OKMC Nov12 * SG124 * Dive index * Mission links * Dive 93 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  124 HD_C  2.53e-05 ROLL_MIN  183 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  14 HEADING  220 ROLL_MAX  3883 ALTIM_PING_DEPTH  0
DIVE  93 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  10
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2500 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  1700 ALTIM_PULSE  3
D_FLARE  3 TGT_DEFAULT_LAT  47.599998 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_TGT  950 TGT_DEFAULT_LON  -122.3 ROLL_CNV  0.028270001 XPDR_VALID  0
D_ABORT  980 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_NO_BLEED  500 SM_CC  450 R_PORT_OVSHOOT  32 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  4 R_STBD_OVSHOOT  29 INT_PRESSURE_YINT  0
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  250 DEEPGLIDER  0
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
D_SAFE  0 PROTOCOL  1 ROLL_ADJ_DBAND  0 DEVICE1  -1
D_CALL  0 N_NOCOMM  1 VBD_MIN  244 DEVICE2  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 VBD_MAX  3700 DEVICE3  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 C_VBD  2509 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_DBAND  2 DEVICE5  -1
T_DIVE  280 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  300 CALL_WAIT  60 VBD_TIMEOUT  540 LOGGERS  1
T_ABORT  1440 CAPUPLOAD  0 PITCH_VBD_SHIFT  0.00039999999 LOGGERDEVICE1  53
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_NO_W  120 T_GPS  10 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
T_LOITER  0 N_GPS  20 UNCOM_BLEED  0 COMPASS_DEVICE  97
T_EPIRB  0 T_GPS_ALMANAC  0 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
USE_BATHY  -6 T_GPS_CHARGE  -303665.97 CF8_MAXERRORS  0 PHONE_DEVICE  48
USE_ICE  0 T_RSLEEP  3 AH0_24V  150 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_10V  100 RAFOS_DEVICE  -1
D_OFFGRID  100 RAFOS_PEAK_OFFSET  1.5 MINV_24V  22 XPDR_DEVICE  24
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_10V  9.5 SIM_W  0
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 FG_AHR_10V  0 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_MIN  50 FG_AHR_24V  69.417763 SEABIRD_T_G  0.0043984288
MAX_BUOY  200 PITCH_MAX  3900 PHONE_SUPPLY  -2 SEABIRD_T_H  0.00063808635
COURSE_BIAS  0 C_PITCH  2265 PRESSURE_YINT  -21.889965 SEABIRD_T_I  2.5525775e-05
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001157801 SEABIRD_T_J  3.0944329e-06
SPEED_FACTOR  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -9.6676407
RHO  1.0275 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1061285
MASS  51525 PITCH_GAIN  23 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0013205735
NAV_MODE  0 PITCH_TIMEOUT  20 COMPASS_USE  4 SEABIRD_C_J  0.00018109973
