QPE May09 * SG166 * Dive index * Mission links * Dive 277 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  166 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  2 ESCAPE_HEADING  0 ROLL_MIN  197 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  277 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3786 ALTIM_PING_DEPTH  200
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_DIVE  1750 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  1300 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_NO_BLEED  100 SM_CC  450 ROLL_CNV  0.028270001 XPDR_VALID  1
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  45 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  64 INT_PRESSURE_YINT  2.7
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  350 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  1.75 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0.025 DEVICE1  2
T_DIVE  413 UPLOAD_DIVES_MAX  -1 VBD_MIN  455 DEVICE2  53
T_MISSION  495 CALL_TRIES  5 VBD_MAX  3960 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  2945 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  -4 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  1001 T_GPS_CHARGE  -10827.96 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  2 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  150 RAFOS_HIT_WINDOW  3600 AH0_24V  150 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  160 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3938 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2780 PRESSURE_YINT  -27.273609 SEABIRD_T_G  0.0043153614
RHO  1.0273 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001160501 SEABIRD_T_H  0.00063164165
MASS  51956 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_T_I  2.3580644e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.4654264e-06
FERRY_MAX  45 PITCH_GAIN  17 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -9.9826469
KALMAN_USE  2 PITCH_TIMEOUT  16 COMPASS_USE  0 SEABIRD_C_H  1.1204658
HD_A  0.0038360001 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.0010752195
HD_B  0.010078 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00016642714
HD_C  9.8500004e-06 PITCH_ADJ_GAIN  0.034000002 ALTIM_BOTTOM_TURN_MARGIN  25

Pre-dive calculations and measurements:
GPS1  141001,2454.382,12310.391,40,1.1,40,-3.6 TGT_NAME  OFF_3
_CALLS  1 TGT_LATLONG  2456.800,12305.400
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.59 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  141808,2454.439,12310.541,14,1.1,14,-3.6 MHEAD_RNG_PITCHd_Wd  255.5,9677,-14.9,-7.990
SPEED_LIMITS  0.138,0.241 D_GRID  1835

Post-dive calculations and measurements:
FINISH  1.0,1.021764 _24V_AH  22.7,61.214
SM_CCo  22918,21.65,0.678,0,0,1110,450.13 _10V_AH  10.7,36.593
