AMOS Sep22 * SG243 * Dive index * Mission links * Dive 22 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  243 FIX_MISSING_TIMEOUT  7 C_ROLL_CLIMB  2355.2642 ALTIM_PULSE  3
MISSION  2 TGT_DEFAULT_LAT  4736 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
DIVE  22 TGT_DEFAULT_LON  -12218 ROLL_CNV  0.054945 XPDR_VALID  4
N_DIVES  0 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  30 XPDR_INHIBIT  90
STOP_T  0 SM_CC  701.37 ROLL_MAXERRORS  0 XPDR_INT  0
D_SURF  2 N_FILEKB  8 ROLL_ADJ_GAIN  1 XPDR_REP  0
D_FLARE  3 FILEMGR  2 ROLL_ADJ_DBAND  0.029999999 INT_PRESSURE_SLOPE  1.9639999e-06
D_TGT  600 CALL_NDIVES  1 VBD_MIN  500 INT_PRESSURE_YINT  -1.7
D_ABORT  1030 COMM_SEQ  7 VBD_MAX  3960 DEEPGLIDER  0
D_NO_BLEED  450 PROTOCOL  9 C_VBD  3216.5632 DEEPGLIDERMB  0
D_BOOST  0 N_NOCOMM  0 VBD_DBAND  2 MOTHERBOARD  6
T_BOOST  0 NOCOMM_ACTION  129 VBD_CNV  -0.24529999 DEVICE1  -1
D_FINISH  10 N_NOSURFACE  0 VBD_LP_IGNORE  0 DEVICE2  -1
D_PITCH  2 UPLOAD_DIVES_MAX  3 VBD_TIMEOUT  800 DEVICE3  -1
D_SAFE  500 NETBOX  3 PITCH_VBD_SHIFT  0.0012300001 DEVICE4  -1
D_CALL  4 CALL_TRIES  3 UNCOM_BLEED  400 DEVICE5  -1
SURFACE_URGENCY  6 CALL_WAIT  45 VBD_MAXERRORS  2 DEVICE6  -1
SURFACE_URGENCY_TRY  6 CAPUPLOAD  0 C_VBD_AUTO_DELTA  0.5 LOGGERS  7
SURFACE_URGENCY_FORCE  12 CAPMAXSIZE  10000 C_VBD_AUTO_MAX  100 LOGGERDEVICE1  7
T_DIVE  200 T_GPS  3 W_ADJ_DBAND  0 LOGGERDEVICE2  -1
T_MISSION  300 N_GPS  100440 DBDW  0 LOGGERDEVICE3  -1
T_ABORT  2880 T_RSLEEP  3 LOITER_W_DBAND  2 LOGGERDEVICE4  -1
T_TURN  225 STROBE  0 LOITER_DBDW  400 COMPASS_DEVICE  66
T_TURN_SAMPINT  -5 RAFOS_PEAK_OFFSET  0 LOITER_D_TOP  400 COMPASS2_DEVICE  -1
T_NO_W  240 RAFOS_CORR_THRESH  60 LOITER_D_BOTTOM  700 PHONE_DEVICE  33
T_LOITER  0 RAFOS_HIT_WINDOW  10800 LOITER_N_DIVE  0 GPS_DEVICE  48
T_EPIRB  0 RAFOS_MMODEM  0 CF8_MAXERRORS  0 RAFOS_DEVICE  96
USE_BATHY  0 PITCH_MIN  205 AH0_24V  575 NAV_DEVICE  6
USE_ICE  1 PITCH_MAX  3600 AH0_10V  0 NAV2_DEVICE  6
ICE_FREEZE_MARGIN  0.07 C_PITCH  1760.1731 MINV_24V  0 NETWORK_DEVICE  1
D_OFFGRID  1000 PITCH_DBAND  0.1 MINV_10V  0 PRESSURE_DEVICE  34
RELAUNCH  1 PITCH_CNV  0.0041299998 MAXI_24V  5 XPDR_DEVICE  -1
APOGEE_PITCH  -5 PITCH_GAIN  12.687232 MAXI_10V  5 SIM_W  0
MAX_BUOY  150 PITCH_TIMEOUT  40 FG_AHR_10V  40.550655 SEABIRD_T_G  0.0043000001
GLIDE_SLOPE  30 PITCH_MAXERRORS  1 FG_AHR_24V  39.801224 SEABIRD_T_H  0.00063999998
