NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 226 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  187 HD_B  0.0093 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  2 HD_C  4.5000001e-05 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  12
DIVE  226 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  2175 ALTIM_PING_DELTA  5
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2300 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  33 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  25 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  450 UPLOAD_DIVES_MAX  -1 C_VBD  2794 DEVICE3  83
T_MISSION  500 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  -1588035.2 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  150 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  3195 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  2 PITCH_AD_RATE  165 COMPASS_USE  4 SEABIRD_C_I  -0.0017547003
HD_A  0.0031000001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.0002234884

Pre-dive calculations and measurements:
GPS1  051112,034606,4747.187,-12518.749,40,1.2,40,18.7 TGT_NAME  SHELF
_CALLS  1 TGT_LATLONG  4751.930,-12510.270
_XMS_NAKs  0 TGT_RADIUS  2500.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.160,-0.151
_SM_DEPTHo  2.08 KALMAN_X  28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo  -76.7 KALMAN_Y  16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2  051112,035213,4747.181,-12518.709,13,2.0,13,18.7 MHEAD_RNG_PITCHd_Wd  35.5,13686,-13.4,-7.333,-18.42
SPEED_LIMITS  0.127,0.220 D_GRID  705

Post-dive calculations and measurements:
FINISH  1.4,1.013805 _10V_AH  10.1,27.101
SM_CCo  15334,0.00,0.000,0,0,1075,421.92 FG_AHR_24Vo  0.000
SM_GC  2.08,8.30,0.20,0.00,0.026,0.071,0.000,127,2165,1075,-9.46,0.96,421.92,0,0,0,0,0,0,25.85,25.81,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4732.49,-12523.69,041112,222230 MEM  296764
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  56845,1004
HUMID  44.60 CAP_FILE_SIZE  137685,0
INTERNAL_PRESSURE  9.06946 CFSIZE  260165632,238850048
TCM_TEMP  19.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.094,243.1,1
_24V_AH  23.0,32.397 GPS  051112,080936,4748.246,-12516.438,39,1.0,39,18.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21218106.56 SBE_CT68724379.56
Roll_motor13874235.78 SBE_O260519264.77
VBD_pump_during_apogee48398710984.48 WL_BBFL2VMT4871051177.79
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810366.88 nil000.00
Iridium_during_connect37160136.24 nil000.00
Iridium_during_xfer176223906.78 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS14507.20
TT8254719509.36
LPSleep100182221.61
TT8_Active53919107.82
TT8_Sampling228139917.22
TT8_CF831145143.98
TT8_Kalman000.00
Analog_circuits164012198.82
GPS_charging000.00
Compass202315306.52
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.48 -146.0 0.0 0.0 0 85 0.00 0.00 -66.30 0.000 2 0.000 0.000 130 2170 2797 0 0 0 0 0 0 28.83 28.83 28.83
89 -0.48 -146.0 3.4 -3.8 11 123 11.27 2.35 -12.23 0.000 4 0.218 0.074 3025 3589 3393 0 0 0 0 0 0 25.06 25.51 26.01
