Glider dive log

GoA Jul15 * SG203 * Dive index * Mission links * Dive 172 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 HEADING -1 C_ROLL_CLIMB 2800 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 8 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 172 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 108 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 52 ALTIM_SENSITIVITY 4

D_TGT 800 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 1020 SM_CC 400 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 200 N_FILEKB 8 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0093

D_BOOST 50 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -1

T_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2839 DEVICE1 2

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 4 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 9.9999997e-05 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_DIVE 250 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 1

T_MISSION 280 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 99

T_ABORT 1440 CAPMAXSIZE 100000 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN 225 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 100740 DBDW 0 COMPASS_DEVICE 33

T_LOITER 0 T_RSLEEP 1 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_EPIRB 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_BATHY -5 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

USE_ICE 0 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

D_OFFGRID 1000 PITCH_MIN 202 MINV_24V 21 SIM_W 0

T_WATCHDOG 10 PITCH_MAX 3901 MINV_10V 9.5 SIM_PITCH 0

RELAUNCH 1 C_PITCH 2650 MAXI_24V 0.60000002 SEABIRD_T_G 0.0043923887

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063351821

MAX_BUOY 200 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_I 2.5271875e-05

COURSE_BIAS 0 P_OVSHOOT 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.0515032e-06

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_G -9.7838888

SPEED_FACTOR 1 PITCH_GAIN 20 PRESSURE_YINT -62.66111 SEABIRD_C_H 1.1409903

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001160131 SEABIRD_C_I -0.00071586663

MASS 52079 PITCH_AD_RATE 160 AD7714Ch0Gain 128 SEABIRD_C_J 0.00012479167

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 PA_OFFLOAD 1.0

NAV_MODE 2 PITCH_ADJ_GAIN 0.015 TCM_ROLL_OFFSET 0 PA_MAXUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 0.0

KALMAN_USE 2 ROLL_MIN 302 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 1.0

HD_A 0.0065996498 ROLL_MAX 3859 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_B 0.0098683201 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 1.0

HD_C 1.5339499e-05 C_ROLL_DIVE 2700 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_SAFE 0 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00063351821

AH0_10V 100 D_SURF 2 PA_OFFLOAD 1.0 SEABIRD_T_I 2.5271875e-05

AH0_24V 150 D_TGT 800 PA_POWERSOURCE 1.0 SEABIRD_T_J 3.0515032e-06

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SIM_W 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PHONE_SUPPLY -2 SM_CC 400

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_ADJ_GAIN 0.015 STROBE 0

ALTIM_PULSE 2 FILEMGR 0 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_GAIN 20 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0065996498 PITCH_MAX 3901 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HD_B 0.0098683201 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 1.5339499e-05 PITCH_MIN 202 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEADING -1 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 9.9999997e-05 T_ABORT 1440

CAPMAXSIZE 100000 HEAPDBG 0 PITCH_W_DBAND 0 T_BOOST 4

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 T_DIVE 250

CF8_MAXERRORS 20 ID 203 PRESSURE_SLOPE 0.0001160131 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0093 PRESSURE_YINT -62.66111 T_GPS 15

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 KALMAN_USE 2 P_OVSHOOT 0.079999998 T_MISSION 280

COMPASS_USE 4 LOGGERDEVICE1 99 P_OVSHOOT_WITHG 0 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_CORR_THRESH 60 T_RSLEEP 1

C_PITCH 2650 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2800 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT 5

C_ROLL_DIVE 2700 LOGGERS 1 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_VBD 2839 MASS 52079 RELAUNCH 1 UNCOM_BLEED 60

DBDW 0 MASS_COMP 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_ADJ_DBAND 0 USE_BATHY -5

DEVICE1 2 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE2 -1 MAX_BUOY 200 ROLL_AD_RATE 350 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_10V 9.5 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE4 -1 MINV_24V 21 ROLL_DEG 40 VBD_DBAND 4

DEVICE5 -1 MISSION 8 ROLL_MAX 3859 VBD_MAX 3960

DEVICE6 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 172 NAV_MODE 2 ROLL_MIN 302 VBD_MIN 500

D_ABORT 1020 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 3

D_BOOST 50 N_DIVES 0 R_PORT_OVSHOOT 108 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 52 VBD_TIMEOUT 720

