Glider dive log

NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HD_B 0.0099999998 PITCH_ADJ_GAIN 0.0049999999 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 1.34e-05 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 12

DIVE 10 HEADING -1 ROLL_MIN 236 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2100 ALTIM_PING_DELTA 5

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_ABORT 1040 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_BOOST 4 SM_CC 300 ROLL_TIMEOUT 15 XPDR_VALID 1

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.69999999

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_MIN 470 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 330 UPLOAD_DIVES_MAX -1 C_VBD 2732 DEVICE3 83

T_MISSION 360 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 0.00039999999 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -1 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1587623.1 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 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 22 RAFOS_DEVICE -1

APOGEE_PITCH -7 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 160 PITCH_MIN 155 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3200 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043543722

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -61.06522 SEABIRD_T_H 0.00062483409

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_I 2.3277114e-05

MASS 51761 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.4402393e-06

NAV_MODE 2 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9786949

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1107863

KALMAN_USE 1 PITCH_AD_RATE 165 COMPASS_USE 4 SEABIRD_C_I -0.0017547003

HD_A 0.0046000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0002234884

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 1000 PHONE_DEVICE 48 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 12 D_SURF 4 PITCH_ADJ_GAIN 0.0049999999 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAX 3970 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

APOGEE_PITCH -7 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00039999999 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001138132 T_BOOST 0

CALL_TRIES 5 HD_A 0.0046000001 PRESSURE_YINT -61.06522 T_DIVE 330

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 0 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 1.34e-05 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -1587623.1

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 360

COMPASS_DEVICE 33 ID 187 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3200 KALMAN_USE 1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2100 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 50

C_VBD 2732 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3800 USE_BATHY -1

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51761 ROLL_MIN 236 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 160 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 83 MINV_10V 9.5 R_PORT_OVSHOOT 35 VBD_DBAND 2

DEVICE4 -1 MINV_24V 22 R_STBD_OVSHOOT 20 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.9786949 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1107863 VBD_MIN 470

DIVE 10 NAV_MODE 2 SEABIRD_C_I -0.0017547003 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1040 NOCOMM_ACTION 163 SEABIRD_C_J 0.0002234884 VBD_PUMP_AD_RATE_SURFACE 6

D_BOOST 4 N_DIVES 0 SEABIRD_T_G 0.0043543722 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062483409 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.3277114e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.4402393e-06 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 130912,092103,4745.805,-12514.483,14,6.7,33,18.7 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 2500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.217,-0.158

_SM_DEPTHo 1.00 KALMAN_X 791.0,-523.0,101.8,-11671.5,-261.2

_SM_ANGLEo -77.6 KALMAN_Y -772.7,1165.5,136.5,-6403.6,78.3

GPS2 130912,092701,4745.841,-12514.549,13,2.0,13,18.7 MHEAD_RNG_PITCHd_Wd 213.3,157948,-18.1,-10.000,-20.39

SPEED_LIMITS 0.173,0.269 D_GRID 699

Post-dive calculations and measurements:

FINISH 0.1,1.001760 _10V_AH 10.3,2.377

SM_CCo 12736,0.00,0.000,0,0,1390,328.95 FG_AHR_24Vo 0.000

SM_GC 0.89,8.57,0.65,0.00,0.034,0.051,0.000,119,2085,1390,-9.49,0.79,328.95,0,0,0,0,0,0,25.77,25.75,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4729.30,-12515.52,130912,060623 MEM 296932

TT8_MAMPS 0.026964,0.026964 DATA_FILE_SIZE 73465,1283

HUMID 44.84 CAP_FILE_SIZE 140986,0

INTERNAL_PRESSURE 9.08899 CFSIZE 260165632,256712704

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.031,141.6,1

_24V_AH 23.4,3.927 GPS 130912,130136,4744.725,-12516.824,40,1.2,40,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 231 117.58 SBE_CT 883 24 496.14

Roll_motor 106 68 170.27 SBE_O2 1037 19 461.41

VBD_pump_during_apogee 413 1044 10107.48 WL_BBFL2VMT 1418 105 3486.15

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 63.48 nil 0 0 0.00

Iridium_during_connect 38 160 144.94 nil 0 0 0.00

Iridium_during_xfer 171 223 893.78 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.11