SPEED_FACTOR  1 PITCH_ADJ_GAIN  0.015 PHONE_SUPPLY  2 SEABIRD_T_I  2.4999999e-05
RHO  1.0275 PITCH_ADJ_DBAND  2 PRESSURE_YINT  -165.79369 SEABIRD_T_J  4.3e-06
MASS  72763 C_PITCH_AUTO_DELTA  0.5 PRESSURE_SLOPE  0.00022387519 SEABIRD_C_G  -10
NAV_MODE  0 C_PITCH_AUTO_MAX  200 COMPASS_USE  49156 SEABIRD_C_H  1
FERRY_MAX  45 PITCH_GAIN_AUTO_DELTA  0.5 ALTIM_PING_FIT  0 SEABIRD_C_I  -0.0020000001
KALMAN_USE  2 PITCH_GAIN_AUTO_MAX  2 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00019999999
HD_A  0.003 PITCH_W_GAIN  0 ALTIM_BOTTOM_TURN_MARGIN  0 OPTIONS  2
HD_B  0.0099999998 PITCH_W_DBAND  0 ALTIM_TOP_TURN_MARGIN  0 SC_RECORDABOVE  2000.0
HD_C  1.6e-05 ROLL_MIN  285 ALTIM_TOP_MIN_OBSTACLE  1 SC_PROFILE  3.0
HEADING  -1 ROLL_MAX  3890 ALTIM_PING_DEPTH  0 SC_XMITPROFILE  3.0
ESCAPE_HEADING  180 ROLL_DEG  80 ALTIM_PING_DELTA  0 SC_NDIVE  1.0
ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2336.3245 ALTIM_FREQUENCY  13

Pre-dive calculations and measurements:
GPS1  220922,041835,7256.507,-15404.955,35,1.3,36,13.0 TGT_RADIUS  4000.000
_CALLS  3 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.61 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -55.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  220922,043253,7256.654,-15405.297,3,0.9,6,13.0 MHEAD_RNG_PITCHd_Wd  211.4,43155,-17.6,-10.000,-21.24,2209,0.130
SPEED_LIMITS  0.173,0.257 D_GRID  600
TGT_NAME  pickup IRON  1.000000,-0.009772,-0.102549,0.004843,1.036106,-0.133438,0.003124,-0.016487,0.935368,297.183411,-1107.106201,-912.221313
TGT_LATLONG  7240.000,-15500.000

Post-dive calculations and measurements:
NAV  1663833545,22.0,start _10V_AH  14.71,0.000
WARN  HSCICON missed fuel gauge read FG_AHR_24Vo  40.206
FREEZE  0.49,0.000,0.000,2,5,0 FG_AHR_10Vo  40.609
FINISH  0.5,1.064444 MEM0  59964,1,0,0
SM_CCo  12909.65,0.28,0.087,0,499.8,605.3,394.4,666.27 MEM1  65508,1,0,0
SM_GC  3.27,0.28,14.12,0.12,0.087,0.084,0.151,499.8,605.3,394.4,198.2,2312.9,0,0,0,15.56,15.48,15.49 MEM2  1011296,33,34752,93
SUPER  0,0,0,0,0,0 DATA_FILE_SIZE  22450,766
IRIDIUM_FIX  7255.13,-15358.84,220922,042713 CAP_FILE_SIZE  293242,0
TCM_TEMP  2.49 SDSIZE  3887104,3868608
SC_FREEKB  3871968 SDFILEDIR  184,1
RAFOS_CLK  0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX  7257.065430,-15413.344727,220922,000053,3,255,0.40 SOUNDSPEED  1465.0
HUMID  49.38 MAGCAL  1.000000,-0.014545,-0.067451,0.029506,1.018425,-0.047515,-0.031163,0.002152,0.946771,254.1,-1205.6,-928.1,29,0.0932,0
