SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 269 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  160 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  3 ESCAPE_HEADING  0 ROLL_MIN  220 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  269 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3792 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_DIVE  2180 ALTIM_FREQUENCY  12
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  2270 ALTIM_PULSE  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 SM_CC  225 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  0 N_FILEKB  8 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  27 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  33 INT_PRESSURE_YINT  1
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  300 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  2 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0.029999999 DEVICE1  2
T_DIVE  480 UPLOAD_DIVES_MAX  -1 VBD_MIN  490 DEVICE2  20
T_MISSION  540 CALL_TRIES  5 VBD_MAX  3961 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  3046 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  120 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  -1 T_GPS  15 PITCH_VBD_SHIFT  0.0012300001 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS_DEVICE  33
D_OFFGRID  1000 T_GPS_CHARGE  -13190.925 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  3 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  0 RAFOS_DEVICE  -1
MAX_BUOY  120 RAFOS_HIT_WINDOW  3600 AH0_24V  146 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  155 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3934 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2613 PRESSURE_YINT  -22.900637 SEABIRD_T_G  0.0043896637
RHO  1.028 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_H  0.00063842954
MASS  51810 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_T_I  2.5580319e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.7701631e-06
FERRY_MAX  45 PITCH_GAIN  22 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.180033
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1381946
HD_A  0.003 PITCH_AD_RATE  140 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00092952099
HD_B  0.0099999998 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.0001655513
HD_C  9.9999997e-06 PITCH_ADJ_GAIN  0.059999999 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  101331,6306.027,333.265,40,1.2,40,-2.9 TGT_NAME  INSHORE
_CALLS  1 TGT_LATLONG  6300.600,352.100
_XMS_NAKs  2 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.40 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  101944,6305.997,333.195,11,1.6,11,-2.9 MHEAD_RNG_PITCHd_Wd  86.3,18772,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  908