FERRY_MAX  40 PITCH_AD_RATE  135 ALTIM_BOTTOM_PING_RANGE  0 SC_RECORDABOVE  2000.0
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SC_PROFILE  3.0
HD_A  0.003 PITCH_ADJ_GAIN  0.0099999998 ALTIM_BOTTOM_TURN_MARGIN  0 SC_XMITPROFILE  3.0
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  211112,175236,1806.756,12424.076,27,1.3,27,-2.0 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  1758.479,12416.938
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.75 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  211112,180000,1806.751,12424.235,12,1.7,17,-2.0 MHEAD_RNG_PITCHd_Wd  222.0,20000,-17.1,-11.310,-20.62
SPEED_LIMITS  0.196,0.301 D_GRID  5054

Post-dive calculations and measurements:
FINISH  2.1,1.003849 _24V_AH  24.1,18.521
SM_CCo  16603,0.00,0.000,0,0,308,539.91 _10V_AH  9.8,13.280
SM_GC  2.93,6.75,1.25,0.00,0.046,0.042,0.000,41,2506,308,-10.16,-0.71,539.91,0,0,0,0,0,0,26.53,26.57,28.83 FG_AHR_24Vo  69.418
IRIDIUM_FIX  1803.24,12422.92,211112,131332 FG_AHR_10Vo  0.000
TT8_MAMPS  0.028462,0.028462 MEM  329108
HUMID  58.82 DATA_FILE_SIZE  30046,806
INTERNAL_PRESSURE  9.40466 CAP_FILE_SIZE  195205,0
TCM_TEMP  24.90 CFSIZE  260034560,241352704
XPDR_PINGS  13 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB  3984576 GPS  211112,223830,1804.979,12423.858,42,1.5,42,-2.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor17236102.40 nil000.00
Roll_motor14372250.46 nil000.00
VBD_pump_during_apogee585129118235.24 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon16545124800.36
Iridium_during_xfer287126875.27 nil000.00
Transponder_ping342032.90 nil000.00
GUMSTIX_24V000.00
GPS17295.21
TT8246914356.02
LPSleep112612241.69
TT8_Active7301399.99
TT8_Sampling237438900.24
TT8_CF82084797.46
TT8_Kalman000.00
Analog_circuits216816339.94
GPS_charging000.00
Compass19787145.25
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.82 -194.6 0.0 0.0 0 55 0.00 0.00 -34.65 0.000 2 0.000 0.000 38 2512 1090 0 0 0 0 0 0 28.83 28.83 28.83
58 -0.82 -194.6 3.0 -1.0 6 236 8.12 2.20 -161.50 0.000 4 0.236 0.057 2081 1082 3303 0 0 0 0 0 0 26.17 26.55 26.91
340 -0.79 -194.6 28.6 -20.7 57 345 0.00 2.22 0.00 0.000 6 0.000 0.045 2080 2505 3305 0 0 0 0 0 0 28.83 26.63 28.83
663 -0.77 -194.6 96.8 -19.4 78 668 0.00 2.12 0.00 0.000 4 0.000 0.058 2081 3886 3304 0 0 0 0 0 0 28.83 26.72 28.83
748 -0.77 -194.6 109.8 -15.7 82 754 0.00 2.08 0.00 0.000 6 0.000 0.040 2081 2497 3304 0 0 0 0 0 0 28.83 26.81 28.83
1066 -0.79 -194.6 156.5 -13.4 98 1071 0.00 2.12 0.00 0.000 4 0.000 0.057 2080 3888 3301 0 0 0 0 0 0 28.83 26.82 28.83
1249 -0.83 -194.6 177.3 -10.8 107 1254 0.00 2.08 0.00 0.000 6 0.000 0.038 2080 2490 3298 0 0 0 0 0 0 28.83 26.91 28.83
1572 -0.87 -194.6 212.4 -10.9 123 1577 0.00 2.15 0.00 0.000 4 0.000 0.057 2080 3886 3305 0 0 0 0 0 0 28.83 26.88 28.83
