	COMM_SEQ	2	VBD_DBAND	2	DEVICE2	-1
D_BOOST	50	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
T_BOOST	4	N_NOCOMM	3	VBD_LP_IGNORE	0	DEVICE4	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE5	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0014	DEVICE6	-1
D_SAFE	0	UPLOAD_DIVES_MAX	1	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	0
D_CALL	0	CALL_TRIES	15	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE1	51
SURFACE_URGENCY	0	CALL_WAIT	120	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	85
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_DIVE	200	HEAPDBG	0	W_ADJ_DBAND	0.5	COMPASS_DEVICE	33
T_MISSION	250	T_GPS	5	DBDW	0	COMPASS2_DEVICE	147
T_ABORT	1440	N_GPS	100440	LOITER_W_DBAND	0	PHONE_DEVICE	48
T_TURN	225	T_RSLEEP	2	LOITER_DBDW	0	GPS_DEVICE	64
T_TURN_SAMPINT	-5	STROBE	0	PITCH_W_GAIN	7	RAFOS_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_LOITER	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_W	0
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	AH0_24V	150	SIM_PITCH	0
USE_BATHY	-1	RAFOS_MMODEM	0	AH0_10V	97	SEABIRD_T_G	0.0043580476
USE_ICE	0	PITCH_MIN	210	MINV_24V	20	SEABIRD_T_H	0.00063004985
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	MINV_10V	9	SEABIRD_T_I	2.4557072e-05
D_OFFGRID	1010	C_PITCH	3040	MAXI_24V	0.60000002	SEABIRD_T_J	2.6474129e-06
T_WATCHDOG	10	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_C_G	-10.262359
RELAUNCH	1	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_H	1.1522416
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_I	-0.00012417733
MAX_BUOY	150	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00011025551
COURSE_BIAS	0	PITCH_GAIN	22	PRESSURE_YINT	-171.29309	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_SLOPE	0.00010934046	SC_PROFILE	3.0
SPEED_FACTOR	1	PITCH_AD_RATE	160	AD7714Ch0Gain	1	SC_XMITPROFILE	0.0
RHO	1.0275	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_NDIVE	1.0
MASS	52433	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PM_PROFILE	3.0
NAV_MODE	2	ROLL_MIN	236	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITPROFILE	0.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_TOP_PING_RANGE	0	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITRAW	0.0
HD_A	0.0044816299	C_ROLL_DIVE	2400	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_B	0.0200298	C_ROLL_CLIMB	2700	ALTIM_TOP_MIN_OBSTACLE	0	PM_SENDDEPTH	1.0
HD_C	2.53195e-06	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13

GPS1	200717,073156,4714.9019,-12514.1875,39,1.4,65,16.0,0.4,0.0,8,10.0	SPEED_LIMITS	0.173,0.188
_CALLS	15	TGT_NAME	SHELF3
_XMS_NAKs	0	TGT_LATLONG	4654.000,-12515.000
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.34	MHEAD_RNG_PITCHd_Wd	186.9,38520,-24.2,-10.000,-28.00,2247
_SM_ANGLEo	-62.5	D_GRID	1000
GPS2	200717,081555,4714.7925,-12514.2236,28,1.2,61,16.0,0.3,0.0,8,10.0