Post-dive calculations and measurements:
FINISH  2.6,1.020456 _24V_AH  22.1,44.615
SM_CCo  23916,0.00,0.000,0,0,2034,248.24 _10V_AH  10.6,34.256
SM_GC  3.33,7.05,0.00,0.00,0.039,0.000,0.000,138,2170,2034,-7.65,-0.28,248.24 DATA_FILE_SIZE  69525,1422
IRIDIUM_FIX  6239.86,329.24,110798,030355 CAP_FILE_SIZE  202136,0
TT8_MAMPS  0.026845 CFSIZE  260165632,231669760
HUMID  1682 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  9.14484 CURRENT  0.159,282.6,1
TCM_TEMP  18.70 GPS  160409,170000,6306.762,334.875,35,1.5,40,-2.9
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor31197139.51 SBE_CT99324526.90
Roll_motor19691396.06 SBE_O278619330.26
VBD_pump_during_apogee32213569653.71 WL_BB2F5421051258.93
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3110371.24 nil000.00
Iridium_during_connect44160158.28 nil000.00
Iridium_during_xfer175223867.08
Transponder_ping04200.00
Mmodem_TX000.00
Mmodem_RX000.00
GPS13507.24
TT8276619580.60
LPSleep175832408.17
TT8_Active54519114.43
TT8_Sampling2795391179.28
TT8_CF858845285.84
TT8_Kalman000.00
Analog_circuits194412247.37
GPS_charging000.00
Compass27638234.37
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
11 end surface: CONTROL_FINISHED_OK
state 12 begin dive
16 -0.77 -116.7 0.0 0.0 0 24 0.00 0.00 -6.15 0.000 2 0.000 0.000 131 2175 2168
27 -0.77 -116.7 3.3 -0.0 1 120 8.20 2.35 -75.05 0.000 4 0.198 0.058 2367 766 3522
128 -1.36 -116.7 2.6 0.1 16 135 0.52 2.25 0.00 0.000 6 0.048 0.035 2161 2196 3523
473 -0.33 -116.7 68.3 -20.5 77 480 1.12 2.28 0.00 0.000 4 0.155 0.039 2500 763 3524
613 -0.64 -116.7 76.5 -4.3 101 620 0.28 2.17 0.00 0.000 6 0.048 0.034 2382 2170 3523
957 -0.48 -116.7 104.7 -8.5 162 964 0.22 2.25 0.00 0.000 4 0.117 0.047 2449 3576 3524
982 -0.48 -116.7 106.4 -7.6 166 988 0.00 2.20 0.00 0.000 6 0.000 0.031 2449 2148 3524
1327 -0.62 -116.7 125.8 -6.2 227 1335 0.12 2.15 0.00 0.000 4 0.069 0.044 2390 776 3524
1376 -0.48 -116.7 130.1 -9.4 235 1385 0.22 2.12 0.00 0.000 6 0.123 0.035 2459 2154 3524
1731 -0.66 -116.7 153.1 -6.2 292 1736 0.17 2.28 0.00 0.000 4 0.057 0.048 2381 3592 3525
1769 -0.52 -116.7 156.3 -9.2 294 1777 0.20 2.22 0.00 0.000 6 0.123 0.033 2443 2150 3525
2090 -0.62 -116.7 178.3 -6.8 315 2094 0.00 2.17 0.00 0.000 4 0.000 0.048 2444 761 3525
2125 -0.70 -116.7 181.2 -8.2 317 2130 0.17 2.17 0.00 0.000 6 0.058 0.035 2366 2171 3525
2459 -0.49 -116.7 215.5 -10.5 336 2461 0.28 0.00 0.00 0.000 6 0.117 0.000 2454 2171 3525
2768 -0.66 -116.7 236.4 -6.7 351 2769 0.17 0.00 0.00 0.000 6 0.058 0.000 2376 2171 3525
3077 -0.49 -116.7 267.3 -10.2 366 3079 0.25 0.00 0.00 0.000 6 0.116 0.000 2456 2171 3525
3386 -0.66 -116.7 289.4 -7.2 381 3388 0.17 0.00 0.00 0.000 6 0.056 0.000 2378 2171 3525
3698 -0.50 -116.7 320.9 -10.0 396 3700 0.22 0.00 0.00 0.000 6 0.117 0.000 2449 2171 3524