TEMP  0.34 IMPLIED_C_PITCH  1759,12.83,366,1759.5,12.76
INTERNAL_PRESSURE  7.7967 IMPLIED_C_VBD  3237,38.123363,366,3226.7
_24V_AH  14.52,11.954 GPS  220922,081031,7255.687,-15409.101,95,0.7,96,13.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump1088162525703.31 nil000.00
Pitch_motor33330161.10 nil000.00
Roll_motor119251436.93 nil000.00
Iridium7022232278.67 nil000.00
Transponder_ping000.00 nil000.00
GPS15153.51 nil000.00
Core39485297.38 SciCon1289081520.69
Fast200.00 nil000.00
Slow000.00 nil000.00
LPSleep9784046.06
Compass14605107.39
RAFOS1981401165.98
Transponder000.00
Compass2000.00

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R

Guidance and control:
st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts
6 end surface: CONTROL_FINISHED_OK
state 6 begin dive
7.54 16386 -145.99 -1.57 0.00 499.2 605.3 393.1 198.4 2320.8 0.00 0.00 0 78.69 66.36 0.00 0.00 0.005 0.000 0.000 1903.66 1944.56 1862.75 198.19 2320.69 0 0 0 15.56 30.00 30.00
79.13 18983 -145.99 -1.57 -80.00 1906.9 1948.6 1865.2 198.2 2321.1 3.50 -3.18 7 154.92 47.64 10.48 3.78 0.005 0.331 0.150 3813.31 3849.12 3777.50 1379.12 871.00 0 0 0 15.57 15.40 15.49
298.64 3205 -145.99 -1.44 0.00 3813.6 3850.7 3776.4 1378.8 871.1 63.97 -20.78 49 307.02 0.00 0.25 3.71 0.000 0.257 0.092 3812.66 3849.88 3775.44 1410.44 2350.12 0 0 0 30.00 15.52 15.58
685.65 128 -145.99 -1.37 0.00 3813.1 3850.5 3775.6 1410.1 2349.5 123.10 -14.64 66 687.41 0.00 0.00 0.00 0.000 0.000 0.000 3813.28 3850.94 3775.62 1409.75 2349.88 0 0 0 30.00 30.00 30.00
1075.72 2177 -145.99 -1.30 0.00 3813.8 3852.1 3775.6 1409.6 2349.8 177.86 -13.66 79 1077.83 0.00 0.28 0.00 0.000 0.242 0.000 3812.78 3850.75 3774.81 1444.69 2349.81 0 0 0 30.00 15.72 30.00
1465.52 516 -145.99 -1.30 -80.00 3813.5 3851.9 3775.1 1444.2 2349.8 221.73 -10.43 92 1473.81 0.00 0.00 3.83 0.000 0.000 0.153 3813.75 3852.38 3775.12 1444.00 870.19 0 0 0 30.00 30.00 15.81
1541.59 1028 -145.99 -1.30 0.05 3813.5 3852.0 3775.1 1444.4 870.5 230.02 -10.73 107 1549.41 0.00 0.00 3.65 0.000 0.000 0.093 3814.22 3852.31 3776.12 1444.56 2349.88 0 0 0 30.00 30.00 15.84
1913.02 548 -145.99 -1.30 -80.00 3813.6 3852.1 3775.1 1443.9 2349.6 261.47 -7.84 121 1921.16 0.00 0.00 3.81 0.000 0.000 0.152 3813.28 3851.56 3775.00 1444.12 871.12 0 0 0 30.00 30.00 15.85
1969.79 1060 -145.99 -1.30 0.01 3813.7 3852.4 3775.0 1444.4 871.0 266.37 -8.73 132 1977.84 0.00 0.00 3.62 0.000 0.000 0.093 3812.97 3851.88 3774.06 1444.44 2349.25 0 0 0 30.00 30.00 15.88
