OKMC Nov11 * SG169 * Dive index * Mission links * Dive 292 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  169 HD_B  0.010078 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  292 HEADING  -1 ROLL_MIN  220 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3795 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2630 ALTIM_PING_DELTA  0
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2500 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  7
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  110 SM_CC  425 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  4 N_FILEKB  4 R_PORT_OVSHOOT  -10 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  -10 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  330 INT_PRESSURE_YINT  -1.1
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  3 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  163 VBD_MIN  435 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  320 UPLOAD_DIVES_MAX  -1 C_VBD  2979 DEVICE3  35
T_MISSION  360 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  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  3 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -11089.311 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  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -8 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  250 PITCH_MIN  146 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3945 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2010 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043354053
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -76.737366 SEABIRD_T_H  0.0006253231
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000115925 SEABIRD_T_I  2.3840643e-05
MASS  51570 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.5685486e-06
NAV_MODE  2 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.9554796
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1274287
KALMAN_USE  2 PITCH_AD_RATE  165 COMPASS_USE  0 SEABIRD_C_I  -0.0019472764
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00023438112

Pre-dive calculations and measurements:
GPS1  040112,105630,2134.540,12339.690,37,1.4,37,-2.8 TGT_NAME  N1
_CALLS  1 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  1.05 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -58.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  040112,110334,2134.479,12339.632,16,3.7,35,-2.8 MHEAD_RNG_PITCHd_Wd  338.4,281459,-14.3,-10.312
SPEED_LIMITS  0.179,0.329 D_GRID  5031

Post-dive calculations and measurements:
FINISH  0.3,1.010583 _10V_AH  10.0,38.344
SM_CCo  15628,0.00,0.000,0,0,405,631.40 FG_AHR_24Vo  0.000
SM_GC  0.87,5.38,0.20,0.00,0.026,0.064,0.000,127,2673,405,-5.79,-0.17,631.40,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2124.90,12338.83,040112,060627 MEM  330352
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  93636,1391
HUMID  44.60 CAP_FILE_SIZE  169076,0
INTERNAL_PRESSURE  9.41798 CFSIZE  260165632,196153344
TCM_TEMP  23.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  0 CURRENT  0.341,162.7,1
_24V_AH  23.1,62.430 GPS  040112,152530,2136.068,12338.686,36,1.9,36,-2.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622286.14 SBE_CT94124522.00