4005 -0.66 -116.7 341.8 -6.4 411 4007 0.15 0.00 0.00 0.000 6 0.063 0.000 2380 2172 3525
4314 -0.51 -116.7 367.0 -7.6 426 4319 0.20 2.22 0.00 0.000 4 0.117 0.041 2448 772 3525
4404 -0.64 -116.7 371.8 -5.0 430 4409 0.12 2.15 0.00 0.000 6 0.070 0.036 2392 2153 3525
4724 -0.55 -116.7 393.5 -7.3 446 4726 0.15 0.00 0.00 0.000 6 0.119 0.000 2438 2154 3525
5035 -0.66 -116.7 411.7 -6.2 461 5036 0.12 0.00 0.00 0.000 6 0.069 0.000 2379 2154 3525
5345 -0.52 -116.7 439.7 -9.4 476 5350 0.20 2.33 0.00 0.000 4 0.117 0.049 2447 3595 3525
5378 -0.72 -116.7 442.4 -6.7 477 5385 0.20 2.25 0.00 0.000 6 0.054 0.032 2362 2144 3525
5694 -0.51 -116.7 475.1 -10.7 493 5696 0.28 0.00 0.00 0.000 6 0.120 0.000 2448 2141 3525
6003 -0.70 -116.7 496.8 -7.0 508 6005 0.17 0.00 0.00 0.000 6 0.058 0.000 2373 2142 3525
6312 -0.56 -116.7 524.5 -8.2 523 6317 0.20 2.17 0.00 0.000 4 0.120 0.044 2441 765 3525
6402 -0.68 -116.7 529.8 -5.6 527 6407 0.15 2.15 0.00 0.000 6 0.064 0.037 2376 2146 3525
6729 -0.56 -116.7 552.4 -7.0 543 6731 0.17 0.00 0.00 0.000 6 0.120 0.000 2430 2146 3525
7040 -0.66 -116.7 568.3 -4.8 558 7041 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2146 3525
7347 -0.77 -116.7 581.0 -3.8 573 7349 0.20 0.00 0.00 0.000 6 0.056 0.000 2346 2147 3524
7677 -0.52 -116.7 605.8 -8.1 588 7682 0.28 2.22 0.00 0.000 4 0.124 0.046 2438 764 3523
7705 -0.52 -116.7 607.7 -6.0 589 7709 0.00 2.15 0.00 0.000 6 0.000 0.038 2438 2134 3523
8047 -0.68 -116.7 624.3 -4.9 600 8051 0.12 2.38 0.00 0.000 4 0.071 0.054 2380 3597 3521
8102 -0.60 -116.7 628.0 -7.0 601 8109 0.15 2.30 0.00 0.000 6 0.129 0.036 2425 2120 3521
8415 -0.70 -116.7 644.4 -5.1 612 8417 0.12 0.00 0.00 0.000 6 0.073 0.000 2371 2120 3520
8722 -0.57 -116.7 664.7 -6.6 622 8724 0.17 0.00 0.00 0.000 6 0.124 0.000 2425 2120 3519
9028 -0.67 -116.7 679.0 -4.5 632 9032 0.00 2.40 0.00 0.000 4 0.000 0.051 2425 3598 3518
9072 -0.80 -116.7 681.2 -4.4 633 9077 0.20 2.30 0.00 0.000 6 0.061 0.036 2344 2135 3518
9391 -0.55 -116.7 706.1 -7.9 644 9395 0.28 2.20 0.00 0.000 4 0.130 0.051 2434 770 3517
9459 -0.65 -116.7 710.1 -5.5 646 9462 0.00 2.15 0.00 0.000 6 0.000 0.042 2434 2127 3517
9794 -0.79 -116.7 727.7 -5.4 657 9799 0.20 2.38 0.00 0.000 4 0.061 0.051 2345 3590 3516
9861 -0.58 -116.7 733.3 -9.0 659 9866 0.28 2.33 0.00 0.000 6 0.129 0.039 2429 2119 3515
10196 -0.71 -116.7 753.8 -6.1 670 10198 0.15 0.00 0.00 0.000 6 0.070 0.000 2366 2119 3514
10502 -0.57 -116.7 778.4 -8.0 680 10507 0.20 2.17 0.00 0.000 4 0.123 0.048 2433 758 3513
10541 -0.69 -116.7 781.1 -6.4 681 10546 0.12 2.17 0.00 0.000 6 0.074 0.040 2380 2146 3513
10870 -0.61 -116.7 804.9 -7.3 692 10875 0.12 2.35 0.00 0.000 4 0.129 0.055 2416 3589 3513
10909 -0.73 -116.7 807.5 -6.5 693 10914 0.12 2.33 0.00 0.000 6 0.070 0.040 2363 2122 3512
11233 -0.59 -116.7 832.8 -7.8 704 11237 0.20 2.17 0.00 0.000 4 0.124 0.048 2431 758 3512