D_FINISH 0 N_GPS 100740 SEABIRD_C_G -9.7838888 W_ADJ_DBAND 0

D_FLARE 3 N_NOCOMM 1 SEABIRD_C_H 1.1409903 XPDR_DEVICE 24

D_NO_BLEED 200 N_NOSURFACE 0 SEABIRD_C_I -0.00071586663 XPDR_INHIBIT 90

D_OFFGRID 1000 PA_CYCLEPAAM 1.0 SEABIRD_C_J 0.00012479167 XPDR_VALID 2

D_PITCH 0 PA_MAXOPTIONALUPLOADSIZE 0.0 SEABIRD_T_G 0.0043923887

Pre-dive calculations and measurements:

GPS1 110815,001729,5705.3765,-15047.9570,2,0.9,17,16.6,0.0,193.5,9,9.7 SPEED_LIMITS 0.107,0.307

_CALLS 1 TGT_NAME WP10

_XMS_NAKs 0 TGT_LATLONG 5706.000,-15048.000

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 1.66 MHEAD_RNG_PITCHd_Wd 6.8,1236,-41.3,-10.667,-42.21,466

_SM_ANGLEo -59.1 D_GRID 1373

GPS2 110815,002123,5705.3330,-15047.9561,17,0.9,17,16.6,0.0,200.8,10,6.3

Post-dive calculations and measurements:

FINISH 0.7,1.024224 PA_DATA0 0.44/51.893/117.199/59.353

SM_CCo 10819,28.38,0.148,0,0,1205,400.08 PA_ROOT 0.76/0.092/0.121/0.022

SM_GC 4.06,8.62,0.00,28.38,0.046,0.000,0.148,194,2803,1205,-7.58,2.94,400.08,0,0,0,0,0,0,26.04,26.22,25.63 PA_HOME 0.01/0.217/27.046/25.455

IRIDIUM_FIX 5640.91,-15041.34,060608,134107 PA_DISK_BANK 3

TT8_MAMPS 0.059171,0.059171 _24V_AH 24.22,62.419

HUMID 40.35 _10V_AH 10.21,37.919

INTERNAL_PRESSURE 8.8487 FG_AHR_24Vo 0.000

TCM_TEMP 18.00 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 142904

PA_PMVER 0.6 DATA_FILE_SIZE 30070,666

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 129070,0

PA_BOARDID 1654118 CFSIZE 1024393216,979697664

PA_UPTIME 10809.37 5220.48 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,5,0

PA_BOOTCOUNT 480 INTR 1,10807.79,0x236db2,7,5

PA_DFQS 0/0 CURRENT 0.058,221.71,1

PA_LOG 0.01/0.268/31.498/29.630 GPS 110815,032334,5705.571,-15048.061,50,0.8,51,16.6,1.0,226.6,10,8.1

PA_DATA1 0.00/0.058/117.199/111.187

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 233 115.71 SBE_CT 455 23 264.30

Roll_motor 75 86 157.81 nil 0 0 0.00

VBD_pump_during_apogee 277 1010 6787.16 nil 0 0 0.00

VBD_pump_during_surface 28 147 101.47 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 PAAM 10872 0 99.80

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 10872 61 16133.88

GPS 18 26 5.05

TT8 0 0 0.00

LPSleep 7844 2 175.40

TT8_Active 387 18 73.06

TT8_Sampling 2584 43 1139.34

TT8_CF8 85 60 52.95

TT8_Kalman 0 0 0.00

Analog_circuits 1524 16 249.01

GPS_charging 0 0 0.00

Compass 1772 8 149.10

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

91 end surface: CONTROL_FINISHED_OK

state 91 begin dive

93 -2.07 -32.3 208 2775 562 422 0.0 0.0 0 163 0.00 0.00 -63.40 0.000 16386 0.000 0.000 207 2776 2179 2220 2138 0 0 0 0 0 0 26.18 28.83 26.25

165 -2.07 -62.9 209 2778 2221 2140 3.2 -3.9 9 204 7.12 2.17 -22.17 0.000 18948 0.233 0.034 1961 1336 3099 3165 3033 0 0 0 0 0 0 25.62 24.29 25.81

334 -2.11 -62.9 1961 1337 3167 3038 58.9 -35.8 37 345 0.00 2.08 0.00 0.000 1030 0.000 0.024 1954 2710 3101 3166 3037 0 0 0 0 0 0 26.15 26.14 26.17

640 -2.15 -62.9 1954 2712 3167 3042 168.6 -33.4 68 648 0.00 1.75 0.00 0.000 260 0.000 0.034 1945 3866 3103 3166 3041 0 0 0 0 0 0 26.16 26.13 26.22

867 -2.17 -62.9 1945 3866 3167 3041 243.1 -33.2 90 880 0.00 1.65 0.00 0.000 1030 0.000 0.018 1945 2681 3103 3166 3040 0 0 0 0 0 0 26.15 26.13 26.15