2356.45 292 -145.99 -1.30 80.00 3813.1 3851.8 3774.4 1444.2 2349.9 294.32 -7.15 149 2364.61 0.00 0.00 3.86 0.000 0.000 0.176 3812.31 3851.81 3772.81 1444.31 3798.44 0 0 0 30.00 30.00 15.87
2377.45 1060 -145.99 -1.30 -0.03 3812.8 3852.1 3773.4 1444.3 3798.2 296.14 -7.19 153 2385.99 0.00 0.00 3.49 0.000 0.000 0.066 3813.06 3852.88 3773.25 1443.94 2306.81 0 0 0 30.00 30.00 15.93
2773.26 32 -145.99 -1.30 -0.03 3812.7 3852.8 3772.6 1444.2 2305.1 324.80 -7.25 167 2775.06 0.00 0.00 0.00 0.000 0.000 0.000 3812.75 3852.62 3772.88 1443.94 2305.38 0 0 0 30.00 30.00 30.00
3163.49 420 -145.99 -1.33 80.00 3812.3 3852.3 3772.3 1444.4 2305.4 351.98 -6.83 180 3171.74 0.00 0.00 3.96 0.000 0.000 0.169 3811.44 3851.81 3771.06 1444.44 3798.12 0 0 0 30.00 30.00 15.91
3194.64 1060 -145.99 -1.33 0.03 3812.3 3852.8 3771.8 1444.1 3797.9 354.60 -6.92 186 3202.40 0.00 0.00 3.46 0.000 0.000 0.065 3812.03 3852.62 3771.44 1444.38 2308.75 0 0 0 30.00 30.00 15.98
3581.23 420 -145.99 -1.36 80.00 3812.0 3852.8 3771.3 1444.0 2305.9 381.15 -6.89 203 3589.48 0.00 0.00 3.94 0.000 0.000 0.167 3811.81 3852.44 3771.19 1444.56 3800.62 0 0 0 30.00 30.00 15.93
3627.37 1060 -145.99 -1.36 0.09 3812.0 3852.4 3771.6 1444.4 3800.8 385.12 -8.51 212 3635.13 0.00 0.00 3.45 0.000 0.000 0.065 3812.53 3853.25 3771.81 1444.00 2311.62 0 0 0 30.00 30.00 15.99
3998.96 4257 -145.99 -1.40 0.09 3812.2 3852.9 3771.6 1444.3 2308.4 410.90 -6.87 226 4001.12 0.00 0.22 0.00 0.000 0.105 0.000 3811.59 3852.31 3770.88 1409.25 2308.56 0 0 0 30.00 16.00 30.00
4388.74 292 -145.99 -1.40 80.00 3812.4 3852.9 3771.9 1408.8 2308.7 441.12 -7.75 239 4397.22 0.00 0.00 3.91 0.000 0.000 0.166 3811.44 3852.31 3770.56 1409.44 3797.81 0 0 0 30.00 30.00 15.96
4415.89 1060 -145.99 -1.40 0.12 3812.0 3853.0 3771.1 1408.8 3798.5 443.58 -7.85 244 4423.97 0.00 0.00 3.44 0.000 0.000 0.064 3812.78 3853.88 3771.69 1409.31 2311.12 0 0 0 30.00 30.00 16.02
4802.56 32 -145.99 -1.40 0.12 3812.0 3852.8 3771.2 1409.3 2309.4 474.26 -7.85 261 4804.37 0.00 0.00 0.00 0.000 0.000 0.000 3812.34 3852.50 3772.19 1409.00 2309.62 0 0 0 30.00 30.00 30.00
5173.63 292 -145.99 -1.40 80.00 3812.5 3853.4 3771.6 1409.2 2309.2 502.39 -7.78 273 5184.37 0.00 0.00 3.89 0.000 0.000 0.164 3811.72 3852.19 3771.25 1408.88 3798.50 0 0 0 30.00 30.00 15.97
5212.41 1188 -145.99 -1.36 0.12 3812.1 3852.8 3771.3 1408.9 3798.4 506.91 -8.60 281 5220.03 0.00 0.00 3.42 0.000 0.000 0.063 3813.00 3853.69 3772.31 1409.00 2312.06 0 0 0 30.00 30.00 16.02