11289 -0.68 -116.7 836.5 -6.5 705 11295 0.12 2.15 0.00 0.000 6 0.072 0.040 2378 2128 3511
11601 -0.61 -116.7 858.9 -7.2 716 11606 0.12 2.38 0.00 0.000 4 0.128 0.053 2416 3593 3511
11635 -0.72 -116.7 861.0 -5.6 717 11640 0.12 2.33 0.00 0.000 6 0.068 0.038 2362 2121 3511
11965 -0.58 -116.7 885.4 -7.3 728 11969 0.20 2.17 0.00 0.000 4 0.125 0.048 2430 759 3510
12014 -0.69 -116.7 888.7 -5.6 729 12019 0.12 2.15 0.00 0.000 6 0.072 0.040 2378 2130 3510
12306 end dive: TARGET_DEPTH_EXCEEDED
state 12306 begin apogee
12312 -0.23 0.0 909.3 7.3 739 12413 0.50 0.00 97.35 1.356 6 0.121 0.000 2538 2279 3046
12413 end apogee: CONTROL_FINISHED_OK
state 12413 begin climb
12416 0.77 116.7 912.5 0.0 742 12525 0.98 0.00 105.55 1.312 6 0.074 0.000 2860 2279 2570
12824 0.48 116.7 890.6 7.5 756 12826 0.30 0.00 0.00 0.000 6 0.142 0.000 2773 2279 2564
13130 0.62 168.4 875.3 4.8 766 13177 0.12 0.00 44.03 1.310 6 0.081 0.000 2821 2279 2359
13467 0.62 168.4 850.6 7.6 777 13471 0.00 2.28 0.00 0.000 4 0.000 0.045 2822 856 2352
13494 0.62 168.4 848.5 7.8 777 13501 0.00 2.22 0.00 0.000 6 0.000 0.035 2822 2278 2352
13808 0.62 168.4 824.5 7.8 788 13812 0.00 2.28 0.00 0.000 4 0.000 0.050 2822 3685 2351
13835 0.50 168.4 822.0 8.6 788 13842 0.17 2.22 0.00 0.000 6 0.146 0.032 2775 2254 2351
14148 0.66 182.2 802.6 6.3 799 14167 0.15 2.28 12.00 1.210 4 0.069 0.044 2837 859 2302
14224 0.58 182.2 796.4 8.2 801 14229 0.12 2.22 0.00 0.000 6 0.142 0.035 2803 2264 2300
14553 0.65 182.2 772.9 7.0 812 14557 0.00 2.28 0.00 0.000 4 0.000 0.051 2803 3684 2300
14587 0.65 182.2 770.3 8.1 813 14591 0.00 2.22 0.00 0.000 6 0.000 0.033 2808 2252 2300
14928 0.65 182.2 745.6 7.2 824 14932 0.00 2.20 0.00 0.000 4 0.000 0.044 2809 854 2299
14972 0.65 182.2 742.1 8.2 825 14976 0.00 2.20 0.00 0.000 6 0.000 0.035 2809 2262 2300
15304 0.65 182.2 718.5 7.3 836 15307 0.00 2.25 0.00 0.000 4 0.000 0.050 2809 3681 2299
15348 0.65 182.2 714.7 8.6 837 15352 0.00 2.22 0.00 0.000 6 0.000 0.034 2809 2251 2299
15678 0.65 182.2 690.6 7.3 848 15681 0.00 2.20 0.00 0.000 4 0.000 0.046 2809 851 2299
15738 0.65 182.2 686.2 7.2 849 15745 0.00 2.20 0.00 0.000 6 0.000 0.035 2809 2267 2298
16052 0.65 182.2 663.3 7.6 860 16055 0.00 2.28 0.00 0.000 4 0.000 0.054 2809 3687 2298
16079 0.65 182.2 660.8 8.7 860 16085 0.00 2.22 0.00 0.000 6 0.000 0.034 2809 2251 2298
16391 0.65 182.2 636.4 7.8 871 16395 0.00 2.17 0.00 0.000 4 0.000 0.046 2809 866 2298
16459 0.65 182.2 631.0 8.5 873 16463 0.00 2.17 0.00 0.000 6 0.000 0.036 2809 2262 2298
16800 0.65 182.2 603.1 8.4 884 16803 0.00 2.28 0.00 0.000 4 0.000 0.050 2809 3690 2297
16845 0.65 182.2 598.7 9.1 886 16849 0.00 2.25 0.00 0.000 6 0.000 0.033 2809 2232 2297
17177 0.65 182.2 568.3 9.4 902 17181 0.00 2.15 0.00 0.000 4 0.000 0.046 2810 862 2297
17227 0.72 182.2 563.3 9.9 904 17232 0.10 2.17 0.00 0.000 6 0.086 0.036 2852 2258 2297