1184 -2.21 -62.9 1945 2683 3167 3041 345.3 -30.7 102 1190 0.00 0.00 0.00 0.000 6 0.000 0.000 1945 2681 3102 3165 3040 0 0 0 0 0 0 26.16 26.23 26.22

1484 -2.25 -62.9 1945 2681 3165 3040 437.3 -31.0 112 1491 0.00 1.80 0.00 0.000 260 0.000 0.034 1936 3845 3101 3164 3039 0 0 0 0 0 0 26.17 26.08 26.22

1680 -2.27 -62.9 1936 3849 3163 3041 496.5 -32.6 118 1688 0.00 1.60 0.00 0.000 1030 0.000 0.019 1936 2704 3101 3162 3040 0 0 0 0 0 0 26.18 26.17 26.20

1998 -2.27 -62.9 1936 2705 3161 3041 591.1 -27.9 129 2005 0.00 1.77 0.00 0.000 260 0.000 0.034 1928 3857 3100 3160 3040 0 0 0 0 0 0 26.14 26.08 26.20

2228 -2.27 -62.9 1928 3861 3158 3041 651.7 -28.9 136 2236 0.00 1.62 0.00 0.000 1030 0.000 0.020 1927 2710 3098 3157 3040 0 0 0 0 0 0 26.20 26.17 26.21

2540 -2.31 -62.9 1928 2701 3156 3041 741.8 -28.8 147 2551 0.00 2.05 0.00 0.000 516 0.000 0.024 1927 1331 3097 3155 3040 0 0 0 0 0 0 26.15 26.08 26.20

2705 -2.36 -62.9 1927 1333 3151 3041 786.1 -29.5 152 2716 0.00 2.08 0.00 0.000 1030 0.000 0.025 1924 2699 3097 3154 3040 0 0 0 0 0 0 26.13 26.08 26.15

2754 end dive: TARGET_DEPTH_EXCEEDED

state 2754 begin apogee

2757 -0.25 0.0 1923 2817 3154 3041 804.9 -29.6 154 2819 2.25 0.00 51.62 1.008 10246 0.177 0.000 2550 2815 2838 2880 2797 0 0 0 0 0 0 25.60 25.32 24.57

2820 end apogee: CONTROL_FINISHED_OK

state 2820 begin climb

2821 2.07 62.9 2550 2815 2877 2796 810.6 0.0 156 2883 2.17 1.62 51.17 0.995 10500 0.067 0.035 3304 3837 2579 2605 2553 0 0 0 0 0 0 25.44 24.78 24.27

3082 2.08 169.0 3305 3837 2603 2549 838.5 -12.7 165 3179 0.00 1.52 85.05 1.011 9222 0.000 0.022 3313 2803 2146 2170 2122 0 0 0 0 0 0 25.94 25.92 24.22

3504 2.11 169.0 3313 2803 2167 2110 800.3 14.8 179 3514 0.00 2.08 0.00 0.000 516 0.000 0.022 3323 1408 2138 2166 2110 0 0 0 0 0 0 26.06 26.06 26.13

3708 2.15 169.0 3323 1407 2166 2110 774.8 13.7 185 3715 0.00 2.10 0.00 0.000 1030 0.000 0.025 3323 2796 2137 2165 2110 0 0 0 0 0 0 26.17 26.13 26.19

4020 2.17 169.0 3323 2797 2164 2108 728.4 14.2 196 4028 0.00 1.60 0.00 0.000 260 0.000 0.036 3323 3855 2135 2163 2108 0 0 0 0 0 0 26.16 26.11 26.22

4252 2.17 169.0 3323 3856 2162 2109 694.3 16.0 203 4259 0.00 1.50 0.00 0.000 1030 0.000 0.022 3331 2793 2134 2161 2107 0 0 0 0 0 0 26.22 26.20 26.24

4563 2.19 169.0 3331 2792 2162 2107 648.5 14.0 214 4570 0.00 1.62 0.00 0.000 260 0.000 0.037 3331 3853 2134 2161 2107 0 0 0 0 0 0 26.16 26.10 26.22

4794 2.19 169.0 3331 3854 2162 2107 617.5 14.4 221 4802 0.00 1.50 0.00 0.000 1030 0.000 0.022 3338 2794 2133 2160 2107 0 0 0 0 0 0 26.21 26.18 26.22

5107 2.21 169.0 3339 2795 2162 2108 573.1 13.2 232 5114 0.00 1.62 0.00 0.000 260 0.000 0.037 3339 3849 2133 2161 2106 0 0 0 0 0 0 26.16 26.08 26.23