FINISH	0.6,1.023038	_10V_AH	9.91,9.272
SM_CCo	10660,115.38,0.139,0,0,500,598.78	FG_AHR_24Vo	0.000
SM_GC	0.15,10.35,2.03,115.38,0.097,0.034,0.139,169,2381,500,-8.82,0.99,598.78,0,0,0,0,0,0,26.48,26.35,25.54	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4716.16,-12513.82,200717,081039	MEM	277664
TT8_MAMPS	0.050183,0.074151	DATA_FILE_SIZE	23346,646
HUMID	50.74	CAP_FILE_SIZE	94343,0
INTERNAL_PRESSURE	8.62765	CFSIZE	260030464,251609088
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	2	CURRENT	0.079,95.07,1
_24V_AH	23.89,10.849	GPS	200717,111656,4713.759,-12514.272,31,1.2,48,16.0,0.4,0.0,6,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	258	154.74	nil	0	0	0.00
Roll_motor	67	1235	1994.51	nil	0	0	0.00
VBD_pump_during_apogee	503	833	10016.38	nil	0	0	0.00
VBD_pump_during_surface	115	139	383.76	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	0	0	0.00
Iridium_during_xfer	831	63	1260.84	PMAR	0	0	0.00
Transponder_ping	0	420	5.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	63	12	7.97
TT8	0	0	0.00
LPSleep	10449	2	226.78
TT8_Active	767	13	101.37
TT8_Sampling	2115	44	923.03
TT8_CF8	87	55	47.90
TT8_Kalman	0	0	0.00
Analog_circuits	2153	11	243.27
GPS_charging	0	0	0.00
Compass	924	8	75.50
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
2	end surface: CONTROL_FINISHED_OK
state	3	begin dive
4	-1.30	-146.0	189	2376	561	437	0.0	0.0	0	109	0.00	0.00	-103.30	0.000	16386	0.000	0.000	188	2376	3079	3042	3117	0	0	0	0	0	0	27.01	28.83	27.08
111	-1.30	-146.0	189	2377	3044	3117	4.6	-8.4	10	137	11.27	2.38	-8.30	0.000	18724	0.259	1.235	2601	3694	3539	3523	3556	0	0	0	0	0	0	25.15	24.24	25.67
362	-1.30	-146.0	2602	3695	3526	3556	60.1	-17.6	60	367	0.00	2.00	0.00	0.000	1030	0.000	0.042	2609	2412	3540	3525	3556	0	0	0	0	0	0	26.22	26.18	26.26
682	-1.30	-146.0	2610	2411	3528	3556	111.4	-14.9	74	687	0.00	2.15	0.00	0.000	260	0.000	0.069	2601	3695	3541	3526	3556	0	0	0	0	0	0	27.06	25.53	27.12
746	-1.30	-146.0	2601	3695	3527	3556	121.6	-15.8	87	752	0.00	2.03	0.00	0.000	1030	0.000	0.041	2610	2401	3541	3526	3557	0	0	0	0	0	0	26.21	26.17	26.25
1072	-1.30	-146.0	2610	2401	3527	3556	168.9	-14.1	102	1072	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2401	3540	3526	3555	0	0	0	0	0	0	27.08	27.14	27.13
1371	-1.30	-146.0	2609	2402	3526	3554	211.3	-13.9	112	1377	0.00	2.12	0.00	0.000	260	0.000	0.063	2602	3686	3539	3526	3553	0	0	0	0	0	0	27.08	25.51	27.13
1406	-1.30	-146.0	2602	3686	3527	3553	216.5	-15.1	119	1412	0.00	2.05	0.00	0.000	1030	0.000	0.047	2609	2397	3539	3526	3553	0	0	0	0	0	0	26.06	26.01	26.10
1731	-1.30	-146.0	2610	2397	3527	3551	262.2	-14.0	133	1738	0.00	2.25	0.00	0.000	516	0.000	0.053	2620	1002	3538	3526	3551	0	0	0	0	0	0	27.08	25.65	27.14
1777	-1.30	-146.0	2620	1003	3527	3552	268.6	-14.1	142	1783	0.00	2.22	0.00	0.000	1030	0.000	0.043	2611	2397	3537	3525	3550	0	0	0	0	0	0	25.89	25.88	25.94