17555 0.59 182.2 530.0 9.4 920 17559 0.17 2.28 0.00 0.000 4 0.130 0.049 2800 3677 2297
17644 0.59 185.9 523.4 6.7 924 17653 0.00 2.20 3.95 0.780 6 0.000 0.035 2800 2259 2287
17970 0.70 198.4 504.5 6.4 940 17992 0.12 2.28 12.15 1.051 4 0.071 0.047 2855 860 2235
18116 0.60 198.4 491.7 8.4 946 18121 0.17 2.20 0.00 0.000 6 0.128 0.038 2803 2258 2234
18432 0.72 212.6 471.0 6.3 961 18452 0.12 0.00 13.45 1.026 6 0.070 0.000 2857 2258 2178
18761 0.63 212.6 443.7 8.2 977 18766 0.15 2.30 0.00 0.000 4 0.123 0.049 2812 3677 2176
18782 0.63 212.6 441.8 8.2 978 18786 0.00 2.25 0.00 0.000 6 0.000 0.035 2812 2244 2175
19110 0.72 218.6 419.8 6.6 994 19121 0.00 2.25 6.50 0.875 4 0.000 0.048 2812 859 2153
19224 0.87 240.5 412.6 6.0 999 19251 0.22 2.15 19.88 0.978 6 0.056 0.036 2906 2233 2064
19575 0.62 240.5 374.1 11.4 1016 19580 0.28 2.35 0.00 0.000 4 0.127 0.048 2815 3684 2060
19615 0.69 240.5 370.2 7.8 1018 19619 0.00 2.28 0.00 0.000 6 0.000 0.031 2816 2230 2060
19941 0.81 240.5 345.9 7.5 1034 19946 0.17 2.15 0.00 0.000 4 0.061 0.044 2891 862 2060
19997 0.66 240.5 340.1 11.7 1036 20002 0.22 2.12 0.00 0.000 6 0.123 0.033 2823 2237 2060
20313 0.76 240.5 315.9 7.5 1051 20318 0.10 2.30 0.00 0.000 4 0.075 0.049 2868 3677 2059
20363 0.59 240.5 310.6 10.9 1053 20368 0.22 2.25 0.00 0.000 6 0.125 0.034 2800 2232 2060
20680 0.78 248.1 289.6 6.6 1068 20694 0.20 2.20 7.28 0.779 4 0.056 0.041 2892 855 2034
20757 0.64 248.1 281.5 11.0 1071 20761 0.25 2.12 0.00 0.000 6 0.117 0.032 2814 2235 2033
21072 0.79 248.1 256.9 7.7 1086 21077 0.15 2.30 0.00 0.000 4 0.063 0.048 2881 3670 2033
21117 0.57 248.1 252.0 11.6 1088 21122 0.30 2.25 0.00 0.000 6 0.123 0.032 2794 2209 2033
21450 0.80 248.1 228.5 7.0 1104 21455 0.20 2.10 0.00 0.000 4 0.054 0.042 2885 860 2033
21556 0.70 248.1 217.0 11.5 1108 21563 0.17 2.10 0.00 0.000 6 0.123 0.033 2832 2223 2033
21878 0.78 248.1 188.7 8.5 1126 21882 0.00 2.33 0.00 0.000 4 0.000 0.048 2833 3684 2034
21940 0.78 248.1 183.0 8.5 1130 21944 0.00 2.25 0.00 0.000 6 0.000 0.030 2835 2215 2033
22265 0.84 248.1 154.9 9.3 1151 22269 0.15 2.12 0.00 0.000 4 0.061 0.042 2905 850 2033
22362 0.66 248.1 143.1 12.5 1162 22369 0.28 2.10 0.00 0.000 6 0.123 0.031 2819 2223 2033
22707 0.81 248.1 113.6 8.1 1223 22715 0.15 2.33 0.00 0.000 4 0.061 0.047 2884 3677 2033
22750 0.69 248.1 108.7 11.8 1230 22758 0.15 2.28 0.00 0.000 6 0.123 0.030 2839 2226 2033
23095 0.75 248.1 79.0 8.1 1291 23102 0.00 2.12 0.00 0.000 4 0.000 0.044 2839 859 2034
23144 0.83 248.1 75.0 8.5 1299 23152 0.12 2.10 0.00 0.000 6 0.067 0.032 2895 2221 2034
23490 0.67 248.1 31.5 13.5 1360 23497 0.20 0.00 0.00 0.000 6 0.123 0.000 2828 2223 2033
23798 end climb: SURFACE_DEPTH_REACHED
state 23798 begin surface coast
23838 end surface coast: CONTROL_FINISHED_OK
state 23839 begin surface