5313 2.19 169.0 3338 3849 2160 2108 550.3 12.1 238 5326 0.00 1.50 0.00 0.000 1030 0.000 0.022 3347 2790 2132 2159 2106 0 0 0 0 0 0 26.20 26.11 26.21

5619 2.19 172.0 3347 2789 2159 2106 518.7 10.0 249 5627 0.00 2.05 0.00 0.000 516 0.000 0.020 3355 1418 2129 2153 2106 0 0 0 0 0 0 26.14 26.11 26.19

5636 2.19 175.0 3355 1419 2157 2108 518.7 10.0 249 5643 0.00 2.12 0.00 0.000 1030 0.000 0.028 3355 2811 2131 2156 2106 0 0 0 0 0 0 26.14 26.08 26.15

5947 2.19 181.0 3355 2812 2158 2108 494.9 9.3 260 5964 0.00 2.10 8.48 0.895 8708 0.000 0.021 3365 1410 2098 2124 2072 0 0 0 0 0 0 26.10 25.94 25.15

6158 2.19 181.1 3365 1411 2121 2071 471.3 10.7 267 6166 0.00 2.12 0.00 0.000 1030 0.000 0.026 3365 2805 2095 2119 2072 0 0 0 0 0 0 26.10 26.06 26.12

6480 2.18 181.1 3366 2805 2120 2070 433.0 11.7 278 6487 0.00 1.62 0.00 0.000 260 0.000 0.036 3365 3844 2095 2120 2070 0 0 0 0 0 0 26.10 26.04 26.16

6712 2.09 181.1 3366 3846 2125 2071 407.4 12.9 285 6719 0.17 1.52 0.00 0.000 5126 0.225 0.022 3338 2778 2095 2120 2070 0 0 0 0 0 0 25.56 26.09 25.84

7024 2.11 183.4 3338 2779 2121 2071 371.4 10.2 296 7031 0.00 1.70 0.00 0.000 260 0.000 0.037 3338 3850 2094 2119 2069 0 0 0 0 0 0 26.13 26.03 26.20

7215 2.11 183.4 3338 3850 2120 2069 349.2 11.3 302 7222 0.00 1.50 0.00 0.000 1030 0.000 0.022 3343 2796 2094 2119 2069 0 0 0 0 0 0 26.15 26.12 26.16

7536 2.09 186.7 3343 2795 2120 2069 321.2 9.9 313 7543 0.00 2.05 0.00 0.000 516 0.000 0.022 3353 1435 2094 2119 2069 0 0 0 0 0 0 26.10 26.08 26.17

7767 2.11 191.2 3353 1412 2120 2069 300.1 9.7 320 7785 0.00 2.12 9.35 0.789 9222 0.000 0.026 3353 2810 2057 2081 2034 0 0 0 0 0 0 26.10 26.05 25.20

8110 2.11 204.5 3354 2812 2080 2030 265.0 7.7 332 8132 0.00 1.62 12.40 0.743 8452 0.000 0.034 3352 3847 2000 2024 1977 0 0 0 0 0 0 26.10 25.64 25.19

8237 2.09 204.5 3353 3849 2024 1974 248.3 13.8 336 8247 0.12 1.52 0.00 0.000 5126 0.221 0.021 3333 2786 1998 2023 1973 0 0 0 0 0 0 25.60 26.05 25.82

8541 2.12 204.5 3337 2785 2024 1973 207.7 14.1 367 8549 0.00 1.65 0.00 0.000 260 0.000 0.037 3332 3854 1997 2022 1973 0 0 0 0 0 0 26.09 26.03 26.15

8773 2.12 204.5 3332 3856 2022 1973 173.6 13.6 390 8781 0.00 1.50 0.00 0.000 1030 0.000 0.022 3337 2795 1997 2021 1973 0 0 0 0 0 0 26.13 26.10 26.13

9086 2.14 206.0 3338 2796 2022 1974 136.9 10.3 421 9100 0.00 2.05 0.00 0.000 516 0.000 0.022 3347 1414 1996 2021 1972 0 0 0 0 0 0 26.12 26.07 26.18

9324 2.17 224.7 3348 1415 2022 1974 116.4 6.5 444 9353 0.00 2.12 15.02 0.614 9222 0.000 0.026 3347 2808 1916 1943 1890 0 0 0 0 0 0 26.09 26.03 25.27

9649 2.19 231.9 3347 2808 1943 1887 83.6 9.1 477 9663 0.00 2.10 2.38 0.465 8708 0.000 0.022 3356 1407 1894 1924 1865 0 0 0 0 0 0 26.09 25.86 24.87