TT8 3157 19 643.96

LPSleep 6141 2 138.54

TT8_Active 526 19 107.31

TT8_Sampling 2957 39 1212.26

TT8_CF8 305 45 144.30

TT8_Kalman 33 81 27.99

Analog_circuits 1728 12 213.66

GPS_charging 0 0 0.00

Compass 2713 15 419.20

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.63 -155.7 0.0 0.0 0 94 0.00 0.00 -75.38 0.000 2 0.000 0.000 121 2096 3151 0 0 0 0 0 0 28.83 28.83 28.83

97 -0.63 -155.7 4.4 -10.8 12 120 11.20 2.25 -3.60 0.000 4 0.231 0.067 2982 3524 3369 0 0 0 0 0 0 25.44 25.70 26.01

365 -0.61 -155.7 63.8 -17.4 65 373 0.00 2.22 0.00 0.000 6 0.000 0.045 2982 2099 3373 0 0 0 0 0 0 28.83 25.88 28.83

687 -0.60 -155.7 113.5 -14.0 118 688 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2094 3374 0 0 0 0 0 0 28.83 28.83 28.83

990 -0.59 -155.7 153.6 -13.8 148 999 0.00 2.20 0.00 0.000 4 0.000 0.063 2972 3510 3374 0 0 0 0 0 0 28.83 26.03 28.83

1065 -0.59 -155.7 164.5 -14.0 155 1073 0.15 2.15 0.00 0.000 6 0.151 0.045 3011 2088 3374 0 0 0 0 0 0 25.96 26.08 28.83

1373 -0.60 -155.7 200.8 -12.2 186 1374 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2083 3375 0 0 0 0 0 0 28.83 28.83 28.83

1675 -0.60 -155.7 235.3 -10.7 216 1685 0.00 2.22 0.00 0.000 4 0.000 0.064 3003 3514 3374 0 0 0 0 0 0 28.83 26.14 28.83

1710 -0.61 -155.7 239.2 -11.0 219 1718 0.00 2.15 0.00 0.000 6 0.000 0.046 3002 2091 3374 0 0 0 0 0 0 28.83 26.18 28.83

2019 -0.62 -155.7 275.2 -12.2 250 2020 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2088 3374 0 0 0 0 0 0 28.83 28.83 28.83

2321 -0.62 -155.7 309.2 -10.5 280 2330 0.00 2.20 0.00 0.000 4 0.000 0.065 2992 3508 3374 0 0 0 0 0 0 28.83 26.20 28.83

2364 -0.63 -155.7 314.2 -11.0 284 2368 0.00 2.15 0.00 0.000 6 0.000 0.047 2992 2103 3373 0 0 0 0 0 0 28.83 26.25 28.83

2676 -0.63 -155.7 348.7 -10.7 315 2677 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2098 3373 0 0 0 0 0 0 28.83 28.83 28.83

2978 -0.63 -155.7 380.4 -10.5 345 2984 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2098 3373 0 0 0 0 0 0 28.83 28.83 28.83

3289 -0.63 -155.7 414.2 -11.5 376 3295 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2098 3372 0 0 0 0 0 0 28.83 28.83 28.83

3598 -0.63 -155.7 447.3 -10.5 407 3607 0.00 2.20 0.00 0.000 4 0.000 0.066 2982 3509 3371 0 0 0 0 0 0 28.83 26.28 28.83

3661 -0.63 -155.7 454.5 -10.8 413 3670 0.00 2.15 0.00 0.000 6 0.000 0.047 2981 2094 3371 0 0 0 0 0 0 28.83 26.32 28.83

3971 -0.63 -155.7 490.8 -12.5 444 3973 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2093 3371 0 0 0 0 0 0 28.83 28.83 28.83

4273 -0.63 -155.7 528.7 -12.3 474 4279 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2093 3370 0 0 0 0 0 0 28.83 28.83 28.83

4585 -0.63 -155.7 564.2 -11.1 505 4594 0.00 2.20 0.00 0.000 4 0.000 0.067 2971 3509 3370 0 0 0 0 0 0 28.83 26.32 28.83