SM_GC  1.50,0.00,0.00,21.65,0.000,0.000,0.678,167,1778,1110,-8.16,0.79,450.13 DATA_FILE_SIZE  119931,2085
IRIDIUM_FIX  2441.81,12307.81,250998,070713 CAP_FILE_SIZE  247706,0
TT8_MAMPS  0.026845 CFSIZE  260165632,214298624
HUMID  1557 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
INTERNAL_PRESSURE  9.93661 CURRENT  0.350, 36.5,1
TCM_TEMP  25.20 GPS  010709,204207,2456.948,12311.672,40,0.8,40,-3.6
XPDR_PINGS  165

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor36229187.80 SBE_CT142124774.46
Roll_motor21561299.85 Optode1430331071.79
VBD_pump_during_apogee525149717850.34 WL_BB2F24061055736.04
VBD_pump_during_surface21678333.22 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2310355.11 nil000.00
Iridium_during_connect36160130.93 nil000.00
Iridium_during_xfer2562231295.96
Transponder_ping49420469.55
Mmodem_TX000.00
Mmodem_RX000.00
GPS14507.64
TT8384619814.83
LPSleep136262319.31
TT8_Active75019158.98
TT8_Sampling4373391862.59
TT8_CF880345393.84
TT8_Kalman000.00
Analog_circuits267012342.92
GPS_charging000.00
Compass43328370.83
RAFOS000.00
Transponder553017.93

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -1.06 -146.0 0.0 0.0 0 69 0.00 0.00 -51.67 0.000 2 0.000 0.000 169 1764 2276
72 -1.06 -146.0 3.0 -3.7 8 125 9.18 2.15 -37.33 0.000 4 0.229 0.053 2431 342 3542
165 -0.44 -146.0 19.5 -25.5 23 172 0.73 2.05 0.00 0.000 6 0.150 0.028 2635 1756 3542
509 -0.62 -146.0 63.0 -11.2 84 516 0.17 2.05 0.00 0.000 4 0.055 0.038 2542 3148 3543
652 -0.50 -146.0 79.8 -11.2 109 661 0.20 1.98 0.00 0.000 6 0.125 0.028 2607 1792 3543
999 -0.60 -146.0 113.1 -10.0 170 1005 0.00 2.10 0.00 0.000 4 0.000 0.039 2608 362 3543
1029 -0.70 -146.0 116.1 -9.8 175 1036 0.17 2.15 0.00 0.000 6 0.059 0.027 2528 1870 3543
1374 -0.58 -146.0 151.2 -9.6 236 1381 0.17 2.25 0.00 0.000 4 0.136 0.038 2584 354 3544
1466 -0.58 -146.0 159.8 -9.4 252 1472 0.00 2.15 0.00 0.000 6 0.000 0.027 2584 1838 3544
1810 -0.74 -146.0 187.9 -7.6 313 1819 0.12 2.20 0.00 0.000 4 0.064 0.038 2514 352 3544
1921 -0.56 -146.0 201.1 -12.2 332 1928 0.28 2.17 0.00 0.000 6 0.135 0.028 2596 1873 3544
2267 -0.83 -146.0 230.0 -7.1 393 2274 0.22 1.88 0.00 0.000 4 0.048 0.040 2476 3150 3544
2326 -0.74 -146.0 235.7 -10.1 403 2333 0.22 1.83 0.00 0.000 6 0.128 0.027 2544 1861 3544
2671 -0.87 -146.0 265.3 -7.3 464 2679 0.12 2.22 0.00 0.000 4 0.065 0.039 2477 355 3544
2754 -0.65 -146.0 273.8 -10.7 478 2762 0.25 2.17 0.00 0.000 6 0.127 0.030 2570 1839 3544
3098 -0.82 -146.0 303.1 -9.1 536 3102 0.15 1.95 0.00 0.000 4 0.057 0.041 2493 3156 3543
3170 -0.74 -146.0 310.4 -9.9 542 3177 0.12 1.85 0.00 0.000 6 0.124 0.029 2536 1884 3543
3496 -0.88 -146.0 336.4 -7.1 573 3500 0.12 1.90 0.00 0.000 4 0.066 0.043 2475 3152 3541
3543 -0.81 -146.0 339.9 -8.5 577 3547 0.15 1.80 0.00 0.000 6 0.135 0.029 2519 1893 3540