9713 2.22 241.5 3357 1408 1928 1866 78.0 8.6 483 9729 0.00 2.12 7.15 0.609 9222 0.000 0.025 3357 2799 1852 1880 1825 0 0 0 0 0 0 26.08 26.03 25.26

10028 2.25 250.2 3356 2798 1878 1820 49.1 8.7 515 10040 0.00 1.65 2.97 0.266 8452 0.000 0.037 3356 3857 1819 1849 1790 0 0 0 0 0 0 26.08 25.82 25.39

10120 2.25 251.2 3357 3857 1851 1789 39.7 10.4 532 10132 0.00 1.50 0.00 0.000 1030 0.000 0.021 3364 2795 1820 1850 1790 0 0 0 0 0 0 26.12 26.09 26.13

10433 2.30 300.0 3365 2796 1851 1791 22.2 -0.1 593 10457 0.00 1.70 20.80 0.197 8452 0.000 0.037 3364 3848 1613 1644 1582 0 0 0 0 0 0 26.13 25.88 25.55

10681 2.35 328.1 3365 3849 1644 1578 10.6 4.5 642 10700 0.00 1.52 10.90 0.170 9222 0.000 0.021 3372 2803 1497 1532 1462 0 0 0 0 0 0 26.15 26.13 25.60

10789 end climb: SURFACE_DEPTH_REACHED

state 10789 begin surface coast

10803 end surface coast: CONTROL_FINISHED_OK

state 10804 begin surface

ID	203	HEADING	-1	C_ROLL_CLIMB	2800	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	8	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	172	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	108	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	52	ALTIM_SENSITIVITY	4
D_TGT	800	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	1020	SM_CC	400	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	200	N_FILEKB	8	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0093
D_BOOST	50	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-1
T_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2839	DEVICE1	2
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	4	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	9.9999997e-05	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_DIVE	250	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	1
T_MISSION	280	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	99
T_ABORT	1440	CAPMAXSIZE	100000	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN	225	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	100740	DBDW	0	COMPASS_DEVICE	33
T_LOITER	0	T_RSLEEP	1	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_EPIRB	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_BATHY	-5	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
USE_ICE	0	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
D_OFFGRID	1000	PITCH_MIN	202	MINV_24V	21	SIM_W	0
T_WATCHDOG	10	PITCH_MAX	3901	MINV_10V	9.5	SIM_PITCH	0
RELAUNCH	1	C_PITCH	2650	MAXI_24V	0.60000002	SEABIRD_T_G	0.0043923887
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063351821
MAX_BUOY	200	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_I	2.5271875e-05
COURSE_BIAS	0	P_OVSHOOT	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.0515032e-06
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.7838888
SPEED_FACTOR	1	PITCH_GAIN	20	PRESSURE_YINT	-62.66111	SEABIRD_C_H	1.1409903
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001160131	SEABIRD_C_I	-0.00071586663
MASS	52079	PITCH_AD_RATE	160	AD7714Ch0Gain	128	SEABIRD_C_J	0.00012479167
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	PA_OFFLOAD	1.0
NAV_MODE	2	PITCH_ADJ_GAIN	0.015	TCM_ROLL_OFFSET	0	PA_MAXUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	0.0
KALMAN_USE	2	ROLL_MIN	302	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	1.0
HD_A	0.0065996498	ROLL_MAX	3859	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_B	0.0098683201	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	1.0
HD_C	1.5339499e-05	C_ROLL_DIVE	2700	ALTIM_TOP_TURN_MARGIN	0

GPS1	110815,001729,5705.3765,-15047.9570,2,0.9,17,16.6,0.0,193.5,9,9.7	SPEED_LIMITS	0.107,0.307
_CALLS	1	TGT_NAME	WP10
_XMS_NAKs	0	TGT_LATLONG	5706.000,-15048.000
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	1.66	MHEAD_RNG_PITCHd_Wd	6.8,1236,-41.3,-10.667,-42.21,466
_SM_ANGLEo	-59.1	D_GRID	1373
GPS2	110815,002123,5705.3330,-15047.9561,17,0.9,17,16.6,0.0,200.8,10,6.3

