SOSCEx Sep12 * SG574 * Dive index * Mission links * Dive 403 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  574 HD_B  0.010078 ROLL_MIN  160 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 HD_C  9.8500004e-06 ROLL_MAX  3798 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  403 HEADING  120 ROLL_DEG  40 ALTIM_PING_DEPTH  1000
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  1950 ALTIM_PING_DELTA  5
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1500 ALTIM_FREQUENCY  13
D_TGT  1000 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  15 ALTIM_PULSE  3
D_ABORT  1050 TGT_DEFAULT_LAT  -4235 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 TGT_DEFAULT_LON  -200 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  3 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  26 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  250 R_STBD_OVSHOOT  58 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST_BLACKOUT  0 N_FILEKB  4 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -1.812
D_FINISH  0 FILEMGR  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 KERMIT  0 ROLL_GAIN_P  0.5 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  396 DEVICE2  115
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE3  20
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  2827 DEVICE4  134
T_DIVE  300 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  325 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  720 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  7
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  4.9999999e-05 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_ALMANAC  0 UNCOM_BLEED  60 COMPASS_DEVICE  33
USE_ICE  0 T_GPS_CHARGE  -7139.0356 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 PHONE_DEVICE  48
D_OFFGRID  100 STROBE  0 AH0_24V  150 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_CORR_THRESH  60 MINV_24V  20 XPDR_DEVICE  24
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 SIM_W  0
MAX_BUOY  150 PITCH_MIN  92 FG_AHR_10V  0 SIM_PITCH  0
COURSE_BIAS  0 PITCH_MAX  3858 FG_AHR_24V  0 SEABIRD_T_G  0.0043508084
GLIDE_SLOPE  30 C_PITCH  3013 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062732975
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -61.017719 SEABIRD_T_I  2.3669163e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011710486 SEABIRD_T_J  2.5502761e-06
MASS  53599 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9075203
LENGTH  1.8 PITCH_GAIN  24 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1452845
NAV_MODE  0 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.00093430834
DIRECT_CONTROL  0 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_J  0.0001541152
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 EBE_ENABLE  0