3874 -0.89 -146.0 364.4 -7.9 608 3878 0.00 2.28 0.00 0.000 4 0.000 0.044 2518 369 3539
3896 -0.89 -146.0 366.4 -8.5 609 3904 0.00 2.28 0.00 0.000 6 0.000 0.031 2519 1925 3538
4223 -0.98 -146.0 393.3 -8.3 640 4227 0.15 2.38 0.00 0.000 4 0.063 0.044 2447 357 3537
4319 -0.70 -146.0 403.7 -11.3 648 4324 0.35 2.25 0.00 0.000 6 0.137 0.033 2552 1885 3536
4645 -0.87 -146.0 427.2 -7.3 678 4649 0.15 1.90 0.00 0.000 4 0.058 0.045 2463 3152 3534
4736 -0.79 -146.0 435.4 -9.1 686 4741 0.12 1.77 0.00 0.000 6 0.129 0.032 2519 1949 3533
5068 -0.88 -146.0 462.6 -8.1 717 5072 0.00 2.40 0.00 0.000 4 0.000 0.046 2520 364 3531
5107 -0.80 -146.0 465.8 -7.9 720 5113 0.00 2.33 0.00 0.000 6 0.000 0.034 2514 1940 3530
5436 -0.91 -146.0 490.4 -7.1 751 5439 0.00 1.80 0.00 0.000 4 0.000 0.050 2503 3137 3528
5538 -0.99 -146.0 498.6 -7.7 760 5543 0.12 1.80 0.00 0.000 6 0.051 0.034 2445 1920 3528
5872 -0.80 -146.0 533.0 -11.0 777 5876 0.22 1.88 0.00 0.000 4 0.164 0.049 2509 3140 3526
5972 -0.80 -146.0 542.3 -8.6 781 5976 0.00 1.85 0.00 0.000 6 0.000 0.034 2514 1875 3525
6294 -0.87 -146.0 569.0 -7.9 797 6298 0.00 2.33 0.00 0.000 4 0.000 0.051 2515 362 3524
6316 -0.87 -146.0 570.8 -7.9 798 6320 0.00 2.28 0.00 0.000 6 0.000 0.039 2505 1881 3523
6638 -0.94 -146.0 595.1 -7.7 814 6641 0.00 1.92 0.00 0.000 4 0.000 0.051 2495 3142 3522
6671 -1.01 -146.0 597.6 -7.8 815 6675 0.15 1.80 0.00 0.000 6 0.061 0.035 2436 1923 3521
6993 -0.83 -146.0 628.6 -10.0 831 6998 0.20 2.38 0.00 0.000 4 0.143 0.049 2504 375 3520
7003 -0.66 -146.0 630.0 -9.8 831 7010 0.25 2.25 0.00 0.000 6 0.123 0.041 2570 1868 3520
7321 -0.99 -146.0 649.4 -6.1 847 7326 0.25 2.33 0.00 0.000 4 0.048 0.054 2434 370 3519
7441 -0.78 -146.0 660.1 -9.8 852 7446 0.32 2.25 0.00 0.000 6 0.137 0.038 2526 1869 3518
7758 -0.97 -146.0 681.5 -6.5 867 7762 0.17 1.95 0.00 0.000 4 0.055 0.053 2434 3143 3516
7870 -0.86 -146.0 690.9 -8.6 872 7874 0.22 1.77 0.00 0.000 6 0.132 0.036 2503 1938 3515
8204 -1.03 -146.0 713.6 -7.1 888 8209 0.15 2.45 0.00 0.000 4 0.062 0.056 2430 366 3514
8222 -1.07 -146.0 715.1 -7.3 889 8226 0.00 2.38 0.00 0.000 6 0.000 0.040 2427 1934 3513
8549 -0.92 -146.0 747.2 -10.1 905 8554 0.17 2.42 0.00 0.000 4 0.150 0.051 2483 375 3511
8639 -0.85 -146.0 755.7 -9.1 909 8643 0.00 2.33 0.00 0.000 6 0.000 0.040 2482 1915 3511
8960 -0.94 -146.0 781.8 -8.0 925 8962 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1915 3510
9270 -1.05 -146.0 805.9 -7.4 940 9274 0.12 1.90 0.00 0.000 4 0.068 0.057 2416 3141 3509
9347 -0.90 -146.0 812.8 -8.6 943 9351 0.25 1.77 0.00 0.000 6 0.139 0.039 2488 1950 3507
9670 -1.02 -146.0 834.1 -6.4 959 9674 0.12 1.85 0.00 0.000 4 0.070 0.057 2433 3134 3506
9738 -0.89 -146.0 839.2 -7.3 962 9743 0.22 1.88 0.00 0.000 6 0.137 0.040 2495 1883 3506