4637 -0.63 -155.7 570.5 -11.4 510 4641 0.00 2.12 0.00 0.000 6 0.000 0.048 2971 2100 3370 0 0 0 0 0 0 28.83 26.35 28.83

4951 -0.63 -155.7 607.4 -11.9 537 4952 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2096 3370 0 0 0 0 0 0 28.83 28.83 28.83

5249 -0.63 -155.7 642.9 -11.5 547 5255 0.00 2.22 0.00 0.000 4 0.000 0.067 2961 3515 3369 0 0 0 0 0 0 28.83 26.32 28.83

5287 -0.63 -155.7 646.5 -11.4 548 5292 0.12 2.17 0.00 0.000 6 0.155 0.048 2993 2090 3369 0 0 0 0 0 0 26.25 26.36 28.83

5606 -0.64 -155.7 677.9 -9.3 559 5611 0.00 2.25 0.00 0.000 4 0.000 0.068 2984 3518 3369 0 0 0 0 0 0 28.83 26.33 28.83

5667 -0.64 -155.7 683.9 -9.7 561 5672 0.00 2.12 0.00 0.000 6 0.000 0.049 2984 2105 3368 0 0 0 0 0 0 28.83 26.37 28.83

5813 end dive: TARGET_DEPTH_EXCEEDED

state 5813 begin apogee

5819 -0.22 0.0 699.1 -10.1 566 5959 0.43 0.00 133.23 1.044 6 0.129 0.000 3122 2513 2732 0 0 0 0 0 0 26.26 28.83 23.63

5960 end apogee: CONTROL_FINISHED_OK

state 5960 begin climb

5963 0.63 155.7 703.2 0.0 570 6113 0.82 2.22 138.35 1.014 4 0.092 0.067 3394 3797 2096 0 0 0 0 0 0 24.49 24.18 23.44

6135 0.60 165.7 692.6 9.6 575 6149 0.00 2.12 9.90 0.860 6 0.000 0.049 3406 2498 2056 0 0 0 0 0 0 28.83 24.61 23.74

6480 0.59 165.7 646.0 12.3 587 6485 0.00 2.20 0.00 0.000 4 0.000 0.055 3416 1097 2049 0 0 0 0 0 0 28.83 25.46 28.83

6531 0.57 165.7 642.2 12.4 588 6539 0.12 2.25 0.00 0.000 6 0.165 0.058 3386 2502 2048 0 0 0 0 0 0 25.41 25.50 28.83

6838 0.57 165.7 606.2 11.0 599 6844 0.00 2.20 0.00 0.000 4 0.000 0.055 3394 1094 2046 0 0 0 0 0 0 28.83 25.73 28.83

6871 0.56 165.7 602.9 11.1 600 6875 0.00 2.22 0.00 0.000 6 0.000 0.058 3395 2501 2046 0 0 0 0 0 0 28.83 25.74 28.83

7185 0.55 165.7 565.2 12.8 628 7193 0.00 2.17 0.00 0.000 4 0.000 0.056 3405 1092 2046 0 0 0 0 0 0 28.83 25.88 28.83

7217 0.54 165.7 561.0 12.2 631 7227 0.00 2.25 0.00 0.000 6 0.000 0.059 3405 2505 2045 0 0 0 0 0 0 28.83 25.88 28.83

7526 0.53 165.7 518.5 13.6 662 7536 0.12 2.17 0.00 0.000 4 0.178 0.054 3378 1096 2046 0 0 0 0 0 0 25.89 25.97 28.83

7560 0.52 165.7 514.6 12.3 665 7568 0.00 2.20 0.00 0.000 6 0.000 0.059 3378 2505 2045 0 0 0 0 0 0 28.83 25.97 28.83

7870 0.52 165.7 479.5 11.3 696 7879 0.00 2.20 0.00 0.000 4 0.000 0.056 3389 1089 2045 0 0 0 0 0 0 28.83 26.04 28.83

7905 0.52 165.7 476.0 10.9 699 7913 0.00 2.28 0.00 0.000 6 0.000 0.059 3389 2509 2045 0 0 0 0 0 0 28.83 26.04 28.83