FINISH	0.7,1.024224	PA_DATA0	0.44/51.893/117.199/59.353
SM_CCo	10819,28.38,0.148,0,0,1205,400.08	PA_ROOT	0.76/0.092/0.121/0.022
SM_GC	4.06,8.62,0.00,28.38,0.046,0.000,0.148,194,2803,1205,-7.58,2.94,400.08,0,0,0,0,0,0,26.04,26.22,25.63	PA_HOME	0.01/0.217/27.046/25.455
IRIDIUM_FIX	5640.91,-15041.34,060608,134107	PA_DISK_BANK	3
TT8_MAMPS	0.059171,0.059171	_24V_AH	24.22,62.419
HUMID	40.35	_10V_AH	10.21,37.919
INTERNAL_PRESSURE	8.8487	FG_AHR_24Vo	0.000
TCM_TEMP	18.00	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	142904
PA_PMVER	0.6	DATA_FILE_SIZE	30070,666
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	129070,0
PA_BOARDID	1654118	CFSIZE	1024393216,979697664
PA_UPTIME	10809.37 5220.48	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,5,0
PA_BOOTCOUNT	480	INTR	1,10807.79,0x236db2,7,5
PA_DFQS	0/0	CURRENT	0.058,221.71,1
PA_LOG	0.01/0.268/31.498/29.630	GPS	110815,032334,5705.571,-15048.061,50,0.8,51,16.6,1.0,226.6,10,8.1
PA_DATA1	0.00/0.058/117.199/111.187

