SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 371 * 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  371 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3792 ALTIM_PING_DEPTH  0
D_SURF  4 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  31 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  40 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  -15144.933 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  172337,6329.627,302.410,27,1.2,27,-3.3 TGT_NAME  INSHORE
_CALLS  1 TGT_LATLONG  6300.600,352.100
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.31 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  172920,6329.640,302.391,15,1.4,15,-3.3 MHEAD_RNG_PITCHd_Wd  156.8,68104,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  1187

Post-dive calculations and measurements:
FINISH  2.3,1.003937 _24V_AH  21.6,59.361
SM_CCo  26730,0.00,0.000,0,0,2016,252.66 _10V_AH  10.5,44.906
SM_GC  3.34,7.25,0.00,0.00,0.048,0.000,0.000,135,2181,2016,-7.66,0.03,252.66 DATA_FILE_SIZE  47415,937
IRIDIUM_FIX  6303.50,258.24,110898,101007 CAP_FILE_SIZE  179006,0
TT8_MAMPS  0.026845 CFSIZE  260165632,222859264
HUMID  1679 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  9.17414 CURRENT  0.131,332.5,1
TCM_TEMP  16.60 GPS  180509,005636,6328.463,303.551,40,1.0,45,-3.2
XPDR_PINGS  3

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor30207136.88 SBE_CT65324338.92
Roll_motor14959190.65 SBE_O268619281.61
VBD_pump_during_apogee33213939998.58 WL_BB2F366105832.22
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010368.21 nil000.00
Iridium_during_connect35160121.17 nil000.00
Iridium_during_xfer149223720.09
Transponder_ping04206.80
Mmodem_TX000.00
Mmodem_RX000.00
GPS17509.04
TT8203919424.03
LPSleep217682500.58
TT8_Active4761999.12
TT8_Sampling219939919.03
TT8_CF858045279.29
TT8_Kalman000.00
Analog_circuits163112205.61
GPS_charging000.00
Compass21628181.64
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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -0.77 -116.7 0.0 0.0 0 23 0.00 0.00 -6.45 0.000 2 0.000 0.000 144 2171 2203
27 -0.77 -116.7 3.3 -0.0 1 109 8.38 2.28 -66.40 0.000 4 0.207 0.057 2362 767 3521
278 -0.45 -116.7 22.4 -10.8 43 287 0.32 2.20 0.00 0.000 6 0.119 0.035 2465 2173 3523
627 -0.65 -116.7 44.2 -6.6 104 634 0.17 2.28 0.00 0.000 4 0.058 0.046 2389 3594 3524
658 -0.65 -116.7 47.1 -8.1 109 664 0.00 2.22 0.00 0.000 6 0.000 0.031 2389 2173 3524
1003 -0.52 -116.7 78.5 -8.6 143 1005 0.17 0.00 0.00 0.000 6 0.128 0.000 2444 2171 3524
1311 -0.63 -116.7 96.4 -5.7 158 1312 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 2170 3524
1620 -0.74 -116.7 114.2 -5.5 173 1622 0.20 0.00 0.00 0.000 6 0.054 0.000 2354 2171 3524
1930 -0.47 -116.7 144.9 -10.0 188 1935 0.30 2.25 0.00 0.000 4 0.118 0.044 2454 765 3524
1974 -0.62 -116.7 148.3 -6.1 190 1979 0.12 2.20 0.00 0.000 6 0.066 0.035 2399 2191 3524
2295 -0.55 -116.7 174.0 -8.1 206 2297 0.12 0.00 0.00 0.000 6 0.121 0.000 2437 2191 3524
2606 -0.64 -116.7 192.2 -5.2 221 2607 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2191 3525