1639 -0.92 -194.6 219.0 -10.4 126 1644 0.00 2.08 0.00 0.000 6 0.000 0.039 2080 2490 3305 0 0 0 0 0 0 28.83 26.95 28.83
1956 -0.97 -194.6 249.3 -9.1 142 1962 0.10 2.15 0.00 0.000 4 0.119 0.055 2036 3885 3305 0 0 0 0 0 0 27.00 26.91 28.83
2080 -1.00 -194.6 263.4 -11.7 148 2085 0.00 2.08 0.00 0.000 6 0.000 0.040 2036 2494 3305 0 0 0 0 0 0 28.83 26.97 28.83
2402 -1.02 -194.6 301.1 -11.5 164 2407 0.00 2.15 0.00 0.000 4 0.000 0.058 2036 3886 3304 0 0 0 0 0 0 28.83 26.91 28.83
2545 -1.06 -194.6 317.6 -11.3 171 2551 0.00 2.08 0.00 0.000 6 0.000 0.040 2036 2497 3303 0 0 0 0 0 0 28.83 26.98 28.83
2868 -1.09 -194.6 351.0 -9.8 187 2869 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2495 3302 0 0 0 0 0 0 28.83 28.83 28.83
3169 -1.13 -194.6 378.4 -9.0 202 3170 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2495 3302 0 0 0 0 0 0 28.83 28.83 28.83
3469 -1.16 -194.6 405.7 -9.1 217 3475 0.10 2.15 0.00 0.000 4 0.109 0.057 1996 3888 3297 0 0 0 0 0 0 27.05 26.94 28.83
3537 -1.19 -194.6 413.0 -10.7 220 3542 0.00 2.10 0.00 0.000 6 0.000 0.042 1996 2482 3296 0 0 0 0 0 0 28.83 27.00 28.83
3855 -1.20 -194.6 448.9 -10.9 236 3861 0.00 2.20 -0.08 0.000 4 0.000 0.073 1996 3892 3319 0 0 0 0 0 0 28.83 26.93 26.68
3934 -1.22 -194.6 456.0 -11.1 239 3941 0.00 2.08 0.00 0.000 6 0.000 0.042 1996 2502 3319 0 0 0 0 0 0 28.83 26.99 28.83
4238 -1.24 -194.6 491.5 -11.2 255 4243 0.00 2.15 0.00 0.000 4 0.000 0.061 1996 3878 3318 0 0 0 0 0 0 28.83 26.93 28.83
4291 -1.26 -194.6 496.0 -10.8 257 4296 0.00 2.08 0.00 0.000 6 0.000 0.042 1996 2497 3317 0 0 0 0 0 0 28.83 27.00 28.83
4603 -1.28 -194.6 529.6 -10.3 273 4605 0.00 0.00 0.00 0.000 6 0.000 0.000 1995 2496 3315 0 0 0 0 0 0 28.83 28.83 28.83
4905 -1.30 -194.6 559.0 -9.9 288 4906 0.00 0.00 0.00 0.000 6 0.000 0.000 1996 2496 3313 0 0 0 0 0 0 28.83 28.83 28.83
5205 -1.32 -194.6 589.1 -10.0 303 5210 0.00 2.17 0.00 0.000 4 0.000 0.063 1996 3883 3311 0 0 0 0 0 0 28.83 26.92 28.83
5308 -1.35 -194.6 599.6 -10.2 308 5314 0.10 2.10 0.00 0.000 6 0.112 0.044 1955 2495 3310 0 0 0 0 0 0 26.95 27.00 28.83
5632 -1.35 -194.6 638.8 -12.3 319 5638 0.00 2.17 0.00 0.000 4 0.000 0.064 1953 3879 3307 0 0 0 0 0 0 28.83 26.91 28.83
5789 -1.35 -194.6 658.1 -12.8 324 5794 0.00 2.10 0.00 0.000 6 0.000 0.045 1954 2495 3306 0 0 0 0 0 0 28.83 26.99 28.83
6117 -1.35 -194.6 699.3 -12.5 335 6122 0.00 2.17 0.00 0.000 4 0.000 0.065 1954 3877 3304 0 0 0 0 0 0 28.83 26.90 28.83
6188 -1.35 -194.6 707.4 -12.7 337 6193 0.00 2.10 0.00 0.000 6 0.000 0.047 1954 2497 3304 0 0 0 0 0 0 28.83 26.98 28.83
6510 -1.35 -194.6 747.7 -12.1 348 6511 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2497 3302 0 0 0 0 0 0 28.83 28.83 28.83
6810 -1.35 -194.6 782.2 -11.3 358 6815 0.00 2.20 0.00 0.000 4 0.000 0.066 1954 3888 3300 0 0 0 0 0 0 28.83 26.89 28.83