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	233	115.71	SBE_CT	455	23	264.30
Roll_motor	75	86	157.81	nil	0	0	0.00
VBD_pump_during_apogee	277	1010	6787.16	nil	0	0	0.00
VBD_pump_during_surface	28	147	101.47	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	PAAM	10872	0	99.80
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	10872	61	16133.88
GPS	18	26	5.05
TT8	0	0	0.00
LPSleep	7844	2	175.40
TT8_Active	387	18	73.06
TT8_Sampling	2584	43	1139.34
TT8_CF8	85	60	52.95
TT8_Kalman	0	0	0.00
Analog_circuits	1524	16	249.01
GPS_charging	0	0	0.00
Compass	1772	8	149.10
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
91	end surface: CONTROL_FINISHED_OK
state	91	begin dive
93	-2.07	-32.3	208	2775	562	422	0.0	0.0	0	163	0.00	0.00	-63.40	0.000	16386	0.000	0.000	207	2776	2179	2220	2138	0	0	0	0	0	0	26.18	28.83	26.25
165	-2.07	-62.9	209	2778	2221	2140	3.2	-3.9	9	204	7.12	2.17	-22.17	0.000	18948	0.233	0.034	1961	1336	3099	3165	3033	0	0	0	0	0	0	25.62	24.29	25.81
334	-2.11	-62.9	1961	1337	3167	3038	58.9	-35.8	37	345	0.00	2.08	0.00	0.000	1030	0.000	0.024	1954	2710	3101	3166	3037	0	0	0	0	0	0	26.15	26.14	26.17
640	-2.15	-62.9	1954	2712	3167	3042	168.6	-33.4	68	648	0.00	1.75	0.00	0.000	260	0.000	0.034	1945	3866	3103	3166	3041	0	0	0	0	0	0	26.16	26.13	26.22
867	-2.17	-62.9	1945	3866	3167	3041	243.1	-33.2	90	880	0.00	1.65	0.00	0.000	1030	0.000	0.018	1945	2681	3103	3166	3040	0	0	0	0	0	0	26.15	26.13	26.15
1184	-2.21	-62.9	1945	2683	3167	3041	345.3	-30.7	102	1190	0.00	0.00	0.00	0.000	6	0.000	0.000	1945	2681	3102	3165	3040	0	0	0	0	0	0	26.16	26.23	26.22
1484	-2.25	-62.9	1945	2681	3165	3040	437.3	-31.0	112	1491	0.00	1.80	0.00	0.000	260	0.000	0.034	1936	3845	3101	3164	3039	0	0	0	0	0	0	26.17	26.08	26.22
1680	-2.27	-62.9	1936	3849	3163	3041	496.5	-32.6	118	1688	0.00	1.60	0.00	0.000	1030	0.000	0.019	1936	2704	3101	3162	3040	0	0	0	0	0	0	26.18	26.17	26.20
1998	-2.27	-62.9	1936	2705	3161	3041	591.1	-27.9	129	2005	0.00	1.77	0.00	0.000	260	0.000	0.034	1928	3857	3100	3160	3040	0	0	0	0	0	0	26.14	26.08	26.20
2228	-2.27	-62.9	1928	3861	3158	3041	651.7	-28.9	136	2236	0.00	1.62	0.00	0.000	1030	0.000	0.020	1927	2710	3098	3157	3040	0	0	0	0	0	0	26.20	26.17	26.21
2540	-2.31	-62.9	1928	2701	3156	3041	741.8	-28.8	147	2551	0.00	2.05	0.00	0.000	516	0.000	0.024	1927	1331	3097	3155	3040	0	0	0	0	0	0	26.15	26.08	26.20
2705	-2.36	-62.9	1927	1333	3151	3041	786.1	-29.5	152	2716	0.00	2.08	0.00	0.000	1030	0.000	0.025	1924	2699	3097	3154	3040	0	0	0	0	0	0	26.13	26.08	26.15
2754	end dive: TARGET_DEPTH_EXCEEDED
state	2754	begin apogee
2757	-0.25	0.0	1923	2817	3154	3041	804.9	-29.6	154	2819	2.25	0.00	51.62	1.008	10246	0.177	0.000	2550	2815	2838	2880	2797	0	0	0	0	0	0	25.60	25.32	24.57
2820	end apogee: CONTROL_FINISHED_OK
state	2820	begin climb
2821	2.07	62.9	2550	2815	2877	2796	810.6	0.0	156	2883	2.17	1.62	51.17	0.995	10500	0.067	0.035	3304	3837	2579	2605	2553	0	0	0	0	0	0	25.44	24.78	24.27
3082	2.08	169.0	3305	3837	2603	2549	838.5	-12.7	165	3179	0.00	1.52	85.05	1.011	9222	0.000	0.022	3313	2803	2146	2170	2122	0	0	0	0	0	0	25.94	25.92	24.22
3504	2.11	169.0	3313	2803	2167	2110	800.3	14.8	179	3514	0.00	2.08	0.00	0.000	516	0.000	0.022	3323	1408	2138	2166	2110	0	0	0	0	0	0	26.06	26.06	26.13
3708	2.15	169.0	3323	1407	2166	2110	774.8	13.7	185	3715	0.00	2.10	0.00	0.000	1030	0.000	0.025	3323	2796	2137	2165	2110	0	0	0	0	0	0	26.17	26.13	26.19
4020	2.17	169.0	3323	2797	2164	2108	728.4	14.2	196	4028	0.00	1.60	0.00	0.000	260	0.000	0.036	3323	3855	2135	2163	2108	0	0	0	0	0	0	26.16	26.11	26.22
4252	2.17	169.0	3323	3856	2162	2109	694.3	16.0	203	4259	0.00	1.50	0.00	0.000	1030	0.000	0.022	3331	2793	2134	2161	2107	0	0	0	0	0	0	26.22	26.20	26.24
4563	2.19	169.0	3331	2792	2162	2107	648.5	14.0	214	4570	0.00	1.62	0.00	0.000	260	0.000	0.037	3331	3853	2134	2161	2107	0	0	0	0	0	0	26.16	26.10	26.22