8213 0.51 165.7 441.9 10.6 730 8214 0.00 0.00 0.00 0.000 6 0.000 0.000 3388 2509 2045 0 0 0 0 0 0 28.83 28.83 28.83

8516 0.51 165.7 412.1 10.1 760 8525 0.00 2.20 0.00 0.000 4 0.000 0.056 3399 1089 2044 0 0 0 0 0 0 28.83 26.13 28.83

8589 0.51 168.5 404.4 9.9 767 8599 0.10 2.17 0.00 0.000 6 0.140 0.058 3367 2499 2044 0 0 0 0 0 0 26.03 26.14 28.83

8900 0.51 168.5 373.1 10.3 798 8910 0.00 2.15 0.00 0.000 4 0.000 0.056 3375 1090 2044 0 0 0 0 0 0 28.83 26.19 28.83

8947 0.52 168.5 368.5 10.5 802 8954 0.00 2.22 0.00 0.000 6 0.000 0.058 3375 2504 2044 0 0 0 0 0 0 28.83 26.17 28.83

9253 0.52 168.5 333.8 11.0 833 9261 0.00 2.17 0.00 0.000 4 0.000 0.055 3385 1089 2044 0 0 0 0 0 0 28.83 26.20 28.83

9298 0.52 168.5 329.3 10.8 837 9305 0.00 2.25 0.00 0.000 6 0.000 0.058 3386 2505 2044 0 0 0 0 0 0 28.83 26.20 28.83

9606 0.52 168.5 296.8 10.0 868 9614 0.00 2.15 0.00 0.000 4 0.000 0.055 3396 1096 2044 0 0 0 0 0 0 28.83 26.22 28.83

9657 0.53 176.3 291.7 9.7 873 9670 0.00 2.20 8.15 0.704 6 0.000 0.058 3396 2513 2013 0 0 0 0 0 0 28.83 26.22 25.31

9974 0.52 176.3 257.3 11.2 904 9983 0.00 2.17 0.00 0.000 4 0.000 0.055 3404 1091 2010 0 0 0 0 0 0 28.83 26.15 28.83

10016 0.52 176.3 252.6 10.8 908 10026 0.10 2.17 0.00 0.000 6 0.138 0.058 3372 2501 2010 0 0 0 0 0 0 26.06 26.16 28.83

10327 0.53 184.9 223.6 9.6 939 10346 0.00 2.17 8.68 0.674 4 0.000 0.054 3380 1090 1978 0 0 0 0 0 0 28.83 26.04 25.31

10391 0.55 206.3 217.6 9.1 945 10420 0.00 2.17 19.52 0.729 6 0.000 0.057 3380 2495 1889 0 0 0 0 0 0 28.83 26.08 25.06

10720 0.56 206.3 182.0 11.2 978 10729 0.00 2.15 0.00 0.000 4 0.000 0.054 3390 1101 1885 0 0 0 0 0 0 28.83 25.94 28.83

10763 0.57 206.3 177.2 11.1 982 10772 0.00 2.22 0.00 0.000 6 0.000 0.057 3390 2508 1885 0 0 0 0 0 0 28.83 25.94 28.83

11073 0.57 206.3 142.7 10.6 1013 11082 0.00 2.17 0.00 0.000 4 0.000 0.055 3398 1095 1885 0 0 0 0 0 0 28.83 26.03 28.83

11129 0.58 206.3 137.1 10.2 1018 11136 0.00 2.25 0.00 0.000 6 0.000 0.057 3398 2503 1884 0 0 0 0 0 0 28.83 26.04 28.83

11436 0.58 206.3 103.5 11.8 1049 11437 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 2503 1884 0 0 0 0 0 0 28.83 28.83 28.83

11744 0.59 206.3 70.0 10.6 1106 11752 0.00 2.22 0.00 0.000 4 0.000 0.054 3408 1089 1884 0 0 0 0 0 0 28.83 26.15 28.83

11776 0.60 206.3 66.8 10.5 1111 11784 0.00 2.25 0.00 0.000 6 0.000 0.057 3408 2505 1883 0 0 0 0 0 0 28.83 26.15 28.83