2915 -0.74 -116.7 209.0 -5.2 236 2917 0.17 0.00 0.00 0.000 6 0.059 0.000 2359 2191 3524
3224 -0.51 -116.7 235.5 -8.9 251 3226 0.28 0.00 0.00 0.000 6 0.114 0.000 2447 2191 3524
3533 -0.66 -116.7 253.4 -5.9 266 3537 0.15 2.30 0.00 0.000 4 0.061 0.044 2378 763 3524
3595 -0.47 -116.7 258.8 -9.1 269 3600 0.28 2.17 0.00 0.000 6 0.120 0.035 2463 2169 3524
3922 -0.71 -116.7 278.5 -6.5 285 3924 0.22 0.00 0.00 0.000 6 0.054 0.000 2366 2172 3525
4230 -0.52 -116.7 307.5 -9.7 299 4232 0.25 0.00 0.00 0.000 6 0.117 0.000 2445 2172 3524
4537 -0.68 -116.7 326.5 -5.8 309 4539 0.15 0.00 0.00 0.000 6 0.061 0.000 2376 2171 3524
4843 -0.54 -116.7 352.1 -8.4 319 4844 0.20 0.00 0.00 0.000 6 0.117 0.000 2440 2172 3524
5149 -0.67 -116.7 370.2 -5.8 329 5154 0.15 2.30 0.00 0.000 4 0.063 0.047 2372 3593 3524
5183 -0.53 -116.7 373.0 -8.5 330 5188 0.22 2.25 0.00 0.000 6 0.120 0.032 2443 2165 3524
5518 -0.69 -116.7 394.0 -6.1 341 5520 0.15 0.00 0.00 0.000 6 0.061 0.000 2375 2165 3524
5824 -0.56 -116.7 421.0 -8.9 351 5826 0.20 0.00 0.00 0.000 6 0.118 0.000 2438 2164 3524
6130 -0.69 -116.7 439.5 -5.7 361 6132 0.15 0.00 0.00 0.000 6 0.063 0.000 2372 2164 3524
6436 -0.55 -116.7 464.6 -8.4 371 6438 0.20 0.00 0.00 0.000 6 0.116 0.000 2435 2164 3524
6744 -0.68 -116.7 483.0 -6.1 381 6745 0.12 0.00 0.00 0.000 6 0.071 0.000 2377 2164 3524
7078 -0.56 -116.7 513.7 -9.2 390 7080 0.17 0.00 0.00 0.000 6 0.119 0.000 2432 2163 3524
7381 -0.69 -116.7 534.2 -6.7 395 7383 0.12 0.00 0.00 0.000 6 0.071 0.000 2374 2163 3524
7685 -0.58 -116.7 560.9 -8.9 400 7690 0.17 2.33 0.00 0.000 4 0.120 0.047 2429 3590 3523
7735 -0.75 -116.7 564.6 -6.9 400 7740 0.17 2.25 0.00 0.000 6 0.058 0.035 2353 2169 3523
8045 -0.55 -116.7 592.4 -9.1 405 8050 0.22 2.22 0.00 0.000 4 0.123 0.044 2429 768 3523
8129 -0.64 -116.7 598.0 -6.1 406 8133 0.00 2.20 0.00 0.000 6 0.000 0.037 2429 2173 3523
8479 -0.76 -116.7 615.7 -5.0 412 8481 0.17 0.00 0.00 0.000 6 0.059 0.000 2352 2174 3522
8782 -0.57 -116.7 639.3 -7.8 417 8784 0.25 0.00 0.00 0.000 6 0.120 0.000 2431 2174 3522
9086 -0.72 -116.7 653.8 -4.7 422 9090 0.15 2.30 0.00 0.000 4 0.065 0.048 2364 3587 3520
9119 -0.61 -116.7 655.9 -6.9 422 9123 0.17 2.28 0.00 0.000 6 0.128 0.036 2417 2157 3521
9446 -0.69 -116.7 673.9 -5.5 428 9447 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2156 3520
9748 -0.78 -116.7 691.8 -5.9 433 9750 0.17 0.00 0.00 0.000 6 0.062 0.000 2342 2157 3519
10051 -0.55 -116.7 718.7 -9.1 438 10053 0.30 0.00 0.00 0.000 6 0.123 0.000 2436 2155 3518
10354 -0.72 -116.7 735.7 -5.4 443 10359 0.17 2.38 0.00 0.000 4 0.064 0.053 2363 3585 3517
10382 -0.65 -116.7 737.6 -7.7 443 10387 0.15 2.30 0.00 0.000 6 0.131 0.039 2407 2147 3517
10714 -0.65 -116.7 760.0 -6.8 449 10715 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2147 3516
11016 -0.65 -116.7 781.7 -7.2 454 11017 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2147 3515
11319 -0.65 -116.7 803.4 -7.1 459 11320 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2147 3514