2092	-1.30	-146.0	2611	2397	3526	3547	313.6	-14.3	150	2093	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2397	3536	3526	3547	0	0	0	0	0	0	27.08	27.15	27.13
2392	-1.30	-146.0	2611	2397	3525	3544	356.7	-14.4	155	2393	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2397	3534	3524	3544	0	0	0	0	0	0	27.08	27.15	27.14
2692	-1.30	-146.0	2611	2398	3524	3544	399.0	-14.1	160	2693	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2397	3533	3523	3543	0	0	0	0	0	0	27.08	27.15	27.14
2992	-1.30	-146.0	2611	2397	3522	3541	440.7	-13.9	165	2993	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2397	3530	3520	3541	0	0	0	0	0	0	27.08	27.15	27.14
3292	-1.30	-146.0	2611	2398	3520	3540	481.0	-13.4	170	3298	0.00	2.25	0.00	0.000	516	0.000	0.048	2619	1000	3529	3520	3538	0	0	0	0	0	0	27.08	25.64	27.13
3332	-1.30	-146.0	2619	1000	3521	3538	486.4	-13.4	178	3338	0.00	2.22	0.00	0.000	1030	0.000	0.042	2611	2397	3528	3519	3538	0	0	0	0	0	0	25.84	25.79	25.89
3652	-1.30	-146.0	2611	2396	3519	3537	529.6	-13.5	187	3653	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2396	3528	3519	3537	0	0	0	0	0	0	27.08	27.15	27.14
3952	-1.30	-146.0	2611	2397	3518	3535	569.8	-13.3	192	3958	0.00	2.17	0.00	0.000	260	0.000	0.065	2601	3701	3525	3516	3534	0	0	0	0	0	0	27.08	25.27	27.13
3982	-1.30	-146.0	2601	3702	3516	3536	574.0	-14.5	198	3988	0.00	2.08	0.00	0.000	1030	0.000	0.044	2609	2385	3525	3516	3534	0	0	0	0	0	0	25.98	25.95	26.03
4191	end dive: TARGET_DEPTH_EXCEEDED
state	4191	begin apogee
4194	-0.23	0.0	2609	2705	3516	3533	601.7	-13.1	207	4360	1.45	0.00	162.65	0.833	10246	0.198	0.000	2959	2706	2940	3024	2856	0	0	0	0	0	0	24.01	24.97	24.03
4360	end apogee: CONTROL_FINISHED_OK
state	4360	begin climb
4362	1.30	146.0	2960	2706	3021	2848	608.7	0.0	209	4530	1.67	1.70	158.90	0.816	10500	0.139	0.074	3440	3693	2337	2433	2242	0	0	0	0	0	0	25.06	24.49	23.89
4719	1.30	146.0	3440	3694	2416	2222	590.8	9.9	284	4725	0.00	1.55	0.00	0.000	1030	0.000	0.037	3445	2700	2318	2416	2221	0	0	0	0	0	0	26.34	26.28	26.39
5064	1.32	158.2	3445	2700	2415	2218	558.5	9.4	298	5074	0.00	0.00	9.05	0.793	8230	0.000	0.000	3445	2701	2295	2395	2196	0	0	0	0	0	0	26.99	25.63	24.70
5364	1.32	158.2	3445	2701	2380	2185	529.2	9.8	303	5365	0.00	0.00	0.00	0.000	6	0.000	0.000	3445	2700	2281	2379	2183	0	0	0	0	0	0	27.00	27.08	27.06
5664	1.36	184.7	3445	2700	2379	2182	502.6	8.8	308	5697	0.00	0.00	32.25	0.780	8230	0.000	0.000	3445	2700	2187	2291	2083	0	0	0	0	0	0	27.03	25.44	24.56
5964	1.36	184.7	3445	2700	2265	2065	472.0	10.4	313	5970	0.00	2.17	0.00	0.000	516	0.000	0.041	3456	1315	2164	2263	2065	0	0	0	0	0	0	26.95	26.08	27.01
6029	1.36	184.7	3456	1316	2264	2066	465.0	10.9	326	6036	0.00	2.20	0.00	0.000	1030	0.000	0.042	3447	2697	2163	2262	2065	0	0	0	0	0	0	26.15	26.09	26.19
6385	1.36	184.7	3447	2698	2262	2065	425.5	11.1	342	6385	0.00	0.00	0.00	0.000	6	0.000	0.000	3447	2697	2162	2261	2063	0	0	0	0	0	0	27.03	27.10	27.10