283 -0.48 -146.0 41.2 -14.6 47 290 0.00 2.20 0.00 0.000 6 0.000 0.044 3025 2168 3397 0 0 0 0 0 0 28.83 25.65 28.83
599 -0.48 -146.0 85.8 -13.7 108 606 0.00 2.20 0.00 0.000 4 0.000 0.051 3025 771 3398 0 0 0 0 0 0 28.83 25.69 28.83
659 -0.48 -146.0 94.3 -13.6 119 666 0.00 2.17 0.00 0.000 6 0.000 0.050 3016 2176 3398 0 0 0 0 0 0 28.83 25.72 28.83
976 -0.48 -146.0 137.1 -12.2 163 977 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2176 3398 0 0 0 0 0 0 28.83 28.83 28.83
1277 -0.48 -146.0 172.9 -12.0 183 1282 0.00 2.15 0.00 0.000 4 0.000 0.050 3015 773 3399 0 0 0 0 0 0 28.83 25.80 28.83
1308 -0.48 -146.0 176.4 -11.8 185 1313 0.12 2.17 0.00 0.000 6 0.143 0.050 3041 2177 3398 0 0 0 0 0 0 25.68 25.82 28.83
1617 -0.48 -146.0 206.0 -9.1 204 1623 0.00 2.20 0.00 0.000 4 0.000 0.063 3032 3580 3398 0 0 0 0 0 0 28.83 25.76 28.83
1689 -0.48 -146.0 211.7 -9.3 207 1696 0.00 2.15 0.00 0.000 6 0.000 0.044 3032 2167 3398 0 0 0 0 0 0 28.83 25.94 28.83
1996 -0.48 -146.0 242.0 -9.4 223 1997 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 2165 3398 0 0 0 0 0 0 28.83 28.83 28.83
2297 -0.48 -146.0 270.2 -9.1 238 2302 0.00 2.22 0.00 0.000 4 0.000 0.063 3022 3578 3398 0 0 0 0 0 0 28.83 25.80 28.83
2349 -0.48 -146.0 273.9 -9.1 240 2356 0.00 2.15 0.00 0.000 6 0.000 0.045 3022 2168 3398 0 0 0 0 0 0 28.83 25.97 28.83
2656 -0.48 -146.0 304.6 -9.8 256 2661 0.00 2.15 0.00 0.000 4 0.000 0.051 3022 770 3398 0 0 0 0 0 0 28.83 25.87 28.83
2689 -0.48 -146.0 306.7 -10.0 257 2697 0.00 2.17 0.00 0.000 6 0.000 0.051 3012 2179 3398 0 0 0 0 0 0 28.83 25.89 28.83
2996 -0.48 -146.0 340.7 -10.9 273 3001 0.00 2.22 0.00 0.000 4 0.000 0.063 3003 3584 3397 0 0 0 0 0 0 28.83 25.81 28.83
3064 -0.48 -146.0 347.6 -11.4 276 3069 0.12 2.15 0.00 0.000 6 0.137 0.044 3038 2174 3397 0 0 0 0 0 0 25.81 25.99 28.83
3371 -0.48 -146.0 375.6 -8.2 291 3372 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2170 3397 0 0 0 0 0 0 28.83 28.83 28.83
3671 -0.48 -146.0 401.0 -8.1 306 3673 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2170 3396 0 0 0 0 0 0 28.83 28.83 28.83
3971 -0.48 -146.0 424.8 -7.7 316 3976 0.00 2.28 0.00 0.000 4 0.000 0.064 3030 3589 3396 0 0 0 0 0 0 28.83 25.81 28.83
4009 -0.48 -146.0 427.2 -7.8 317 4013 0.00 2.17 0.00 0.000 6 0.000 0.045 3030 2174 3396 0 0 0 0 0 0 28.83 26.01 28.83
4326 -0.48 -146.0 454.9 -8.5 328 4327 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2172 3396 0 0 0 0 0 0 28.83 28.83 28.83
4627 -0.48 -146.0 480.1 -8.5 338 4632 0.00 2.22 0.00 0.000 4 0.000 0.065 3020 3576 3395 0 0 0 0 0 0 28.83 25.81 28.83
4665 -0.48 -146.0 482.7 -8.6 339 4669 0.00 2.15 0.00 0.000 6 0.000 0.046 3020 2171 3395 0 0 0 0 0 0 28.83 26.01 28.83
4982 -0.48 -146.0 512.1 -9.0 350 4987 0.00 2.15 0.00 0.000 4 0.000 0.054 3019 772 3395 0 0 0 0 0 0 28.83 25.88 28.83
5035 -0.48 -146.0 515.0 -9.0 351 5041 0.00 2.17 0.00 0.000 6 0.000 0.053 3011 2177 3395 0 0 0 0 0 0 28.83 25.90 28.83
5343 -0.48 -146.0 542.7 -8.1 362 5348 0.00 2.25 0.00 0.000 4 0.000 0.066 3000 3581 3394 0 0 0 0 0 0 28.83 25.79 28.83