11623 -0.65 -116.7 824.1 -6.8 464 11624 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2147 3513
11926 -0.65 -116.7 843.8 -6.5 469 11927 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2147 3512
12229 -0.65 -116.7 863.1 -6.4 474 12230 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2147 3511
12532 -0.65 -116.7 882.6 -6.4 479 12536 0.00 2.40 0.00 0.000 4 0.000 0.056 2407 3586 3511
12577 -0.76 -116.7 885.4 -5.7 479 12582 0.12 2.30 0.00 0.000 6 0.074 0.039 2355 2158 3510
12904 -0.61 -116.7 911.9 -8.2 485 12908 0.20 2.28 0.00 0.000 4 0.129 0.052 2421 765 3509
12988 -0.69 -116.7 917.7 -6.5 486 12992 0.00 2.20 0.00 0.000 6 0.000 0.041 2420 2153 3509
13338 -0.83 -116.7 937.7 -5.7 492 13343 0.20 2.35 0.00 0.000 4 0.063 0.054 2335 3590 3508
13371 -0.58 -116.7 940.4 -8.4 492 13376 0.30 2.33 0.00 0.000 6 0.130 0.040 2426 2141 3508
13698 -0.74 -116.7 959.6 -5.8 498 13700 0.15 0.00 0.00 0.000 6 0.072 0.000 2365 2141 3507
14001 -0.62 -116.7 983.0 -7.8 503 14003 0.15 0.00 0.00 0.000 6 0.129 0.000 2410 2140 3507
14119 end dive: TARGET_DEPTH_EXCEEDED
state 14119 begin apogee
14125 -0.23 0.0 990.4 6.9 505 14228 0.40 0.00 100.30 1.394 6 0.114 0.000 2540 2277 3046
14229 end apogee: CONTROL_FINISHED_OK
state 14229 begin climb
14232 0.77 116.7 992.4 0.0 506 14356 0.98 2.62 110.32 1.346 4 0.073 0.052 2861 3672 2570
14441 0.37 116.7 986.2 8.1 510 14446 0.47 2.38 0.00 0.000 6 0.137 0.035 2734 2269 2566
14802 0.69 187.7 971.2 4.0 516 14873 0.25 2.47 62.22 1.371 4 0.058 0.048 2841 862 2278
14963 0.59 187.7 958.4 9.0 518 14967 0.12 2.28 0.00 0.000 6 0.133 0.038 2806 2272 2272
15295 0.59 187.7 933.7 7.5 524 15299 0.00 2.30 0.00 0.000 4 0.000 0.055 2807 3684 2270
15367 0.59 187.7 927.3 7.8 525 15372 0.00 2.25 0.00 0.000 6 0.000 0.035 2809 2258 2270
15733 0.59 187.7 899.9 7.5 531 15737 0.00 2.22 0.00 0.000 4 0.000 0.048 2809 858 2268
15823 0.60 194.5 893.5 6.6 532 15833 0.00 2.20 5.15 1.016 6 0.000 0.037 2809 2265 2253
16165 0.60 194.5 868.2 7.3 538 16169 0.00 2.30 0.00 0.000 4 0.000 0.051 2809 3690 2252
16243 0.60 194.5 861.6 8.2 539 16247 0.00 2.25 0.00 0.000 6 0.000 0.035 2809 2255 2252
16604 0.60 194.5 835.7 7.1 545 16608 0.00 2.20 0.00 0.000 4 0.000 0.046 2809 863 2251
16672 0.60 194.5 830.8 7.2 546 16676 0.00 2.20 0.00 0.000 6 0.000 0.036 2808 2282 2250
17043 0.60 194.5 803.8 7.3 552 17047 0.00 2.25 0.00 0.000 4 0.000 0.051 2809 3685 2251
17116 0.60 194.5 797.9 7.3 553 17120 0.00 2.22 0.00 0.000 6 0.000 0.034 2809 2259 2251
17482 0.60 194.5 769.0 8.0 559 17486 0.00 2.20 0.00 0.000 4 0.000 0.048 2809 869 2250
17550 0.66 194.5 763.8 7.3 560 17554 0.00 2.17 0.00 0.000 6 0.000 0.035 2809 2276 2250
17922 0.66 194.5 734.3 7.9 566 17926 0.00 2.28 0.00 0.000 4 0.000 0.052 2809 3684 2249
17977 0.66 194.5 729.6 7.4 566 17981 0.00 2.25 0.00 0.000 6 0.000 0.035 2809 2255 2250
18293 0.66 194.5 704.7 8.0 572 18297 0.00 2.22 0.00 0.000 4 0.000 0.045 2809 854 2249
18417 0.74 194.5 694.5 7.6 573 18422 0.12 2.20 0.00 0.000 6 0.072 0.036 2864 2262 2249
18727 0.56 194.5 662.0 10.6 578 18732 0.20 2.30 0.00 0.000 4 0.127 0.048 2798 3688 2249