5593.70 292 -145.99 -1.36 80.00 3812.6 3853.8 3771.3 1409.2 2307.9 537.04 -7.86 297 5602.04 0.00 0.00 3.86 0.000 0.000 0.162 3811.72 3852.88 3770.56 1409.44 3801.25 0 0 0 30.00 30.00 15.93
5624.93 1060 -145.99 -1.36 0.21 3812.1 3853.1 3771.2 1409.1 3802.1 540.02 -7.94 303 5632.69 0.00 0.00 3.45 0.000 0.000 0.062 3813.47 3854.44 3772.50 1408.88 2312.88 0 0 0 30.00 30.00 15.98
6011.31 32 -145.99 -1.36 0.21 3812.8 3854.4 3771.2 1408.9 2309.1 570.53 -7.75 320 6013.11 0.00 0.00 0.00 0.000 0.000 0.000 3813.12 3854.31 3771.94 1408.50 2309.31 0 0 0 30.00 30.00 30.00
6401 end dive: TARGET_DEPTH_EXCEEDED
state 6401 begin apogee
6403.12 10243 0.00 -0.39 0.00 3813.2 3855.1 3771.4 1409.4 2374.1 600.55 -7.69 333 6633.66 207.73 1.97 0.09 1.578 0.207 0.251 3213.22 3297.50 3128.94 1664.69 2330.62 0 0 0 11.71 15.95 15.09
6642 end apogee: CONTROL_FINISHED_OK
state 6642 begin climb
6643.09 10759 145.99 1.57 -80.00 3213.3 3295.9 3130.7 1664.5 2330.3 603.08 0.00 340 6838.38 164.04 3.63 3.85 1.626 0.197 0.149 2619.47 2723.44 2515.50 2139.00 889.69 0 0 0 11.31 15.17 15.19
6842.22 5253 145.99 1.44 0.00 2614.5 2717.1 2511.9 2139.8 890.0 577.52 17.27 376 6853.92 0.00 0.31 3.80 0.000 0.249 0.090 2613.09 2715.56 2510.62 2106.19 2367.06 0 0 0 30.00 15.03 15.09
7232.65 16774 145.99 1.39 80.00 2602.0 2701.6 2502.5 2105.8 2367.1 520.66 14.40 394 7241.04 0.00 0.00 3.88 0.000 0.000 0.171 2600.50 2701.38 2499.62 2105.88 3818.06 0 0 0 30.00 30.00 15.51
7454.07 21639 145.99 1.28 0.05 2601.0 2699.2 2502.8 2105.6 3818.3 481.32 17.88 438 7462.19 0.00 0.29 3.54 0.000 0.219 0.067 2600.50 2698.94 2502.06 2062.81 2331.25 0 0 0 30.00 15.59 15.66
7830.77 16386 145.99 1.28 0.05 2599.9 2698.4 2501.4 2063.9 2328.2 433.65 12.36 453 7832.57 0.00 0.00 0.00 0.000 0.000 0.000 2600.16 2698.62 2501.69 2064.06 2327.81 0 0 0 30.00 30.00 30.00
8220.70 16646 145.99 1.28 80.00 2599.3 2697.6 2501.0 2064.4 2328.3 385.22 12.42 466 8229.29 0.00 0.00 3.92 0.000 0.000 0.169 2598.16 2696.25 2500.06 2064.12 3817.94 0 0 0 30.00 30.00 15.77
8297.26 17542 145.99 1.21 0.09 2599.4 2697.5 2501.3 2063.9 3817.9 373.89 15.12 481 8304.96 0.00 0.00 3.49 0.000 0.000 0.067 2598.69 2696.12 2501.25 2064.38 2333.44 0 0 0 30.00 30.00 15.84
8668.54 16386 145.99 1.21 0.09 2599.3 2697.4 2501.2 2064.1 2329.0 329.22 11.74 495 8670.33 0.00 0.00 0.00 0.000 0.000 0.000 2598.94 2696.44 2501.44 2063.62 2328.88 0 0 0 30.00 30.00 30.00