12116 0.63 259.4 39.1 7.7 1178 12165 0.00 2.30 42.90 0.636 4 0.000 0.054 3418 1094 1673 0 0 0 0 0 0 28.83 25.59 25.00

12197 0.68 325.1 32.9 7.2 1191 12260 0.00 2.28 52.92 0.617 6 0.000 0.057 3418 2501 1403 0 0 0 0 0 0 28.83 25.66 24.52

12579 end climb: SURFACE_DEPTH_REACHED

state 12579 begin surface coast

12656 end surface coast: CONTROL_FINISHED_OK

state 12656 begin surface

ID	187	HD_B	0.0099999998	PITCH_ADJ_GAIN	0.0049999999	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	1.34e-05	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	12
DIVE	10	HEADING	-1	ROLL_MIN	236	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2100	ALTIM_PING_DELTA	5
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_ABORT	1040	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_BOOST	4	SM_CC	300	ROLL_TIMEOUT	15	XPDR_VALID	1
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.69999999
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_MIN	470	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	330	UPLOAD_DIVES_MAX	-1	C_VBD	2732	DEVICE3	83
T_MISSION	360	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	0.00039999999	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-1	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1587623.1	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	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	22	RAFOS_DEVICE	-1
APOGEE_PITCH	-7	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	160	PITCH_MIN	155	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3200	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043543722
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-61.06522	SEABIRD_T_H	0.00062483409
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_I	2.3277114e-05
MASS	51761	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.4402393e-06
NAV_MODE	2	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9786949
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1107863
KALMAN_USE	1	PITCH_AD_RATE	165	COMPASS_USE	4	SEABIRD_C_I	-0.0017547003
HD_A	0.0046000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0002234884

GPS1	130912,092103,4745.805,-12514.483,14,6.7,33,18.7	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	2500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.217,-0.158
_SM_DEPTHo	1.00	KALMAN_X	791.0,-523.0,101.8,-11671.5,-261.2
_SM_ANGLEo	-77.6	KALMAN_Y	-772.7,1165.5,136.5,-6403.6,78.3
GPS2	130912,092701,4745.841,-12514.549,13,2.0,13,18.7	MHEAD_RNG_PITCHd_Wd	213.3,157948,-18.1,-10.000,-20.39
SPEED_LIMITS	0.173,0.269	D_GRID	699