5380 -0.48 -146.0 545.2 -8.1 363 5384 0.15 2.17 0.00 0.000 6 0.129 0.047 3044 2174 3394 0 0 0 0 0 0 25.79 26.00 28.83
5698 -0.48 -146.0 565.7 -6.6 374 5703 0.00 2.25 0.00 0.000 4 0.000 0.066 3036 3584 3393 0 0 0 0 0 0 28.83 25.79 28.83
5731 -0.48 -146.0 567.8 -6.8 375 5735 0.00 2.17 0.00 0.000 6 0.000 0.047 3036 2167 3393 0 0 0 0 0 0 28.83 25.99 28.83
6053 -0.48 -146.0 593.4 -8.0 386 6059 0.00 2.25 0.00 0.000 4 0.000 0.066 3026 3577 3393 0 0 0 0 0 0 28.83 25.79 28.83
6083 -0.48 -146.0 596.0 -8.2 387 6089 0.00 2.17 0.00 0.000 6 0.000 0.047 3026 2168 3393 0 0 0 0 0 0 28.83 25.98 28.83
6414 -0.48 -146.0 624.1 -8.2 398 6415 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2166 3391 0 0 0 0 0 0 28.83 28.83 28.83
6713 -0.48 -146.0 648.5 -8.1 408 6714 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2166 3391 0 0 0 0 0 0 28.83 28.83 28.83
7013 -0.48 -146.0 673.0 -8.1 418 7019 0.00 2.30 0.00 0.000 4 0.000 0.067 3016 3591 3391 0 0 0 0 0 0 28.83 25.76 28.83
7067 -0.48 -146.0 675.4 -8.1 419 7073 0.00 2.17 0.00 0.000 6 0.000 0.047 3016 2173 3390 0 0 0 0 0 0 28.83 25.98 28.83
7374 -0.48 -146.0 687.9 0.0 430 7379 0.00 2.15 0.00 0.000 4 0.000 0.055 3016 774 3390 0 0 0 0 0 0 28.83 25.86 28.83
7431 end dive: NO_VERTICAL_VELOCITY
state 7431 begin apogee
7440 -0.22 0.0 687.9 0.0 432 7570 0.28 0.00 123.97 0.988 6 0.064 0.000 3140 2301 2794 0 0 0 0 0 0 26.17 28.83 23.84
7573 end apogee: CONTROL_FINISHED_OK
state 7573 begin climb
7576 0.48 146.0 687.8 0.0 436 7714 0.60 2.45 128.68 0.952 4 0.078 0.064 3348 3705 2198 0 0 0 0 0 0 24.70 24.03 23.35
7720 0.51 218.0 683.4 4.6 441 7792 0.00 2.35 63.78 0.926 6 0.000 0.047 3357 2301 1904 0 0 0 0 0 0 28.83 24.20 23.03
8096 0.51 218.0 645.7 10.2 454 8102 0.00 2.28 0.00 0.000 4 0.000 0.057 3368 898 1896 0 0 0 0 0 0 28.83 24.99 28.83
8138 0.51 218.0 642.5 10.2 455 8142 0.00 2.28 0.00 0.000 6 0.000 0.054 3368 2300 1896 0 0 0 0 0 0 28.83 25.08 28.83
8451 0.51 218.0 608.7 10.6 466 8456 0.00 2.28 0.00 0.000 4 0.000 0.067 3368 3704 1894 0 0 0 0 0 0 28.83 25.39 28.83
8483 0.51 218.0 605.2 10.8 467 8487 0.00 2.22 0.00 0.000 6 0.000 0.049 3377 2299 1894 0 0 0 0 0 0 28.83 25.51 28.83
8806 0.51 218.0 568.2 11.2 478 8807 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 2297 1894 0 0 0 0 0 0 28.83 28.83 28.83
9105 0.51 218.0 534.9 10.8 488 9106 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 2297 1894 0 0 0 0 0 0 28.83 28.83 28.83
9406 0.51 218.0 501.7 11.0 498 9407 0.00 0.00 0.00 0.000 6 0.000 0.000 3378 2297 1893 0 0 0 0 0 0 28.83 28.83 28.83
9705 0.51 218.0 469.7 10.6 508 9711 0.00 2.22 0.00 0.000 4 0.000 0.057 3388 884 1893 0 0 0 0 0 0 28.83 25.75 28.83
9729 0.51 218.0 469.7 10.6 508 9735 0.00 2.22 0.00 0.000 6 0.000 0.055 3387 2302 1893 0 0 0 0 0 0 28.83 25.77 28.83
10035 0.51 218.0 432.1 11.4 519 10041 0.00 2.28 0.00 0.000 4 0.000 0.067 3388 3715 1892 0 0 0 0 0 0 28.83 25.72 28.83
10083 0.51 218.0 428.3 11.5 520 10088 0.15 2.20 0.00 0.000 6 0.143 0.050 3357 2300 1892 0 0 0 0 0 0 25.65 25.86 28.83