6684	1.36	184.7	3448	2697	2262	2063	392.1	11.2	347	6690	0.00	2.20	0.00	0.000	516	0.000	0.041	3456	1307	2161	2261	2062	0	0	0	0	0	0	27.05	25.96	27.11
6739	1.36	184.7	3456	1308	2261	2063	386.0	11.0	358	6747	0.00	2.25	0.00	0.000	1030	0.000	0.045	3447	2706	2161	2260	2062	0	0	0	0	0	0	25.94	25.89	26.01
7044	1.36	184.7	3448	2707	2259	2063	352.2	11.0	364	7051	0.00	2.22	0.00	0.000	516	0.000	0.044	3456	1316	2160	2259	2061	0	0	0	0	0	0	27.05	25.84	27.12
7115	1.36	184.7	3456	1317	2260	2063	344.7	10.6	378	7121	0.00	2.20	0.00	0.000	1030	0.000	0.043	3447	2695	2160	2259	2062	0	0	0	0	0	0	25.96	25.91	26.01
7465	1.36	184.7	3448	2695	2260	2061	307.4	10.6	393	7466	0.00	0.00	0.00	0.000	6	0.000	0.000	3447	2695	2159	2258	2061	0	0	0	0	0	0	27.05	27.13	27.12
7765	1.36	184.7	3447	2696	2258	2062	275.3	10.7	398	7766	0.00	0.00	0.00	0.000	6	0.000	0.000	3447	2695	2159	2257	2061	0	0	0	0	0	0	27.06	27.13	27.12
8066	1.36	184.7	3447	2695	2258	2060	243.5	10.4	404	8071	0.00	2.20	0.00	0.000	516	0.000	0.040	3456	1307	2159	2257	2061	0	0	0	0	0	0	27.06	25.84	27.12
8100	1.36	184.7	3456	1308	2257	2062	240.0	10.1	411	8106	0.00	2.22	0.00	0.000	1030	0.000	0.044	3447	2693	2159	2257	2061	0	0	0	0	0	0	25.84	25.79	25.90
8425	1.36	184.7	3448	2693	2256	2060	206.0	10.9	426	8432	0.00	2.20	0.00	0.000	516	0.000	0.039	3456	1302	2158	2256	2061	0	0	0	0	0	0	27.06	25.82	27.12
8536	1.36	184.7	3456	1302	2258	2061	194.5	10.2	448	8542	0.00	2.25	0.00	0.000	1030	0.000	0.043	3447	2708	2158	2256	2061	0	0	0	0	0	0	25.81	25.76	25.86
8846	1.36	184.7	3447	2708	2257	2060	164.1	9.7	460	8847	0.00	0.00	0.00	0.000	6	0.000	0.000	3447	2708	2157	2255	2060	0	0	0	0	0	0	27.06	27.13	27.13
9146	1.40	216.7	3446	2709	2256	2061	137.1	8.5	470	9183	0.15	2.25	24.65	0.650	10788	0.161	0.041	3514	1301	2054	2158	1950	0	0	0	0	1	0	26.41	25.54	24.47
9222	1.40	216.7	3514	1302	2163	1954	129.5	10.9	485	9228	0.00	2.22	0.00	0.000	1030	0.000	0.041	3514	2699	2058	2164	1953	0	0	0	0	0	0	26.19	26.13	26.24
9537	1.40	216.7	3514	2699	2165	1954	94.8	11.6	498	9544	0.00	1.67	0.00	0.000	260	0.000	0.074	3514	3689	2059	2164	1955	0	0	0	0	0	0	27.01	25.26	27.07
9768	1.43	237.0	3514	3690	2165	1955	69.6	9.1	544	9805	0.00	1.52	31.42	0.591	9254	0.000	0.039	3520	2702	1968	2074	1862	0	0	0	0	0	0	26.25	26.22	24.73
10109	1.48	270.4	3521	2701	2054	1848	38.4	8.5	570	10131	0.00	2.20	15.23	0.226	8740	0.000	0.039	3531	1296	1836	1946	1726	0	0	0	0	0	0	26.98	25.76	25.28
10220	1.48	270.4	3531	1296	1956	1740	28.8	9.8	592	10226	0.00	2.22	1.62	0.194	9222	0.000	0.041	3530	2698	1835	1945	1726	0	0	0	0	0	0	26.08	26.03	25.26
10530	1.66	398.0	3530	2698	1953	1740	11.3	4.2	624	10604	0.15	1.62	67.50	0.165	10532	0.158	0.071	3570	3687	1313	1429	1197	0	0	0	0	0	0	26.37	25.71	25.54
10633	end climb: SURFACE_DEPTH_REACHED
state	10633	begin surface coast
10642	end surface coast: CONTROL_FINISHED_OK
state	10642	begin surface