FINISH	0.1,1.001760	_10V_AH	10.3,2.377
SM_CCo	12736,0.00,0.000,0,0,1390,328.95	FG_AHR_24Vo	0.000
SM_GC	0.89,8.57,0.65,0.00,0.034,0.051,0.000,119,2085,1390,-9.49,0.79,328.95,0,0,0,0,0,0,25.77,25.75,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4729.30,-12515.52,130912,060623	MEM	296932
TT8_MAMPS	0.026964,0.026964	DATA_FILE_SIZE	73465,1283
HUMID	44.84	CAP_FILE_SIZE	140986,0
INTERNAL_PRESSURE	9.08899	CFSIZE	260165632,256712704
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.031,141.6,1
_24V_AH	23.4,3.927	GPS	130912,130136,4744.725,-12516.824,40,1.2,40,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	231	117.58	SBE_CT	883	24	496.14
Roll_motor	106	68	170.27	SBE_O2	1037	19	461.41
VBD_pump_during_apogee	413	1044	10107.48	WL_BBFL2VMT	1418	105	3486.15
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	63.48	nil	0	0	0.00
Iridium_during_connect	38	160	144.94	nil	0	0	0.00
Iridium_during_xfer	171	223	893.78	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.11
TT8	3157	19	643.96
LPSleep	6141	2	138.54
TT8_Active	526	19	107.31
TT8_Sampling	2957	39	1212.26
TT8_CF8	305	45	144.30
TT8_Kalman	33	81	27.99
Analog_circuits	1728	12	213.66
GPS_charging	0	0	0.00
Compass	2713	15	419.20
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.63	-155.7	0.0	0.0	0	94	0.00	0.00	-75.38	0.000	2	0.000	0.000	121	2096	3151	0	0	0	0	0	0	28.83	28.83	28.83
97	-0.63	-155.7	4.4	-10.8	12	120	11.20	2.25	-3.60	0.000	4	0.231	0.067	2982	3524	3369	0	0	0	0	0	0	25.44	25.70	26.01
365	-0.61	-155.7	63.8	-17.4	65	373	0.00	2.22	0.00	0.000	6	0.000	0.045	2982	2099	3373	0	0	0	0	0	0	28.83	25.88	28.83
687	-0.60	-155.7	113.5	-14.0	118	688	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2094	3374	0	0	0	0	0	0	28.83	28.83	28.83
990	-0.59	-155.7	153.6	-13.8	148	999	0.00	2.20	0.00	0.000	4	0.000	0.063	2972	3510	3374	0	0	0	0	0	0	28.83	26.03	28.83
1065	-0.59	-155.7	164.5	-14.0	155	1073	0.15	2.15	0.00	0.000	6	0.151	0.045	3011	2088	3374	0	0	0	0	0	0	25.96	26.08	28.83
1373	-0.60	-155.7	200.8	-12.2	186	1374	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2083	3375	0	0	0	0	0	0	28.83	28.83	28.83
1675	-0.60	-155.7	235.3	-10.7	216	1685	0.00	2.22	0.00	0.000	4	0.000	0.064	3003	3514	3374	0	0	0	0	0	0	28.83	26.14	28.83
1710	-0.61	-155.7	239.2	-11.0	219	1718	0.00	2.15	0.00	0.000	6	0.000	0.046	3002	2091	3374	0	0	0	0	0	0	28.83	26.18	28.83
2019	-0.62	-155.7	275.2	-12.2	250	2020	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2088	3374	0	0	0	0	0	0	28.83	28.83	28.83
2321	-0.62	-155.7	309.2	-10.5	280	2330	0.00	2.20	0.00	0.000	4	0.000	0.065	2992	3508	3374	0	0	0	0	0	0	28.83	26.20	28.83
2364	-0.63	-155.7	314.2	-11.0	284	2368	0.00	2.15	0.00	0.000	6	0.000	0.047	2992	2103	3373	0	0	0	0	0	0	28.83	26.25	28.83
2676	-0.63	-155.7	348.7	-10.7	315	2677	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	2098	3373	0	0	0	0	0	0	28.83	28.83	28.83
2978	-0.63	-155.7	380.4	-10.5	345	2984	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	2098	3373	0	0	0	0	0	0	28.83	28.83	28.83