10391 0.51 218.0 398.7 8.2 530 10392 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 2297 1892 0 0 0 0 0 0 28.83 28.83 28.83
10690 0.51 218.0 373.9 8.1 545 10691 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 2297 1892 0 0 0 0 0 0 28.83 28.83 28.83
10990 0.51 218.0 349.4 8.3 560 10996 0.00 2.22 0.00 0.000 4 0.000 0.057 3365 886 1892 0 0 0 0 0 0 28.83 25.82 28.83
11019 0.51 218.0 347.8 8.3 561 11023 0.00 2.22 0.00 0.000 6 0.000 0.054 3365 2309 1892 0 0 0 0 0 0 28.83 25.83 28.83
11325 0.51 218.0 319.7 8.7 576 11331 0.00 2.25 0.00 0.000 4 0.000 0.067 3365 3712 1892 0 0 0 0 0 0 28.83 25.76 28.83
11348 0.51 218.0 317.9 8.7 577 11352 0.00 2.20 0.00 0.000 6 0.000 0.050 3373 2298 1892 0 0 0 0 0 0 28.83 25.92 28.83
11661 0.51 218.0 290.2 8.5 593 11666 0.00 2.17 0.00 0.000 4 0.000 0.057 3384 893 1892 0 0 0 0 0 0 28.83 25.82 28.83
11700 0.51 218.0 286.8 8.4 595 11706 0.00 2.22 0.00 0.000 6 0.000 0.055 3384 2309 1892 0 0 0 0 0 0 28.83 25.84 28.83
12020 0.51 218.0 257.9 9.1 611 12026 0.00 2.25 0.00 0.000 4 0.000 0.067 3384 3714 1892 0 0 0 0 0 0 28.83 25.75 28.83
12069 0.51 218.0 254.0 9.3 613 12074 0.12 2.20 0.00 0.000 6 0.150 0.050 3360 2299 1892 0 0 0 0 0 0 25.73 25.92 28.83
12376 0.51 226.4 230.8 7.0 628 12387 0.00 2.20 6.38 0.591 4 0.000 0.057 3368 890 1871 0 0 0 0 0 0 28.83 26.05 25.06
12416 0.51 233.8 228.0 7.0 630 12434 0.00 2.17 8.27 0.627 6 0.000 0.055 3368 2297 1840 0 0 0 0 0 0 28.83 25.93 25.06
12736 0.51 233.8 202.9 8.1 646 12741 0.00 2.25 0.00 0.000 4 0.000 0.067 3368 3710 1838 0 0 0 0 0 0 28.83 25.77 28.83
12775 0.51 233.8 199.2 8.7 648 12783 0.00 2.25 0.00 0.000 6 0.000 0.049 3376 2302 1838 0 0 0 0 0 0 28.83 25.91 28.83
13081 0.51 233.8 171.8 9.1 669 13087 0.00 2.17 0.00 0.000 4 0.000 0.056 3386 892 1838 0 0 0 0 0 0 28.83 25.83 28.83
13111 0.51 233.8 169.1 9.1 671 13117 0.00 2.22 0.00 0.000 6 0.000 0.054 3387 2306 1838 0 0 0 0 0 0 28.83 25.84 28.83
13426 0.51 233.8 139.3 9.4 692 13427 0.00 0.00 0.00 0.000 6 0.000 0.000 3387 2306 1838 0 0 0 0 0 0 28.83 28.83 28.83
13728 0.51 237.6 112.8 7.2 722 13741 0.00 2.30 4.62 0.477 4 0.000 0.067 3387 3713 1825 0 0 0 0 0 0 28.83 26.02 25.07
13781 0.51 237.6 108.1 8.8 731 13788 0.12 2.20 0.00 0.000 6 0.145 0.049 3360 2291 1824 0 0 0 0 0 0 25.80 25.96 28.83
14096 0.53 280.6 89.7 5.7 792 14140 0.00 2.20 36.40 0.624 4 0.000 0.057 3361 895 1647 0 0 0 0 0 0 28.83 25.69 25.04
14211 0.54 298.1 83.3 6.7 812 14232 0.00 2.25 15.38 0.587 6 0.000 0.052 3362 2298 1577 0 0 0 0 0 0 28.83 25.65 24.87
14544 0.57 366.9 65.3 4.7 875 14607 0.00 2.33 55.10 0.596 4 0.000 0.063 3362 3709 1296 0 0 0 0 0 0 28.83 25.22 24.66
14621 0.59 418.4 61.4 5.4 887 14672 0.00 2.25 41.00 0.575 6 0.000 0.047 3361 2287 1088 0 0 0 0 0 0 28.83 25.34 24.46
14991 0.59 418.4 25.8 9.9 955 14998 0.00 2.20 0.00 0.000 4 0.000 0.053 3362 898 1079 0 0 0 0 0 0 28.83 25.51 28.83
15052 0.59 418.4 19.6 9.9 966 15060 0.00 2.25 0.00 0.000 6 0.000 0.051 3362 2300 1079 0 0 0 0 0 0 28.83 25.55 28.83
15213 end climb: SURFACE_DEPTH_REACHED
state 15213 begin surface coast
15255 end surface coast: CONTROL_FINISHED_OK
state 15255 begin surface