10073 -1.01 -146.0 858.2 -5.6 978 10078 0.12 2.35 0.00 0.000 4 0.070 0.054 2436 375 3505
10285 -0.81 -146.0 877.2 -10.3 987 10290 0.28 2.22 0.00 0.000 6 0.140 0.043 2514 1831 3504
10602 -0.97 -146.0 897.9 -7.1 1002 10606 0.15 2.03 0.00 0.000 4 0.061 0.057 2442 3131 3503
10670 -0.88 -146.0 904.2 -9.1 1005 10675 0.17 1.83 0.00 0.000 6 0.136 0.040 2494 1915 3502
11005 -1.01 -146.0 931.8 -8.6 1021 11010 0.12 2.42 0.00 0.000 4 0.068 0.054 2431 364 3501
11262 -0.80 -146.0 962.5 -12.1 1032 11267 0.30 2.25 0.00 0.000 6 0.140 0.044 2517 1834 3500
11581 -0.99 -146.0 988.5 -8.3 1047 11585 0.17 2.05 0.00 0.000 4 0.056 0.058 2427 3143 3499
11594 end dive: TARGET_DEPTH_EXCEEDED
state 11594 begin apogee
11602 -0.29 0.0 990.3 8.4 1047 11736 0.77 0.00 125.00 1.497 6 0.135 0.000 2674 1321 2945
11736 end apogee: CONTROL_FINISHED_OK
state 11736 begin climb
11739 1.06 146.0 998.2 0.0 1054 11880 1.27 1.92 134.30 1.469 4 0.050 0.058 3142 202 2348
11928 0.40 146.0 989.4 13.4 1063 11935 0.88 1.73 0.00 0.000 6 0.192 0.040 2916 1291 2345
12245 0.35 176.4 966.7 6.9 1079 12279 0.00 2.30 27.33 1.419 4 0.000 0.051 2916 2698 2224
12371 0.29 199.3 957.2 7.1 1084 12402 0.17 2.17 21.90 1.394 6 0.152 0.047 2877 1304 2131
12711 0.47 225.5 934.5 7.0 1101 12747 0.17 1.80 26.42 1.323 4 0.054 0.061 2973 193 2024
12883 0.31 225.5 916.1 11.1 1108 12890 0.25 1.83 0.00 0.000 6 0.140 0.042 2884 1372 2021
13200 0.49 226.7 891.7 7.9 1124 13204 0.17 2.05 0.00 0.000 4 0.054 0.049 2972 2702 2019
13384 0.32 226.7 869.6 12.7 1132 13388 0.28 2.00 0.00 0.000 6 0.140 0.048 2886 1422 2018
13705 0.42 226.7 840.8 8.1 1148 13709 0.00 1.98 0.00 0.000 4 0.000 0.051 2885 2703 2017
13733 0.49 226.7 838.4 8.2 1149 13737 0.15 1.95 0.00 0.000 6 0.063 0.046 2962 1427 2017
14060 0.36 226.7 804.5 10.1 1165 14062 0.22 0.00 0.00 0.000 6 0.143 0.000 2898 1427 2016
14369 0.46 241.6 780.9 7.4 1180 14395 0.00 2.00 16.75 1.199 4 0.000 0.051 2896 2706 1959
14463 0.52 248.7 773.5 7.7 1184 14476 0.12 1.95 7.65 1.174 6 0.067 0.044 2965 1440 1931
14783 0.42 248.7 742.1 10.1 1200 14788 0.17 1.95 0.00 0.000 4 0.145 0.058 2917 198 1928
14822 0.42 248.7 738.3 9.8 1201 14829 0.00 1.92 0.00 0.000 6 0.000 0.043 2917 1447 1928
15139 0.47 248.7 710.6 9.0 1217 15143 0.00 1.92 0.00 0.000 4 0.000 0.052 2917 2709 1927
15184 0.47 248.7 706.0 10.5 1219 15188 0.00 1.95 0.00 0.000 6 0.000 0.046 2927 1439 1926
15517 0.47 248.7 674.0 9.2 1235 15520 0.00 1.95 0.00 0.000 4 0.000 0.051 2927 2702 1926
15556 0.47 248.7 670.4 9.1 1236 15562 0.00 1.92 0.00 0.000 6 0.000 0.045 2936 1462 1926
15871 0.47 248.7 644.0 8.4 1252 15874 0.00 1.92 0.00 0.000 4 0.000 0.051 2936 2712 1926
15927 0.42 248.7 639.0 8.9 1254 15930 0.00 1.88 0.00 0.000 6 0.000 0.045 2944 1479 1925
16249 0.43 251.3 612.7 7.9 1270 16252 0.00 1.88 0.00 0.000 4 0.000 0.052 2944 2698 1925