3289	-0.63	-155.7	414.2	-11.5	376	3295	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	2098	3372	0	0	0	0	0	0	28.83	28.83	28.83
3598	-0.63	-155.7	447.3	-10.5	407	3607	0.00	2.20	0.00	0.000	4	0.000	0.066	2982	3509	3371	0	0	0	0	0	0	28.83	26.28	28.83
3661	-0.63	-155.7	454.5	-10.8	413	3670	0.00	2.15	0.00	0.000	6	0.000	0.047	2981	2094	3371	0	0	0	0	0	0	28.83	26.32	28.83
3971	-0.63	-155.7	490.8	-12.5	444	3973	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2093	3371	0	0	0	0	0	0	28.83	28.83	28.83
4273	-0.63	-155.7	528.7	-12.3	474	4279	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2093	3370	0	0	0	0	0	0	28.83	28.83	28.83
4585	-0.63	-155.7	564.2	-11.1	505	4594	0.00	2.20	0.00	0.000	4	0.000	0.067	2971	3509	3370	0	0	0	0	0	0	28.83	26.32	28.83
4637	-0.63	-155.7	570.5	-11.4	510	4641	0.00	2.12	0.00	0.000	6	0.000	0.048	2971	2100	3370	0	0	0	0	0	0	28.83	26.35	28.83
4951	-0.63	-155.7	607.4	-11.9	537	4952	0.00	0.00	0.00	0.000	6	0.000	0.000	2971	2096	3370	0	0	0	0	0	0	28.83	28.83	28.83
5249	-0.63	-155.7	642.9	-11.5	547	5255	0.00	2.22	0.00	0.000	4	0.000	0.067	2961	3515	3369	0	0	0	0	0	0	28.83	26.32	28.83
5287	-0.63	-155.7	646.5	-11.4	548	5292	0.12	2.17	0.00	0.000	6	0.155	0.048	2993	2090	3369	0	0	0	0	0	0	26.25	26.36	28.83
5606	-0.64	-155.7	677.9	-9.3	559	5611	0.00	2.25	0.00	0.000	4	0.000	0.068	2984	3518	3369	0	0	0	0	0	0	28.83	26.33	28.83
5667	-0.64	-155.7	683.9	-9.7	561	5672	0.00	2.12	0.00	0.000	6	0.000	0.049	2984	2105	3368	0	0	0	0	0	0	28.83	26.37	28.83
5813	end dive: TARGET_DEPTH_EXCEEDED
state	5813	begin apogee
5819	-0.22	0.0	699.1	-10.1	566	5959	0.43	0.00	133.23	1.044	6	0.129	0.000	3122	2513	2732	0	0	0	0	0	0	26.26	28.83	23.63
5960	end apogee: CONTROL_FINISHED_OK
state	5960	begin climb
5963	0.63	155.7	703.2	0.0	570	6113	0.82	2.22	138.35	1.014	4	0.092	0.067	3394	3797	2096	0	0	0	0	0	0	24.49	24.18	23.44
6135	0.60	165.7	692.6	9.6	575	6149	0.00	2.12	9.90	0.860	6	0.000	0.049	3406	2498	2056	0	0	0	0	0	0	28.83	24.61	23.74
6480	0.59	165.7	646.0	12.3	587	6485	0.00	2.20	0.00	0.000	4	0.000	0.055	3416	1097	2049	0	0	0	0	0	0	28.83	25.46	28.83
6531	0.57	165.7	642.2	12.4	588	6539	0.12	2.25	0.00	0.000	6	0.165	0.058	3386	2502	2048	0	0	0	0	0	0	25.41	25.50	28.83
6838	0.57	165.7	606.2	11.0	599	6844	0.00	2.20	0.00	0.000	4	0.000	0.055	3394	1094	2046	0	0	0	0	0	0	28.83	25.73	28.83
6871	0.56	165.7	602.9	11.1	600	6875	0.00	2.22	0.00	0.000	6	0.000	0.058	3395	2501	2046	0	0	0	0	0	0	28.83	25.74	28.83
7185	0.55	165.7	565.2	12.8	628	7193	0.00	2.17	0.00	0.000	4	0.000	0.056	3405	1092	2046	0	0	0	0	0	0	28.83	25.88	28.83
7217	0.54	165.7	561.0	12.2	631	7227	0.00	2.25	0.00	0.000	6	0.000	0.059	3405	2505	2045	0	0	0	0	0	0	28.83	25.88	28.83
7526	0.53	165.7	518.5	13.6	662	7536	0.12	2.17	0.00	0.000	4	0.178	0.054	3378	1096	2046	0	0	0	0	0	0	25.89	25.97	28.83
7560	0.52	165.7	514.6	12.3	665	7568	0.00	2.20	0.00	0.000	6	0.000	0.059	3378	2505	2045	0	0	0	0	0	0	28.83	25.97	28.83