KALMAN_USE  2 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  20
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20 GC_LAST_COLLECTION  382

Pre-dive calculations and measurements:
GPS1  231212,052735,-4127.877,-527.088,30,1.0,30,-22.4 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  -4133.289,-514.528
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.143,-0.253
_SM_DEPTHo  2.54 KALMAN_X  -450768.2,55.4,-146.1,643435.0,-838.8
_SM_ANGLEo  -69.1 KALMAN_Y  54548.8,221.8,-27.0,52814.2,1450.5
GPS2  231212,053628,-4127.890,-527.026,42,1.6,46,-22.4 MHEAD_RNG_PITCHd_Wd  142.4,20000,-19.9,-11.111
SPEED_LIMITS  0.192,0.269 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.5,1.013393 _10V_AH  9.9,58.302
SM_CCo  18064,0.00,0.000,0,0,812,494.27 FG_AHR_24Vo  0.000
SM_GC  2.68,9.12,0.00,0.00,0.057,0.000,0.000,95,1963,812,-9.08,0.37,494.27 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4112.14,-528.05,231212,000010 MEM  354504
TT8_MAMPS  0.026964 DATA_FILE_SIZE  56966,938
HUMID  50.47 CAP_FILE_SIZE  174307,0
INTERNAL_PRESSURE  9.03803 CFSIZE  2097086464,2039119872
TCM_TEMP  11.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS  0 GPS  231212,103935,-4127.508,-526.404,67,0.8,67,-22.4
_24V_AH  21.6,97.109

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor25255142.53 SBE_CT60424313.38
Roll_motor13174210.85 WL_BB2FLVMT10341052346.00
VBD_pump_during_apogee598150219427.26 SBE_O261219251.31
VBD_pump_during_surface000.00 QSP21507747.33
VBD_valve000.00 nil000.00
Iridium_during_init2710360.36 nil000.00
Iridium_during_connect55160193.25 nil000.00
Iridium_during_xfer2832231365.68 nil000.00
Transponder_ping04202.27 nil000.00
GUMSTIX_24V000.00
GPS492613.08
TT8240114355.70
LPSleep121942264.39
TT8_Active6421490.34
TT8_Sampling3135371162.02
TT8_CF821747101.62
TT8_Kalman000.00
Analog_circuits186612221.72
GPS_charging000.00
Compass268815418.74
RAFOS000.00
Transponder2300.84

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
24 end surface: CONTROL_FINISHED_OK
state 24 begin dive
26 -0.84 -145.9 0.0 0.0 0 89 0.00 0.00 -60.47 0.000 2 0.000 0.000 66 1954 2216 0 0 0 0 0 0
92 -0.84 -145.9 3.1 -1.1 10 148 12.07 2.33 -38.38 0.000 4 0.256 0.074 2736 543 3420 0 0 0 0 0 0
245 -0.89 -145.9 20.7 -15.2 35 252 0.00 2.20 0.00 0.000 6 0.000 0.038 2728 1929 3422 0 0 0 0 0 0
323 -0.94 -145.9 30.9 -11.5 48 330 0.00 0.60 0.00 0.000 4 0.000 0.049 2726 2339 3422 0 0 0 0 0 0
348 -1.01 -145.9 34.0 -12.8 52 356 0.08 0.62 0.00 0.000 6 0.069 0.050 2686 1934 3422 0 0 0 0 0 0
587 -0.98 -145.9 62.5 -12.4 93 593 0.00 2.28 0.00 0.000 4 0.000 0.063 2686 557 3423 0 0 0 0 0 0
682 -0.95 -145.9 74.5 -11.4 110 688 0.10 2.17 0.00 0.000 6 0.182 0.035 2700 1961 3423 0 0 0 0 0 0
1026 -1.01 -145.9 108.9 -11.2 162 1031 0.00 2.28 0.00 0.000 4 0.000 0.058 2700 550 3423 0 0 0 0 0 0