16294 0.43 251.3 608.6 8.7 1272 16298 0.12 1.85 0.00 0.000 6 0.151 0.045 2921 1488 1925
16628 0.55 251.3 581.9 8.5 1288 16632 0.12 2.03 0.00 0.000 4 0.066 0.057 2996 189 1925
16750 0.38 251.3 568.6 10.7 1293 16755 0.32 1.95 0.00 0.000 6 0.139 0.042 2900 1487 1925
17067 0.65 287.8 546.1 6.6 1308 17112 0.22 0.00 37.67 1.169 6 0.051 0.000 3014 1487 1771
17419 0.49 287.8 512.0 9.8 1325 17424 0.22 2.03 0.00 0.000 4 0.138 0.055 2951 197 1766
17465 0.49 287.8 507.9 9.8 1327 17469 0.00 1.95 0.00 0.000 6 0.000 0.042 2951 1480 1766
17795 0.65 332.8 485.5 6.3 1352 17852 0.10 2.10 42.45 1.116 4 0.074 0.056 3020 204 1587
17955 0.53 332.8 470.5 9.3 1366 17959 0.25 1.88 0.00 0.000 6 0.134 0.041 2948 1437 1585
18286 0.73 332.8 441.7 9.6 1397 18290 0.17 1.95 0.00 0.000 4 0.052 0.054 3052 192 1582
18365 0.53 332.8 431.7 12.5 1404 18370 0.28 1.83 0.00 0.000 6 0.132 0.049 2949 1377 1582
18696 0.74 332.8 400.5 8.7 1435 18700 0.17 1.85 0.00 0.000 4 0.052 0.058 3054 196 1582
18813 0.55 332.8 386.2 12.3 1445 18821 0.32 1.70 0.00 0.000 6 0.137 0.041 2957 1336 1582
19138 0.79 364.8 362.0 6.8 1476 19174 0.17 2.12 29.08 1.048 4 0.051 0.047 3055 2704 1456
19272 0.63 364.8 348.1 11.4 1487 19279 0.28 2.10 0.00 0.000 6 0.142 0.042 2986 1340 1455
19598 0.81 364.8 313.5 11.8 1518 19602 0.15 1.77 0.00 0.000 4 0.056 0.054 3070 201 1453
19636 0.61 364.8 307.3 16.5 1521 19644 0.32 1.70 0.00 0.000 6 0.136 0.039 2972 1320 1452
19978 0.85 386.8 276.5 7.2 1576 20005 0.20 1.75 20.45 0.966 4 0.080 0.054 3079 200 1367
20103 0.68 386.8 263.0 11.8 1597 20111 0.28 1.75 0.00 0.000 6 0.136 0.038 2997 1370 1364
20450 0.88 386.8 232.4 10.0 1658 20456 0.17 1.83 0.00 0.000 4 0.051 0.052 3098 195 1364
20595 0.69 386.8 211.2 14.4 1683 20601 0.32 1.65 0.00 0.000 6 0.132 0.037 2999 1317 1364
20939 0.89 386.8 179.3 8.5 1744 20946 0.17 1.75 0.00 0.000 4 0.051 0.053 3104 204 1362
20999 0.69 386.8 172.2 12.5 1754 21006 0.30 1.55 0.00 0.000 6 0.131 0.037 3006 1238 1362
21344 0.95 418.7 145.3 6.8 1815 21383 0.17 2.30 28.77 0.847 4 0.051 0.040 3108 2715 1236
21456 0.82 418.7 133.4 12.4 1833 21464 0.25 2.20 0.00 0.000 6 0.137 0.039 3046 1266 1235
21804 1.03 425.6 98.0 7.7 1894 21818 0.17 1.62 7.45 0.681 4 0.051 0.048 3158 196 1208
21915 0.80 425.6 86.3 10.6 1913 21924 0.35 1.55 0.00 0.000 6 0.132 0.035 3045 1239 1208
22262 1.08 425.6 57.9 9.4 1974 22269 0.20 2.17 0.00 0.000 4 0.046 0.036 3164 2711 1208
22294 1.12 425.6 54.3 10.7 1979 22301 0.15 2.25 0.00 0.000 6 0.156 0.037 3138 1200 1208
22641 1.08 425.6 24.8 8.8 2040 22647 0.00 2.22 0.00 0.000 4 0.000 0.036 3138 2710 1208
22792 1.05 425.6 11.1 10.4 2066 22798 0.00 2.17 0.00 0.000 6 0.000 0.035 3147 1238 1208
22870 end climb: SURFACE_DEPTH_REACHED
state 22870 begin surface coast
22899 end surface coast: CONTROL_FINISHED_OK
state 22899 begin surface