18799 0.56 194.5 655.6 9.0 579 18802 0.00 2.25 0.00 0.000 6 0.000 0.033 2798 2253 2249
19160 0.66 194.5 629.4 7.3 585 19164 0.00 2.22 0.00 0.000 4 0.000 0.045 2798 866 2249
19210 0.80 203.2 625.8 6.5 585 19227 0.20 2.17 8.75 1.072 6 0.058 0.035 2881 2265 2217
19531 0.58 203.2 596.5 9.2 591 19535 0.25 2.30 0.00 0.000 4 0.125 0.048 2799 3684 2216
19603 0.58 205.0 591.1 6.8 592 19607 0.00 2.25 0.00 0.000 6 0.000 0.033 2799 2256 2216
19963 0.73 221.0 568.7 6.2 598 19987 0.15 2.30 16.70 1.089 4 0.061 0.045 2868 870 2144
20086 0.62 221.0 558.0 9.0 599 20091 0.20 2.20 0.00 0.000 6 0.123 0.034 2808 2280 2141
20396 0.74 221.0 535.8 7.2 604 20398 0.12 0.00 0.00 0.000 6 0.071 0.000 2864 2279 2141
20699 0.63 221.0 506.2 9.8 609 20701 0.17 0.00 0.00 0.000 6 0.122 0.000 2811 2279 2141
21003 0.73 221.0 482.9 7.3 617 21008 0.10 2.30 0.00 0.000 4 0.075 0.046 2864 861 2141
21053 0.64 221.0 478.2 10.2 618 21058 0.15 2.17 0.00 0.000 6 0.126 0.035 2820 2257 2141
21367 0.72 221.0 453.4 7.8 628 21371 0.00 2.30 0.00 0.000 4 0.000 0.049 2821 3684 2141
21417 0.72 221.0 448.9 9.4 629 21421 0.00 2.25 0.00 0.000 6 0.000 0.032 2822 2252 2140
21743 0.79 221.0 422.4 8.2 640 21748 0.12 2.22 0.00 0.000 4 0.068 0.044 2881 853 2141
21793 0.63 221.0 417.2 9.1 641 21798 0.22 2.17 0.00 0.000 6 0.122 0.033 2812 2265 2141
22106 0.75 221.0 392.4 7.6 651 22108 0.12 0.00 0.00 0.000 6 0.068 0.000 2869 2265 2141
22412 0.63 221.0 362.6 9.6 661 22414 0.17 0.00 0.00 0.000 6 0.120 0.000 2814 2265 2142
22719 0.74 221.0 340.0 7.3 671 22721 0.12 0.00 0.00 0.000 6 0.065 0.000 2874 2265 2143
23025 0.61 221.0 310.0 9.9 681 23027 0.22 0.00 0.00 0.000 6 0.117 0.000 2802 2265 2144
23343 0.78 221.0 288.1 7.2 694 23345 0.17 0.00 0.00 0.000 6 0.057 0.000 2882 2265 2144
23653 0.62 221.0 255.7 10.2 709 23655 0.22 0.00 0.00 0.000 6 0.114 0.000 2810 2265 2145
23962 0.77 221.0 232.6 7.2 724 23964 0.15 0.00 0.00 0.000 6 0.060 0.000 2880 2265 2145
24271 0.63 221.0 201.3 10.2 739 24273 0.22 0.00 0.00 0.000 6 0.116 0.000 2808 2265 2146
24580 0.78 223.8 179.6 6.8 754 24588 0.17 0.00 5.03 0.614 6 0.057 0.000 2888 2265 2132
24890 0.62 223.8 147.2 10.5 769 24892 0.25 0.00 0.00 0.000 6 0.117 0.000 2809 2265 2132
25199 0.79 223.8 124.7 7.0 784 25204 0.17 2.28 0.00 0.000 4 0.055 0.044 2891 3672 2132
25238 0.51 223.8 120.6 11.3 786 25244 0.38 2.22 0.00 0.000 6 0.121 0.030 2775 2238 2133
25568 0.86 251.0 101.0 5.8 802 25599 0.28 2.25 23.67 0.704 4 0.050 0.041 2898 872 2020
25698 0.73 251.0 86.9 11.7 807 25707 0.17 2.12 0.00 0.000 6 0.123 0.030 2845 2254 2018
26018 0.73 251.0 57.1 9.4 826 26024 0.00 2.30 0.00 0.000 4 0.000 0.047 2845 3683 2018
26071 0.73 251.0 51.6 10.3 835 26078 0.00 2.25 0.00 0.000 6 0.000 0.030 2850 2236 2018
26417 0.73 251.0 18.7 10.1 896 26423 0.00 2.15 0.00 0.000 4 0.000 0.041 2850 858 2017
26488 0.82 251.0 11.9 9.9 908 26495 0.00 2.12 0.00 0.000 6 0.000 0.032 2850 2252 2017
26588 end climb: SURFACE_DEPTH_REACHED
state 26588 begin surface coast
26652 end surface coast: CONTROL_FINISHED_OK
state 26652 begin surface