6917 -1.35 -194.6 792.7 -11.3 361 6922 0.00 2.12 0.00 0.000 6 0.000 0.048 1954 2497 3296 0 0 0 0 0 0 28.83 26.97 28.83
7235 -1.35 -194.6 828.8 -10.8 372 7240 0.00 2.20 0.00 0.000 4 0.000 0.067 1954 3887 3297 0 0 0 0 0 0 28.83 26.88 28.83
7322 -1.35 -194.6 835.6 -10.8 374 7328 0.00 2.12 0.00 0.000 6 0.000 0.047 1954 2496 3296 0 0 0 0 0 0 28.83 26.96 28.83
7628 -1.35 -194.6 871.5 -10.9 385 7633 0.00 2.17 0.00 0.000 4 0.000 0.067 1954 3884 3294 0 0 0 0 0 0 28.83 26.87 28.83
7729 -1.35 -194.6 881.9 -11.3 388 7734 0.00 2.12 0.00 0.000 6 0.000 0.049 1953 2496 3294 0 0 0 0 0 0 28.83 26.96 28.83
8053 -1.35 -194.6 918.0 -10.7 399 8054 0.00 0.00 0.00 0.000 6 0.000 0.000 1954 2496 3293 0 0 0 0 0 0 28.83 28.83 28.83
8350 end dive: TARGET_DEPTH_EXCEEDED
state 8350 begin apogee
8356 -0.22 0.0 951.0 -11.1 409 8515 0.77 0.00 150.62 1.291 6 0.120 0.000 2213 1687 2508 0 0 0 0 0 0 26.76 28.83 24.36
8517 end apogee: CONTROL_FINISHED_OK
state 8517 begin climb
8519 0.82 194.6 957.2 0.0 414 8688 0.65 2.38 159.65 1.247 4 0.060 0.060 2455 290 1714 0 0 0 0 0 0 25.38 24.92 24.11
8740 0.83 302.6 948.4 7.0 421 8836 0.00 2.33 89.20 1.217 6 0.000 0.047 2455 1701 1275 0 0 0 0 0 0 28.83 25.55 24.06
9137 0.85 329.1 906.7 10.3 435 9165 0.00 0.00 21.88 1.161 6 0.000 0.000 2455 1701 1165 0 0 0 0 0 0 28.83 28.83 24.87
9467 0.88 339.5 871.2 10.9 446 9485 0.00 2.38 9.65 1.052 4 0.000 0.061 2455 287 1123 0 0 0 0 0 0 28.83 26.17 25.23
9506 0.90 347.5 867.6 11.0 447 9521 0.00 2.28 8.18 1.007 6 0.000 0.047 2455 1702 1092 0 0 0 0 0 0 28.83 26.25 25.15
9829 0.92 347.5 828.8 12.0 458 9835 0.00 2.22 0.00 0.000 4 0.000 0.058 2455 3110 1065 0 0 0 0 0 0 28.83 26.47 28.83
9862 0.95 347.5 824.7 12.1 459 9867 0.00 2.25 0.00 0.000 6 0.000 0.051 2459 1705 1055 0 0 0 0 0 0 28.83 26.50 28.83
10195 0.97 347.5 783.9 12.4 470 10201 0.00 2.22 0.00 0.000 4 0.000 0.063 2459 290 1087 0 0 0 0 0 0 28.83 26.62 28.83
10233 0.99 347.5 779.7 12.4 471 10238 0.00 2.22 0.00 0.000 6 0.000 0.048 2459 1696 1086 0 0 0 0 0 0 28.83 26.67 28.83
10561 1.01 347.5 739.2 12.4 482 10567 0.10 2.22 0.00 0.000 4 0.107 0.057 2507 3118 1085 0 0 0 0 0 0 26.82 26.71 28.83
10599 1.02 347.5 734.3 12.8 483 10605 0.10 2.28 0.00 0.000 6 0.167 0.052 2487 1691 1086 0 0 0 0 0 0 26.64 26.74 28.83
10927 1.02 347.5 686.7 14.2 494 10932 0.00 2.20 0.00 0.000 4 0.000 0.063 2486 281 1085 0 0 0 0 0 0 28.83 26.75 28.83
10999 1.03 347.5 677.9 14.2 496 11004 0.00 2.25 0.00 0.000 6 0.000 0.048 2486 1713 1085 0 0 0 0 0 0 28.83 26.79 28.83
11322 1.03 347.5 631.5 13.7 507 11327 0.00 2.30 0.00 0.000 4 0.000 0.060 2486 281 1085 0 0 0 0 0 0 28.83 26.79 28.83
11355 1.04 347.5 626.9 13.7 508 11360 0.00 2.22 0.00 0.000 6 0.000 0.048 2486 1698 1084 0 0 0 0 0 0 28.83 26.84 28.83
11669 1.04 347.5 586.5 12.2 520 11671 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 1700 1084 0 0 0 0 0 0 28.83 28.83 28.83