1123 -1.01 -145.9 120.6 -12.1 168 1127 0.00 2.17 0.00 0.000 6 0.000 0.036 2691 1953 3423 0 0 0 0 0 0
1450 -1.04 -145.9 158.8 -11.6 189 1454 0.00 2.30 0.00 0.000 4 0.000 0.058 2691 543 3424 0 0 0 0 0 0
1521 -1.04 -145.9 167.2 -11.8 193 1525 0.00 2.17 0.00 0.000 6 0.000 0.035 2681 1952 3424 0 0 0 0 0 0
1845 -1.04 -145.9 204.8 -11.7 214 1849 0.00 2.28 0.00 0.000 4 0.000 0.058 2681 549 3425 0 0 0 0 0 0
1946 -1.02 -145.9 217.3 -12.2 220 1950 0.00 2.17 0.00 0.000 6 0.000 0.035 2671 1960 3425 0 0 0 0 0 0
2265 -1.02 -145.9 256.5 -12.6 240 2269 0.00 2.28 0.00 0.000 4 0.000 0.057 2671 544 3426 0 0 0 0 0 0
2354 -0.97 -145.9 268.2 -12.4 244 2359 0.15 2.17 0.00 0.000 6 0.164 0.035 2700 1956 3426 0 0 0 0 0 0
2683 -1.03 -145.9 303.8 -10.9 260 2687 0.05 2.30 0.00 0.000 4 0.164 0.055 2673 544 3426 0 0 0 0 0 0
2761 -1.00 -145.9 313.3 -11.5 263 2767 0.10 2.15 0.00 0.000 6 0.176 0.033 2687 1955 3426 0 0 0 0 0 0
3079 -1.03 -145.9 348.4 -11.1 279 3083 0.00 2.28 0.00 0.000 4 0.000 0.055 2687 541 3427 0 0 0 0 0 0
3163 -1.03 -145.9 358.2 -10.8 282 3171 0.00 2.17 0.00 0.000 6 0.000 0.033 2678 1948 3427 0 0 0 0 0 0
3479 -1.06 -145.9 394.2 -11.9 298 3483 0.00 2.25 0.00 0.000 4 0.000 0.054 2678 555 3427 0 0 0 0 0 0
3544 -1.06 -145.9 402.0 -12.7 301 3548 0.00 2.15 0.00 0.000 6 0.000 0.032 2668 1963 3427 0 0 0 0 0 0
3878 -1.06 -145.9 443.1 -12.2 312 3882 0.00 2.28 0.00 0.000 4 0.000 0.054 2668 546 3427 0 0 0 0 0 0
3962 -1.01 -145.9 454.2 -12.9 314 3966 0.10 2.15 0.00 0.000 6 0.183 0.032 2682 1956 3428 0 0 0 0 0 0
4280 -1.05 -145.9 492.2 -11.9 325 4284 0.00 2.28 0.00 0.000 4 0.000 0.052 2682 540 3428 0 0 0 0 0 0
4362 -1.05 -145.9 502.7 -11.7 327 4367 0.00 2.17 0.00 0.000 6 0.000 0.031 2673 1949 3428 0 0 0 0 0 0
4681 -1.05 -145.9 537.9 -10.8 338 4685 0.00 2.28 0.00 0.000 4 0.000 0.053 2673 536 3428 0 0 0 0 0 0
4754 -1.02 -145.9 546.1 -11.1 340 4758 0.08 2.17 0.00 0.000 6 0.193 0.032 2679 1961 3428 0 0 0 0 0 0
5078 -1.06 -145.9 579.7 -10.5 351 5082 0.00 2.28 0.00 0.000 4 0.000 0.052 2679 545 3428 0 0 0 0 0 0
5149 -1.06 -145.9 587.9 -10.8 353 5154 0.00 2.17 0.00 0.000 6 0.000 0.032 2670 1948 3428 0 0 0 0 0 0
5480 -1.06 -145.9 623.2 -10.7 364 5484 0.00 2.17 0.00 0.000 4 0.000 0.045 2660 3349 3428 0 0 0 0 0 0
5542 -1.06 -145.9 630.1 -10.3 366 5546 0.00 2.15 0.00 0.000 6 0.000 0.037 2660 1941 3428 0 0 0 0 0 0
5883 -1.06 -145.9 669.9 -12.0 377 5886 0.00 1.12 0.00 0.000 4 0.000 0.049 2660 1223 3428 0 0 0 0 0 0
5977 -1.06 -145.9 681.9 -12.4 379 5983 0.00 1.12 0.00 0.000 6 0.000 0.034 2655 1956 3427 0 0 0 0 0 0
6290 -1.06 -145.9 719.9 -12.1 390 6294 0.00 2.17 0.00 0.000 4 0.000 0.047 2644 3351 3427 0 0 0 0 0 0
6352 -1.02 -145.9 727.8 -12.8 392 6357 0.15 2.17 0.00 0.000 6 0.164 0.036 2683 1939 3427 0 0 0 0 0 0
6687 -1.08 -145.9 766.5 -11.5 403 6690 0.00 0.88 0.00 0.000 4 0.000 0.042 2681 2512 3427 0 0 0 0 0 0