Roll_motor12580232.40 AA43301750331334.48
VBD_pump_during_apogee791116921396.24 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910370.27 nil000.00
Iridium_during_connect1916073.92 nil000.00
Iridium_during_xfer2212231140.14 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS375018.88
TT8363619720.01
LPSleep83932183.82
TT8_Active85419169.11
TT8_Sampling2816391120.89
TT8_CF833145151.67
TT8_Kalman000.00
Analog_circuits224212269.10
GPS_charging000.00
Compass237415356.24
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.66 -243.3 0.0 0.0 0 124 0.00 0.00 -104.90 0.000 2 0.000 0.000 114 2538 3103 0 0 0 0 0 0 28.83 28.83 28.83
128 -0.66 -243.3 3.7 -8.6 17 160 6.68 2.08 -16.27 0.000 4 0.223 0.039 1798 1157 3963 0 0 0 0 0 0 25.07 26.15 26.55
173 -0.40 -243.3 24.0 -46.1 23 180 0.32 2.30 0.00 0.000 6 0.161 0.038 1878 2659 3963 0 0 0 0 0 0 25.53 26.06 28.83
497 -0.32 -243.3 102.3 -25.3 84 505 0.00 1.77 0.00 0.000 4 0.000 0.046 1869 3815 3963 0 0 0 0 0 0 28.83 26.15 28.83
523 -0.25 -243.3 108.7 -24.3 88 532 0.17 1.80 0.00 0.000 6 0.141 0.022 1925 2553 3963 0 0 0 0 0 0 25.94 26.37 28.83
847 -0.29 -243.3 145.2 -6.6 149 853 0.00 2.00 0.00 0.000 4 0.000 0.045 1917 3819 3962 0 0 0 0 0 0 28.83 26.20 28.83
873 -0.35 -243.3 147.0 -7.5 153 879 0.00 1.77 0.00 0.000 6 0.000 0.024 1916 2551 3963 0 0 0 0 0 0 28.83 26.45 28.83
1184 -0.47 -243.3 180.1 -11.2 214 1191 0.15 2.00 0.00 0.000 4 0.103 0.027 1861 1171 3963 0 0 0 0 0 0 26.39 26.34 28.83
1279 -0.56 -243.3 190.5 -11.5 232 1286 0.00 2.22 0.00 0.000 6 0.000 0.036 1860 2661 3963 0 0 0 0 0 0 28.83 26.29 28.83
1589 -0.68 -243.3 221.5 -10.2 272 1594 0.17 1.77 0.00 0.000 4 0.075 0.041 1767 3819 3963 0 0 0 0 0 0 26.51 26.27 28.83
1622 -0.76 -243.3 225.1 -10.8 275 1625 0.00 1.83 0.00 0.000 6 0.000 0.022 1767 2540 3963 0 0 0 0 0 0 28.83 26.52 28.83
1933 -0.65 -243.3 311.8 -31.7 306 1942 0.12 1.98 0.00 0.000 4 0.169 0.021 1814 1155 3963 0 0 0 0 0 0 26.20 26.41 28.83
1959 -0.54 -243.3 318.1 -30.6 308 1966 0.10 2.28 0.00 0.000 6 0.151 0.040 1832 2660 3963 0 0 0 0 0 0 26.13 26.29 28.83
2266 -0.51 -243.3 369.5 -16.1 339 2267 0.00 0.00 0.00 0.000 6 0.000 0.000 1832 2659 3963 0 0 0 0 0 0 28.83 28.83 28.83
2569 -0.48 -243.3 416.0 -15.3 369 2572 0.00 1.77 0.00 0.000 4 0.000 0.044 1823 3824 3963 0 0 0 0 0 0 28.83 26.27 28.83
2622 -0.48 -243.3 423.4 -13.1 374 2631 0.10 1.80 0.00 0.000 6 0.120 0.022 1857 2557 3962 0 0 0 0 0 0 26.31 26.50 28.83
2933 -0.52 -243.3 446.6 -6.7 405 2939 0.00 0.00 0.00 0.000 6 0.000 0.000 1856 2557 3961 0 0 0 0 0 0 28.83 28.83 28.83
3245 -0.56 -243.3 467.9 -7.5 436 3256 0.00 1.98 0.00 0.000 4 0.000 0.046 1848 3816 3958 0 0 0 0 0 0 28.83 26.25 28.83
3282 -0.61 -243.3 470.9 -8.1 439 3290 0.10 1.80 0.00 0.000 6 0.097 0.024 1780 2547 3958 0 0 0 0 0 0 26.37 26.50 28.83
3589 -0.56 -243.3 520.6 -16.6 470 3593 0.12 2.00 0.00 0.000 4 0.141 0.044 1813 3822 3956 0 0 0 0 0 0 26.29 26.23 28.83
3652 -0.56 -243.3 528.4 -10.3 476 3655 0.00 1.83 0.00 0.000 6 0.000 0.023 1813 2562 3955 0 0 0 0 0 0 28.83 26.48 28.83
3963 -0.56 -243.3 563.6 -12.1 507 3971 0.00 1.95 0.00 0.000 4 0.000 0.044 1804 3815 3953 0 0 0 0 0 0 28.83 26.23 28.83
4036 -0.58 -243.3 571.3 -10.0 514 4039 0.00 1.80 0.00 0.000 6 0.000 0.024 1804 2563 3952 0 0 0 0 0 0 28.83 26.47 28.83