7870	0.52	165.7	479.5	11.3	696	7879	0.00	2.20	0.00	0.000	4	0.000	0.056	3389	1089	2045	0	0	0	0	0	0	28.83	26.04	28.83
7905	0.52	165.7	476.0	10.9	699	7913	0.00	2.28	0.00	0.000	6	0.000	0.059	3389	2509	2045	0	0	0	0	0	0	28.83	26.04	28.83
8213	0.51	165.7	441.9	10.6	730	8214	0.00	0.00	0.00	0.000	6	0.000	0.000	3388	2509	2045	0	0	0	0	0	0	28.83	28.83	28.83
8516	0.51	165.7	412.1	10.1	760	8525	0.00	2.20	0.00	0.000	4	0.000	0.056	3399	1089	2044	0	0	0	0	0	0	28.83	26.13	28.83
8589	0.51	168.5	404.4	9.9	767	8599	0.10	2.17	0.00	0.000	6	0.140	0.058	3367	2499	2044	0	0	0	0	0	0	26.03	26.14	28.83
8900	0.51	168.5	373.1	10.3	798	8910	0.00	2.15	0.00	0.000	4	0.000	0.056	3375	1090	2044	0	0	0	0	0	0	28.83	26.19	28.83
8947	0.52	168.5	368.5	10.5	802	8954	0.00	2.22	0.00	0.000	6	0.000	0.058	3375	2504	2044	0	0	0	0	0	0	28.83	26.17	28.83
9253	0.52	168.5	333.8	11.0	833	9261	0.00	2.17	0.00	0.000	4	0.000	0.055	3385	1089	2044	0	0	0	0	0	0	28.83	26.20	28.83
9298	0.52	168.5	329.3	10.8	837	9305	0.00	2.25	0.00	0.000	6	0.000	0.058	3386	2505	2044	0	0	0	0	0	0	28.83	26.20	28.83
9606	0.52	168.5	296.8	10.0	868	9614	0.00	2.15	0.00	0.000	4	0.000	0.055	3396	1096	2044	0	0	0	0	0	0	28.83	26.22	28.83
9657	0.53	176.3	291.7	9.7	873	9670	0.00	2.20	8.15	0.704	6	0.000	0.058	3396	2513	2013	0	0	0	0	0	0	28.83	26.22	25.31
9974	0.52	176.3	257.3	11.2	904	9983	0.00	2.17	0.00	0.000	4	0.000	0.055	3404	1091	2010	0	0	0	0	0	0	28.83	26.15	28.83
10016	0.52	176.3	252.6	10.8	908	10026	0.10	2.17	0.00	0.000	6	0.138	0.058	3372	2501	2010	0	0	0	0	0	0	26.06	26.16	28.83
10327	0.53	184.9	223.6	9.6	939	10346	0.00	2.17	8.68	0.674	4	0.000	0.054	3380	1090	1978	0	0	0	0	0	0	28.83	26.04	25.31
10391	0.55	206.3	217.6	9.1	945	10420	0.00	2.17	19.52	0.729	6	0.000	0.057	3380	2495	1889	0	0	0	0	0	0	28.83	26.08	25.06
10720	0.56	206.3	182.0	11.2	978	10729	0.00	2.15	0.00	0.000	4	0.000	0.054	3390	1101	1885	0	0	0	0	0	0	28.83	25.94	28.83
10763	0.57	206.3	177.2	11.1	982	10772	0.00	2.22	0.00	0.000	6	0.000	0.057	3390	2508	1885	0	0	0	0	0	0	28.83	25.94	28.83
11073	0.57	206.3	142.7	10.6	1013	11082	0.00	2.17	0.00	0.000	4	0.000	0.055	3398	1095	1885	0	0	0	0	0	0	28.83	26.03	28.83
11129	0.58	206.3	137.1	10.2	1018	11136	0.00	2.25	0.00	0.000	6	0.000	0.057	3398	2503	1884	0	0	0	0	0	0	28.83	26.04	28.83
11436	0.58	206.3	103.5	11.8	1049	11437	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	2503	1884	0	0	0	0	0	0	28.83	28.83	28.83
11744	0.59	206.3	70.0	10.6	1106	11752	0.00	2.22	0.00	0.000	4	0.000	0.054	3408	1089	1884	0	0	0	0	0	0	28.83	26.15	28.83
11776	0.60	206.3	66.8	10.5	1111	11784	0.00	2.25	0.00	0.000	6	0.000	0.057	3408	2505	1883	0	0	0	0	0	0	28.83	26.15	28.83
12116	0.63	259.4	39.1	7.7	1178	12165	0.00	2.30	42.90	0.636	4	0.000	0.054	3418	1094	1673	0	0	0	0	0	0	28.83	25.59	25.00
12197	0.68	325.1	32.9	7.2	1191	12260	0.00	2.28	52.92	0.617	6	0.000	0.057	3418	2501	1403	0	0	0	0	0	0	28.83	25.66	24.52
12579	end climb: SURFACE_DEPTH_REACHED
state	12579	begin surface coast
12656	end surface coast: CONTROL_FINISHED_OK
state	12656	begin surface