11968 1.06 347.5 550.2 12.1 535 11974 0.00 2.28 0.00 0.000 4 0.000 0.061 2486 281 1084 0 0 0 0 0 0 28.83 26.83 28.83
12000 1.07 347.5 547.5 12.0 536 12005 0.00 2.22 0.00 0.000 6 0.000 0.048 2486 1703 1084 0 0 0 0 0 0 28.83 26.86 28.83
12312 1.08 347.5 507.9 12.3 552 12318 0.00 2.28 0.00 0.000 4 0.000 0.063 2486 288 1084 0 0 0 0 0 0 28.83 26.83 28.83
12358 1.10 347.5 502.6 12.3 554 12364 0.00 2.22 0.00 0.000 6 0.000 0.047 2486 1713 1083 0 0 0 0 0 0 28.83 26.88 28.83
12676 1.13 372.8 467.7 10.3 570 12699 0.10 0.00 20.62 0.946 6 0.108 0.000 2534 1714 989 0 0 0 0 0 0 26.98 28.83 25.72
12996 1.11 372.8 421.7 15.2 586 13002 0.12 2.30 0.00 0.000 4 0.140 0.058 2498 289 986 0 0 0 0 0 0 26.60 26.63 28.83
13100 1.14 372.8 408.1 12.7 591 13106 0.00 2.22 0.00 0.000 6 0.000 0.046 2498 1707 985 0 0 0 0 0 0 28.83 26.70 28.83
13424 1.15 372.8 365.9 13.2 607 13429 0.00 2.28 0.00 0.000 4 0.000 0.061 2498 295 985 0 0 0 0 0 0 28.83 26.72 28.83
13466 1.17 372.8 360.3 12.9 609 13472 0.00 2.20 0.00 0.000 6 0.000 0.047 2498 1698 985 0 0 0 0 0 0 28.83 26.77 28.83
13789 1.20 372.8 319.1 11.6 625 13795 0.10 2.25 0.00 0.000 4 0.106 0.057 2550 292 985 0 0 0 0 0 0 26.91 26.77 28.83
13861 1.20 372.8 310.1 13.5 628 13867 0.10 2.20 0.00 0.000 6 0.139 0.046 2523 1708 985 0 0 0 0 0 0 26.74 26.82 28.83
14174 1.20 372.8 270.0 11.7 644 14179 0.00 2.28 0.00 0.000 4 0.000 0.060 2524 285 985 0 0 0 0 0 0 28.83 26.81 28.83
14200 1.21 372.8 267.5 11.7 645 14206 0.00 2.17 0.00 0.000 6 0.000 0.045 2523 1692 985 0 0 0 0 0 0 28.83 26.86 28.83
14518 1.22 372.8 227.5 12.9 661 14519 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 1694 984 0 0 0 0 0 0 28.83 28.83 28.83
14819 1.25 372.8 189.8 11.9 676 14824 0.00 2.22 0.00 0.000 4 0.000 0.057 2524 288 985 0 0 0 0 0 0 28.83 26.84 28.83
14871 1.28 372.8 184.9 11.5 678 14876 0.00 2.20 0.00 0.000 6 0.000 0.043 2524 1714 985 0 0 0 0 0 0 28.83 26.91 28.83
15184 1.33 407.4 149.9 9.9 694 15218 0.12 2.15 27.62 0.670 4 0.090 0.050 2591 3116 847 0 0 0 0 0 0 26.99 26.53 25.91
15240 1.36 407.4 144.4 11.4 696 15247 0.15 2.25 0.00 0.000 6 0.137 0.046 2551 1690 846 0 0 0 0 0 0 26.48 26.56 28.83
15546 1.42 450.6 106.4 9.6 712 15587 0.10 2.20 33.00 0.624 4 0.106 0.053 2606 286 671 0 0 0 0 0 0 26.78 26.28 25.69
15753 1.44 450.6 79.5 12.5 722 15759 0.12 2.20 0.00 0.000 6 0.126 0.039 2569 1709 669 0 0 0 0 0 0 26.43 26.52 28.83
16072 1.54 538.3 50.8 7.8 738 16147 0.12 2.35 65.53 0.574 4 0.089 0.054 2638 291 313 0 0 0 0 0 0 26.74 25.98 25.44
16209 1.57 538.3 35.1 13.2 750 16216 0.12 2.20 0.00 0.000 6 0.123 0.037 2600 1696 312 0 0 0 0 0 0 26.15 26.24 28.83
16499 end climb: SURFACE_DEPTH_REACHED
state 16499 begin surface coast
16527 end surface coast: CONTROL_FINISHED_OK
state 16527 begin surface