6721 -1.13 -145.9 770.5 -11.3 404 6725 0.08 0.88 0.00 0.000 6 0.067 0.042 2641 1944 3427 0 0 0 0 0 0
7062 -1.09 -145.9 812.9 -12.4 415 7067 0.08 0.45 0.00 0.000 4 0.200 0.055 2657 1635 3427 0 0 0 0 0 0
7319 -1.09 -145.9 843.4 -11.8 422 7323 0.00 0.50 0.00 0.000 6 0.000 0.041 2656 1971 3427 0 0 0 0 0 0
7637 -1.09 -145.9 880.9 -12.0 433 7641 0.00 0.77 0.00 0.000 4 0.000 0.049 2656 1475 3427 0 0 0 0 0 0
7754 -1.09 -145.9 895.1 -12.3 436 7759 0.00 0.73 0.00 0.000 6 0.000 0.038 2653 1946 3427 0 0 0 0 0 0
8078 -1.09 -145.9 933.6 -11.8 447 8082 0.00 1.80 0.00 0.000 4 0.000 0.044 2644 3112 3427 0 0 0 0 0 0
8117 -1.06 -145.9 938.4 -12.0 448 8121 0.08 1.83 0.00 0.000 6 0.157 0.037 2667 1942 3426 0 0 0 0 0 0
8452 -1.10 -145.9 974.0 -10.4 459 8456 0.00 1.33 0.00 0.000 4 0.000 0.043 2662 2788 3427 0 0 0 0 0 0
8486 -1.13 -145.9 977.6 -10.5 460 8490 0.00 1.30 0.00 0.000 6 0.000 0.040 2662 1950 3427 0 0 0 0 0 0
8704 end dive: TARGET_DEPTH_EXCEEDED
state 8704 begin apogee
8709 -0.21 0.0 1000.1 10.3 467 8846 0.93 0.00 132.77 1.502 6 0.135 0.000 2938 1499 2827 0 0 0 0 0 0
8846 end apogee: CONTROL_FINISHED_OK
state 8847 begin climb
8848 0.84 145.9 1009.4 0.0 471 8992 1.02 0.00 137.60 1.476 6 0.070 0.000 3276 1499 2231 0 0 0 0 0 0
9277 0.57 268.5 1006.1 4.9 485 9394 0.28 2.33 109.62 1.449 4 0.211 0.062 3217 175 1733 0 0 0 0 0 0
9478 0.53 323.3 991.7 8.3 490 9535 0.12 2.10 50.70 1.395 6 0.192 0.034 3191 1503 1509 0 0 0 0 0 0
9860 0.64 392.6 961.9 7.6 503 9930 0.08 2.33 63.90 1.413 4 0.125 0.067 3220 181 1226 0 0 0 0 0 0
9998 0.75 427.1 949.7 9.4 507 10038 0.10 2.08 32.97 1.351 6 0.119 0.033 3254 1518 1085 0 0 0 0 0 0
10357 0.84 444.2 913.2 10.2 519 10376 0.10 0.00 16.55 1.297 6 0.116 0.000 3290 1518 1015 0 0 0 0 0 0
10663 0.87 444.2 878.3 11.5 529 10667 0.00 2.20 0.00 0.000 4 0.000 0.068 3293 179 1011 0 0 0 0 0 0
10718 0.87 444.2 871.6 11.5 530 10723 0.00 2.03 0.00 0.000 6 0.000 0.034 3292 1483 1010 0 0 0 0 0 0
11037 0.87 444.2 834.7 11.8 541 11040 0.00 1.33 0.00 0.000 4 0.000 0.064 3297 678 1009 0 0 0 0 0 0
11071 0.87 444.2 830.6 12.2 542 11075 0.00 1.25 0.00 0.000 6 0.000 0.036 3297 1496 1008 0 0 0 0 0 0
11411 0.87 444.2 790.6 11.5 553 11415 0.00 2.20 0.00 0.000 4 0.000 0.067 3305 170 1008 0 0 0 0 0 0
11462 0.82 444.2 784.5 12.3 554 11467 0.10 2.05 0.00 0.000 6 0.200 0.037 3284 1498 1007 0 0 0 0 0 0
11781 0.86 448.5 749.2 10.9 565 11790 0.00 0.88 4.05 0.784 4 0.000 0.061 3287 990 998 0 0 0 0 0 0
11807 0.89 451.1 746.1 11.0 565 11816 0.00 0.77 4.28 0.807 6 0.000 0.039 3287 1510 987 0 0 0 0 0 0
12153 0.92 451.1 705.5 12.2 577 12157 0.08 1.25 0.00 0.000 4 0.134 0.062 3322 751 988 0 0 0 0 0 0
12180 0.89 451.1 701.7 12.9 577 12186 0.05 1.12 0.00 0.000 6 0.181 0.037 3307 1498 987 0 0 0 0 0 0
12493 0.89 451.1 660.8 13.1 588 12497 0.00 1.83 0.00 0.000 4 0.000 0.066 3314 378 987 0 0 0 0 0 0