9058.47 16646 145.99 1.21 80.00 2598.8 2696.7 2501.0 2064.1 2329.2 284.59 11.32 508 9066.97 0.00 0.00 3.89 0.000 0.000 0.169 2597.44 2695.00 2499.88 2064.44 3818.38 0 0 0 30.00 30.00 15.87
9115.70 21639 145.99 1.15 0.15 2599.2 2697.3 2501.0 2064.3 3818.0 277.21 13.25 519 9124.05 0.00 0.22 3.47 0.000 0.225 0.067 2597.16 2695.12 2499.19 2030.50 2333.62 0 0 0 30.00 15.86 15.92
9502.66 8226 171.70 1.18 0.15 2598.8 2696.6 2501.1 2033.2 2330.5 241.59 8.80 536 9546.93 39.42 0.00 0.00 1.336 0.000 0.000 2515.44 2621.00 2409.88 2033.50 2330.38 0 0 0 11.72 30.00 30.00
9922.79 10403 240.80 1.31 0.15 2496.6 2601.0 2392.1 2033.6 2330.2 209.97 6.79 550 10020.12 86.25 0.29 0.00 1.360 0.105 0.000 2231.91 2358.38 2105.44 2082.19 2329.88 0 0 0 11.62 15.84 30.00
10402.79 8614 296.31 1.42 80.00 2218.7 2341.0 2096.3 2081.3 2329.6 172.98 7.42 566 10480.62 63.74 0.00 4.05 1.357 0.000 0.173 2006.44 2140.88 1872.00 2082.75 3815.56 0 0 0 11.50 30.00 15.37
10493.67 11431 332.80 1.51 0.15 2003.4 2135.8 1871.1 2082.9 3815.6 165.95 8.30 583 10546.33 40.12 0.29 3.60 1.323 0.108 0.066 1856.59 2000.56 1712.62 2129.44 2329.62 0 0 0 11.42 15.45 15.46
10920.06 8354 350.91 1.57 0.15 1845.3 1981.3 1709.4 2129.1 2330.3 125.50 9.16 607 10941.60 18.35 0.00 0.00 1.335 0.000 0.000 1783.59 1920.38 1646.81 2128.94 2330.69 0 0 0 11.43 30.00 30.00
11310.14 10663 377.87 1.66 80.00 1776.5 1905.8 1647.2 2128.9 2330.2 91.34 8.75 620 11354.55 29.96 0.22 3.99 1.354 0.120 0.178 1674.25 1805.56 1542.94 2168.38 3817.00 0 0 0 11.57 15.70 15.51
11387.37 1028 377.87 1.66 0.19 1672.2 1801.3 1543.1 2168.6 3816.9 83.19 11.33 635 11395.31 0.00 0.00 3.58 0.000 0.000 0.070 1671.19 1800.25 1542.12 2168.75 2336.19 0 0 0 30.00 30.00 15.59
11764.11 10403 432.16 1.79 0.19 1666.7 1791.9 1541.4 2168.8 2333.1 51.72 7.47 650 11833.53 62.10 0.17 0.00 1.339 0.134 0.000 1454.22 1590.50 1317.94 2200.38 2333.00 0 0 0 11.61 15.71 30.00
12197.28 10919 567.98 2.07 -80.00 1444.7 1575.7 1313.6 2200.5 2332.9 28.77 3.68 672 12377.33 153.11 0.41 3.94 1.288 0.110 0.161 899.81 1035.88 763.75 2263.88 891.06 0 0 0 11.58 15.65 15.12
12415.37 11431 673.00 2.33 0.29 896.9 1033.1 760.8 2264.2 890.9 18.77 5.11 709 12543.80 109.60 0.41 3.76 1.218 0.121 0.089 500.75 608.00 393.50 2326.19 2373.31 0 0 0 11.26 15.27 15.28
12837 end climb: SURFACE_DEPTH_REACHED
state 12837 begin surface coast
12877 end surface coast: FINISH_DEPTH_REACHED
state 12877 begin surface