4794	2.19	169.0	3331	3854	2162	2107	617.5	14.4	221	4802	0.00	1.50	0.00	0.000	1030	0.000	0.022	3338	2794	2133	2160	2107	0	0	0	0	0	0	26.21	26.18	26.22
5107	2.21	169.0	3339	2795	2162	2108	573.1	13.2	232	5114	0.00	1.62	0.00	0.000	260	0.000	0.037	3339	3849	2133	2161	2106	0	0	0	0	0	0	26.16	26.08	26.23
5313	2.19	169.0	3338	3849	2160	2108	550.3	12.1	238	5326	0.00	1.50	0.00	0.000	1030	0.000	0.022	3347	2790	2132	2159	2106	0	0	0	0	0	0	26.20	26.11	26.21
5619	2.19	172.0	3347	2789	2159	2106	518.7	10.0	249	5627	0.00	2.05	0.00	0.000	516	0.000	0.020	3355	1418	2129	2153	2106	0	0	0	0	0	0	26.14	26.11	26.19
5636	2.19	175.0	3355	1419	2157	2108	518.7	10.0	249	5643	0.00	2.12	0.00	0.000	1030	0.000	0.028	3355	2811	2131	2156	2106	0	0	0	0	0	0	26.14	26.08	26.15
5947	2.19	181.0	3355	2812	2158	2108	494.9	9.3	260	5964	0.00	2.10	8.48	0.895	8708	0.000	0.021	3365	1410	2098	2124	2072	0	0	0	0	0	0	26.10	25.94	25.15
6158	2.19	181.1	3365	1411	2121	2071	471.3	10.7	267	6166	0.00	2.12	0.00	0.000	1030	0.000	0.026	3365	2805	2095	2119	2072	0	0	0	0	0	0	26.10	26.06	26.12
6480	2.18	181.1	3366	2805	2120	2070	433.0	11.7	278	6487	0.00	1.62	0.00	0.000	260	0.000	0.036	3365	3844	2095	2120	2070	0	0	0	0	0	0	26.10	26.04	26.16
6712	2.09	181.1	3366	3846	2125	2071	407.4	12.9	285	6719	0.17	1.52	0.00	0.000	5126	0.225	0.022	3338	2778	2095	2120	2070	0	0	0	0	0	0	25.56	26.09	25.84
7024	2.11	183.4	3338	2779	2121	2071	371.4	10.2	296	7031	0.00	1.70	0.00	0.000	260	0.000	0.037	3338	3850	2094	2119	2069	0	0	0	0	0	0	26.13	26.03	26.20
7215	2.11	183.4	3338	3850	2120	2069	349.2	11.3	302	7222	0.00	1.50	0.00	0.000	1030	0.000	0.022	3343	2796	2094	2119	2069	0	0	0	0	0	0	26.15	26.12	26.16
7536	2.09	186.7	3343	2795	2120	2069	321.2	9.9	313	7543	0.00	2.05	0.00	0.000	516	0.000	0.022	3353	1435	2094	2119	2069	0	0	0	0	0	0	26.10	26.08	26.17
7767	2.11	191.2	3353	1412	2120	2069	300.1	9.7	320	7785	0.00	2.12	9.35	0.789	9222	0.000	0.026	3353	2810	2057	2081	2034	0	0	0	0	0	0	26.10	26.05	25.20
8110	2.11	204.5	3354	2812	2080	2030	265.0	7.7	332	8132	0.00	1.62	12.40	0.743	8452	0.000	0.034	3352	3847	2000	2024	1977	0	0	0	0	0	0	26.10	25.64	25.19
8237	2.09	204.5	3353	3849	2024	1974	248.3	13.8	336	8247	0.12	1.52	0.00	0.000	5126	0.221	0.021	3333	2786	1998	2023	1973	0	0	0	0	0	0	25.60	26.05	25.82
8541	2.12	204.5	3337	2785	2024	1973	207.7	14.1	367	8549	0.00	1.65	0.00	0.000	260	0.000	0.037	3332	3854	1997	2022	1973	0	0	0	0	0	0	26.09	26.03	26.15
8773	2.12	204.5	3332	3856	2022	1973	173.6	13.6	390	8781	0.00	1.50	0.00	0.000	1030	0.000	0.022	3337	2795	1997	2021	1973	0	0	0	0	0	0	26.13	26.10	26.13
9086	2.14	206.0	3338	2796	2022	1974	136.9	10.3	421	9100	0.00	2.05	0.00	0.000	516	0.000	0.022	3347	1414	1996	2021	1972	0	0	0	0	0	0	26.12	26.07	26.18
9324	2.17	224.7	3348	1415	2022	1974	116.4	6.5	444	9353	0.00	2.12	15.02	0.614	9222	0.000	0.026	3347	2808	1916	1943	1890	0	0	0	0	0	0	26.09	26.03	25.27
9649	2.19	231.9	3347	2808	1943	1887	83.6	9.1	477	9663	0.00	2.10	2.38	0.465	8708	0.000	0.022	3356	1407	1894	1924	1865	0	0	0	0	0	0	26.09	25.86	24.87
9713	2.22	241.5	3357	1408	1928	1866	78.0	8.6	483	9729	0.00	2.12	7.15	0.609	9222	0.000	0.025	3357	2799	1852	1880	1825	0	0	0	0	0	0	26.08	26.03	25.26
10028	2.25	250.2	3356	2798	1878	1820	49.1	8.7	515	10040	0.00	1.65	2.97	0.266	8452	0.000	0.037	3356	3857	1819	1849	1790	0	0	0	0	0	0	26.08	25.82	25.39
10120	2.25	251.2	3357	3857	1851	1789	39.7	10.4	532	10132	0.00	1.50	0.00	0.000	1030	0.000	0.021	3364	2795	1820	1850	1790	0	0	0	0	0	0	26.12	26.09	26.13
10433	2.30	300.0	3365	2796	1851	1791	22.2	-0.1	593	10457	0.00	1.70	20.80	0.197	8452	0.000	0.037	3364	3848	1613	1644	1582	0	0	0	0	0	0	26.13	25.88	25.55
10681	2.35	328.1	3365	3849	1644	1578	10.6	4.5	642	10700	0.00	1.52	10.90	0.170	9222	0.000	0.021	3372	2803	1497	1532	1462	0	0	0	0	0	0	26.15	26.13	25.60
10789	end climb: SURFACE_DEPTH_REACHED
state	10789	begin surface coast
10803	end surface coast: CONTROL_FINISHED_OK
state	10804	begin surface