4351 -0.57 -243.3 610.4 -12.3 541 4356 0.00 1.95 0.00 0.000 4 0.000 0.044 1795 3821 3950 0 0 0 0 0 0 28.83 26.22 28.83
4391 -0.57 -243.3 615.6 -12.7 543 4395 0.00 1.83 0.00 0.000 6 0.000 0.024 1795 2562 3949 0 0 0 0 0 0 28.83 26.45 28.83
4710 -0.56 -243.3 655.5 -11.9 559 4716 0.12 1.92 0.00 0.000 4 0.130 0.043 1832 3807 3947 0 0 0 0 0 0 26.34 26.20 28.83
4737 -0.55 -243.3 657.7 -11.8 560 4740 0.00 1.80 0.00 0.000 6 0.000 0.025 1831 2563 3947 0 0 0 0 0 0 28.83 26.45 28.83
5050 -0.58 -243.3 676.0 -6.1 576 5052 0.00 0.00 0.00 0.000 6 0.000 0.000 1831 2560 3945 0 0 0 0 0 0 28.83 28.83 28.83
5349 -0.61 -243.3 693.6 -5.5 591 5354 0.00 1.98 0.00 0.000 4 0.000 0.044 1825 3812 3943 0 0 0 0 0 0 28.83 26.17 28.83
5392 -0.65 -243.3 695.8 -5.5 593 5395 0.00 1.80 0.00 0.000 6 0.000 0.026 1825 2569 3943 0 0 0 0 0 0 28.83 26.44 28.83
5710 -0.76 -243.3 720.5 -8.9 609 5712 0.17 0.00 0.00 0.000 6 0.081 0.000 1750 2561 3941 0 0 0 0 0 0 26.45 28.83 28.83
6011 -0.79 -243.3 746.8 -9.0 624 6016 0.00 2.00 0.00 0.000 4 0.000 0.028 1749 1179 3938 0 0 0 0 0 0 28.83 26.30 28.83
6043 -0.82 -243.3 748.5 -8.9 625 6052 0.00 2.25 0.00 0.000 6 0.000 0.040 1739 2660 3937 0 0 0 0 0 0 28.83 26.21 28.83
6349 -0.77 -243.3 804.4 -18.3 641 6353 0.00 1.80 0.00 0.000 4 0.000 0.046 1730 3814 3935 0 0 0 0 0 0 28.83 26.15 28.83
6394 -0.71 -243.3 811.7 -17.5 643 6398 0.17 1.80 0.00 0.000 6 0.124 0.024 1784 2563 3935 0 0 0 0 0 0 26.02 26.41 28.83
6709 -0.70 -243.3 845.7 -10.2 659 6712 0.00 1.95 0.00 0.000 4 0.000 0.046 1775 3814 3932 0 0 0 0 0 0 28.83 26.12 28.83
6745 -0.69 -243.3 848.2 -10.0 660 6751 0.00 1.80 0.00 0.000 6 0.000 0.025 1775 2567 3933 0 0 0 0 0 0 28.83 26.40 28.83
7052 -0.68 -243.3 883.2 -11.6 676 7053 0.00 0.00 0.00 0.000 6 0.000 0.000 1775 2566 3931 0 0 0 0 0 0 28.83 28.83 28.83
7352 -0.66 -243.3 919.2 -12.3 691 7353 0.00 0.00 0.00 0.000 6 0.000 0.000 1775 2565 3929 0 0 0 0 0 0 28.83 28.83 28.83
7653 -0.65 -243.3 952.8 -10.9 706 7658 0.00 1.98 0.00 0.000 4 0.000 0.047 1765 3814 3927 0 0 0 0 0 0 28.83 26.06 28.83
7692 -0.64 -243.3 957.0 -10.8 708 7698 0.12 1.83 0.00 0.000 6 0.122 0.025 1804 2563 3927 0 0 0 0 0 0 26.12 26.38 28.83
8013 -0.65 -243.3 980.0 -7.0 724 8014 0.00 0.00 0.00 0.000 6 0.000 0.000 1804 2563 3926 0 0 0 0 0 0 28.83 28.83 28.83
8169 end dive: TARGET_DEPTH_EXCEEDED
state 8169 begin apogee
8175 -0.20 0.0 991.5 -7.3 732 8404 0.38 0.12 220.65 1.133 6 0.088 0.080 1943 2542 2972 0 0 0 0 0 0 26.01 24.67 23.51
8405 end apogee: CONTROL_FINISHED_OK
state 8405 begin climb
8407 0.66 243.3 1004.6 0.0 743 8644 0.75 2.47 226.90 1.170 4 0.046 0.038 2238 1068 1976 0 0 0 0 0 0 24.87 24.27 23.08
8727 0.59 243.3 970.8 18.6 759 8735 0.15 2.30 0.00 0.000 6 0.162 0.041 2200 2521 1956 0 0 0 0 0 0 25.06 25.30 28.83
9032 0.52 243.3 914.4 17.6 775 9038 0.00 2.05 0.00 0.000 4 0.000 0.045 2200 3821 1953 0 0 0 0 0 0 28.83 25.95 28.83
9060 0.45 243.3 910.6 17.8 776 9065 0.20 2.05 0.00 0.000 6 0.168 0.030 2157 2460 1952 0 0 0 0 0 0 25.64 26.03 28.83
9368 0.42 243.3 867.2 13.5 791 9374 0.00 2.12 0.00 0.000 4 0.000 0.046 2156 3809 1950 0 0 0 0 0 0 28.83 26.05 28.83
9395 0.40 243.3 864.3 13.8 792 9399 0.00 2.05 0.00 0.000 6 0.000 0.031 2166 2466 1950 0 0 0 0 0 0 28.83 26.15 28.83
9702 0.36 243.3 818.7 14.5 807 9704 0.15 0.00 0.00 0.000 6 0.160 0.000 2126 2464 1950 0 0 0 0 0 0 26.00 28.83 28.83