12531 0.83 451.1 655.6 14.1 589 12536 0.10 1.73 0.00 0.000 6 0.172 0.037 3286 1497 988 0 0 0 0 0 0
12866 0.87 451.1 613.5 12.5 600 12870 0.00 0.60 0.00 0.000 4 0.000 0.063 3287 1118 988 0 0 0 0 0 0
12888 0.90 451.1 610.6 12.2 600 12892 0.00 0.57 0.00 0.000 6 0.000 0.043 3287 1502 988 0 0 0 0 0 0
13207 0.93 451.1 571.0 12.4 611 13211 0.08 2.05 0.00 0.000 4 0.130 0.068 3327 266 987 0 0 0 0 0 0
13244 0.84 451.1 565.6 14.1 612 13249 0.12 1.92 0.00 0.000 6 0.165 0.039 3284 1500 988 0 0 0 0 0 0
13579 0.89 451.1 526.9 11.2 623 13583 0.00 2.17 0.00 0.000 4 0.000 0.044 3284 2901 988 0 0 0 0 0 0
13663 0.96 453.7 517.0 11.0 625 13675 0.10 2.22 4.57 0.783 6 0.107 0.050 3331 1510 976 0 0 0 0 0 0
13981 0.91 453.7 478.5 12.0 636 13986 0.10 1.62 0.00 0.000 4 0.189 0.066 3314 533 977 0 0 0 0 0 0
14024 0.87 453.7 473.1 12.8 637 14029 0.05 1.50 0.00 0.000 6 0.177 0.039 3300 1506 977 0 0 0 0 0 0
14354 0.90 467.3 438.0 10.4 648 14373 0.00 1.75 14.73 1.061 4 0.000 0.044 3300 2597 922 0 0 0 0 0 0
14413 0.90 487.1 431.6 10.1 649 14438 0.00 1.80 20.58 1.081 6 0.000 0.051 3307 1491 840 0 0 0 0 0 0
14750 0.95 493.3 396.1 10.8 661 14759 0.00 0.00 6.30 0.853 6 0.000 0.000 3307 1492 815 0 0 0 0 0 0
15056 1.00 493.3 362.4 11.2 676 15061 0.10 0.55 0.00 0.000 4 0.109 0.068 3350 1150 815 0 0 0 0 0 0
15084 0.98 493.3 358.9 12.5 677 15088 0.08 0.52 0.00 0.000 6 0.207 0.044 3334 1499 814 0 0 0 0 0 0
15412 0.98 493.3 318.1 12.8 693 15416 0.00 1.20 0.00 0.000 4 0.000 0.041 3334 2282 814 0 0 0 0 0 0
15462 0.98 493.3 311.3 13.2 695 15466 0.00 1.25 0.00 0.000 6 0.000 0.052 3338 1504 814 0 0 0 0 0 0
15791 0.98 493.3 268.4 12.9 711 15792 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 1504 814 0 0 0 0 0 0
16107 0.98 493.3 228.4 12.4 729 16108 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 1504 814 0 0 0 0 0 0
16420 0.98 493.3 188.0 13.1 749 16421 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 1504 814 0 0 0 0 0 0
16732 0.98 493.3 149.3 11.7 769 16733 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 1504 814 0 0 0 0 0 0
17045 0.98 493.3 113.0 12.0 789 17046 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 1504 814 0 0 0 0 0 0
17369 0.98 493.3 73.2 12.4 833 17373 0.00 0.47 0.00 0.000 4 0.000 0.043 3338 1835 814 0 0 0 0 0 0
17419 0.98 493.3 67.4 11.3 842 17424 0.00 0.55 0.00 0.000 6 0.000 0.058 3341 1487 814 0 0 0 0 0 0
17769 0.98 493.3 26.4 11.2 903 17776 0.00 0.70 0.00 0.000 4 0.000 0.040 3341 1957 814 0 0 0 0 0 0
17808 0.98 493.3 21.9 12.3 909 17816 0.03 0.75 0.00 0.000 6 0.205 0.056 3337 1491 814 0 0 0 0 0 0
17889 0.98 493.3 11.3 12.8 922 17895 0.00 0.00 0.00 0.000 6 0.000 0.000 3337 1491 815 0 0 0 0 0 0
17960 end climb: SURFACE_DEPTH_REACHED
state 17960 begin surface coast
17985 end surface coast: CONTROL_FINISHED_OK
state 17986 begin surface