10003 0.37 247.7 787.1 10.2 822 10008 0.00 2.10 0.00 0.000 4 0.000 0.045 2126 3810 1949 0 0 0 0 0 0 28.83 26.10 28.83
10065 0.37 247.7 780.3 11.0 825 10069 0.00 2.03 0.00 0.000 6 0.000 0.029 2136 2457 1948 0 0 0 0 0 0 28.83 26.23 28.83
10385 0.37 247.7 745.3 11.0 841 10386 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2454 1948 0 0 0 0 0 0 28.83 28.83 28.83
10683 0.40 272.2 715.6 9.6 856 10713 0.00 0.00 23.30 0.881 6 0.000 0.000 2136 2455 1868 0 0 0 0 1 0 28.83 28.83 24.33
11004 0.44 305.1 685.8 9.4 872 11046 0.00 2.22 31.80 0.972 4 0.000 0.048 2136 3813 1741 0 0 0 0 1 0 28.83 25.67 24.18
11093 0.44 308.8 677.5 10.2 876 11112 0.00 2.05 13.77 0.934 6 0.000 0.030 2147 2467 1720 0 0 0 0 0 0 28.83 25.82 24.41
11423 0.44 308.8 639.6 11.4 893 11428 0.00 2.12 0.00 0.000 4 0.000 0.037 2157 1058 1703 0 0 0 0 0 0 28.83 25.98 28.83
11494 0.46 308.8 633.2 10.8 896 11503 0.00 2.22 0.00 0.000 6 0.000 0.038 2157 2526 1701 0 0 0 0 0 0 28.83 26.01 28.83
11802 0.46 308.8 597.0 11.0 913 11803 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2526 1701 0 0 0 0 0 0 28.83 28.83 28.83
12103 0.46 308.8 560.5 12.0 943 12112 0.00 1.98 0.00 0.000 4 0.000 0.046 2158 3807 1700 0 0 0 0 0 0 28.83 26.08 28.83
12127 0.46 308.8 557.7 11.8 945 12134 0.00 2.05 0.00 0.000 6 0.000 0.029 2168 2463 1700 0 0 0 0 0 0 28.83 26.22 28.83
12436 0.45 308.8 519.2 12.0 976 12447 0.00 2.12 0.00 0.000 4 0.000 0.044 2168 3814 1700 0 0 0 0 0 0 28.83 26.09 28.83
12493 0.44 308.8 512.1 13.6 981 12500 0.00 2.05 0.00 0.000 6 0.000 0.028 2178 2451 1699 0 0 0 0 0 0 28.83 26.25 28.83
12800 0.42 308.8 471.8 14.3 1012 12812 0.12 2.17 0.00 0.000 4 0.159 0.043 2139 3822 1699 0 0 0 0 0 0 26.14 26.09 28.83
12838 0.42 308.8 467.2 13.3 1015 12844 0.00 2.05 0.00 0.000 6 0.000 0.028 2149 2457 1699 0 0 0 0 0 0 28.83 26.25 28.83
13146 0.51 367.5 436.3 8.6 1046 13208 0.00 2.12 57.40 0.789 4 0.000 0.037 2159 1063 1471 0 0 0 0 0 0 28.83 25.64 24.49
13256 0.72 493.0 428.4 6.7 1056 13375 0.22 2.25 111.90 0.780 6 0.051 0.036 2288 2530 965 0 0 0 0 0 0 25.82 25.75 24.18
13687 0.64 493.0 298.4 32.1 1099 13696 0.22 2.00 0.00 0.000 4 0.166 0.043 2220 3813 939 0 0 0 0 0 0 25.56 25.90 28.83
13781 0.65 493.0 277.9 15.5 1108 13790 0.00 2.00 0.00 0.000 6 0.000 0.027 2230 2457 938 0 0 0 0 0 0 28.83 26.06 28.83
14090 0.64 493.0 232.6 13.7 1139 14099 0.00 2.10 0.00 0.000 4 0.000 0.041 2241 1055 937 0 0 0 0 0 0 28.83 26.06 28.83
14125 0.64 493.0 228.4 13.9 1142 14132 0.00 2.22 0.00 0.000 6 0.000 0.037 2241 2527 936 0 0 0 0 0 0 28.83 26.10 28.83
14439 0.62 493.0 176.9 19.2 1185 14448 0.00 2.03 0.00 0.000 4 0.000 0.044 2241 3822 936 0 0 0 0 0 0 28.83 26.10 28.83
14480 0.62 493.0 169.5 16.2 1192 14488 0.15 2.03 0.00 0.000 6 0.136 0.028 2207 2455 936 0 0 0 0 0 0 25.95 26.23 28.83
14797 0.85 625.1 145.8 6.5 1253 14915 0.17 2.17 106.15 0.581 4 0.060 0.036 2342 1061 416 0 0 0 0 0 0 26.46 25.55 24.63
14962 0.84 625.1 103.4 24.1 1279 14969 0.20 2.25 0.00 0.000 6 0.121 0.036 2281 2527 409 0 0 0 0 0 0 25.51 25.72 28.83
15285 0.84 625.1 51.9 15.4 1340 15291 0.00 0.00 0.00 0.000 6 0.000 0.000 2281 2527 405 0 0 0 0 0 0 28.83 28.83 28.83
15535 end climb: SURFACE_DEPTH_REACHED
state 15535 begin surface coast
15553 end surface coast: CONTROL_FINISHED_OK
state 15553 begin surface