DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 421 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  141 HD_C  9.9999997e-06 ROLL_MIN  256 ALTIM_TOP_TURN_MARGIN  5
MISSION  15 HEADING  -1 ROLL_MAX  3943 ALTIM_TOP_MIN_OBSTACLE  2
DIVE  421 ESCAPE_HEADING  120 ROLL_DEG  40 ALTIM_PING_DEPTH  300
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2490 ALTIM_PING_DELTA  50
D_SURF  3 FIX_MISSING_TIMEOUT  5 C_ROLL_CLIMB  2275 ALTIM_FREQUENCY  13
D_FLARE  5 TGT_DEFAULT_LAT  6000 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_TGT  990 TGT_DEFAULT_LON  -5500 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  4
D_NO_BLEED  50 SM_CC  400 R_PORT_OVSHOOT  25 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  26 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  2 ROLL_AD_RATE  325 INT_PRESSURE_YINT  0
D_FINISH  9 CALL_NDIVES  1 ROLL_MAXERRORS  0 DEEPGLIDER  0
D_PITCH  1.75 COMM_SEQ  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  500 PROTOCOL  1 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  3 N_NOCOMM  1 VBD_MIN  751 DEVICE1  2
SURFACE_URGENCY  10 N_NOSURFACE  0 VBD_MAX  4040 DEVICE2  20
SURFACE_URGENCY_TRY  5 UPLOAD_DIVES_MAX  5 C_VBD  3030 DEVICE3  -1
SURFACE_URGENCY_FORCE  10 CALL_TRIES  3 VBD_DBAND  2 DEVICE4  -1
T_DIVE  330 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_MISSION  400 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  3 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_BATHY  -3 T_GPS_CHARGE  -38475.41 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  2 T_RSLEEP  2 CF8_MAXERRORS  0 COMPASS2_DEVICE  133
ICE_FREEZE_MARGIN  0.1 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
D_OFFGRID  250 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  32
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  110 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3900 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2864 PHONE_SUPPLY  2 SEABIRD_T_G  0.0042907749
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_YINT  -33.184971 SEABIRD_T_H  0.0006300722
SPEED_FACTOR  1 PITCH_CNV  0.0031256729 PRESSURE_SLOPE  0.0001160265 SEABIRD_T_I  2.4342404e-05
RHO  1.0275 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.663412e-06
MASS  51684 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8752003
NAV_MODE  0 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1299734
FERRY_MAX  45 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.00041852854
KALMAN_USE  2 PITCH_MAXERRORS  2 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00012689357
HD_A  0.003 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  20
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15

Pre-dive calculations and measurements:
GPS1  180411,003342,6719.106,-5819.986,0,5099.4,0,-38.9 TGT_NAME  TARGET_E
_CALLS  1 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  12.38 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  1.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  180411,003342,6719.106,-5819.986,0,5099.4,0,-38.9 MHEAD_RNG_PITCHd_Wd  153.1,72817,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1080

Post-dive calculations and measurements:
FINISH1  10.0,1.026824,33 _24V_AH  21.6,56.879
FINISH2  8.6 _10V_AH  10.1,29.092
RAFOS_CLK  989 FG_AHR_24Vo  0.000
RAFOS  0,1303099272,4.033333,4.020000,59,56,55,55,55,54,191,221,131,163,232,203 FG_AHR_10Vo  0.000
RAFOS_FIX  6720.504395,-5819.512207,180411,040444,3,130,0.17 MEM  150520
IRIDIUM_FIX  6625.71,-5714.90,310311,212146 DATA_FILE_SIZE  53355,1342
TT8_MAMPS  0.026215 CAP_FILE_SIZE  181318,0
HUMID  45.62 CFSIZE  260165632,225808384
INTERNAL_PRESSURE  8.71127 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.80 SOUNDSPEED  1460.8
XPDR_PINGS  0 GPS  180411,044344,6720.504,-5819.512,0,3129.7,0,-38.9
ALTIM_TOP_PING  19.6,14.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor623132.19 SBE_CT95624496.09
Roll_motor16276268.39 SBE_O2102919422.71
VBD_pump_during_apogee417155113999.92 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer000.00 nil000.00
Transponder_ping442036.29 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8340819685.78
LPSleep119142277.98
TT8_Active50619101.99
TT8_Sampling234539945.57
TT8_CF824645114.19
TT8_Kalman000.00
Analog_circuits177112214.67
GPS_charging000.00
Compass231515350.86
RAFOS2520138.18
Transponder32309.94

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -6.75 0.000 2 0.000 0.000 2883 3685 3195 0 0 0 0 0 0
27 -0.62 -146.0 13.9 -0.0 1 47 0.65 4.22 -9.45 0.000 4 0.131 0.059 2670 1066 3630 0 0 0 0 0 0
110 -0.57 -146.0 23.3 -13.1 15 117 0.00 2.28 0.00 0.000 6 0.000 0.059 2670 2489 3631 0 0 0 0 0 0
455 -0.48 -146.0 74.3 -14.5 76 463 0.15 2.35 0.00 0.000 4 0.231 0.076 2704 3904 3630 0 0 0 0 0 0
499 -0.51 -146.0 79.5 -10.9 83 506 0.00 2.20 0.00 0.000 6 0.000 0.046 2704 2482 3630 0 0 0 0 0 0
835 -0.51 -146.0 116.1 -10.1 130 839 0.00 2.20 0.00 0.000 4 0.000 0.060 2704 1079 3630 0 0 0 0 0 0
876 -0.54 -146.0 120.6 -11.0 133 880 0.00 2.25 0.00 0.000 6 0.000 0.058 2704 2494 3629 0 0 0 0 0 0
1201 -0.57 -146.0 154.4 -10.3 163 1205 0.00 2.28 0.00 0.000 4 0.000 0.076 2704 3899 3628 0 0 0 0 0 0
1273 -0.64 -146.0 161.5 -9.1 169 1282 0.15 2.20 0.00 0.000 6 0.120 0.046 2654 2491 3628 0 0 0 0 0 0
1601 -0.57 -146.0 205.7 -13.2 200 1602 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2490 3627 0 0 0 0 0 0
1918 -0.50 -146.0 247.1 -13.0 230 1920 0.17 0.00 0.00 0.000 6 0.203 0.000 2697 2490 3626 0 0 0 0 0 0
2235 -0.55 -146.0 274.7 -8.3 260 2236 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2491 3627 0 0 0 0 0 0
2556 -0.60 -146.0 300.6 -8.2 290 2560 0.00 2.22 0.00 0.000 4 0.000 0.057 2697 1078 3628 0 0 0 0 0 0
2569 -0.64 -146.0 301.7 -8.0 291 2574 0.12 2.22 0.00 0.000 6 0.129 0.055 2655 2491 3627 0 0 0 0 0 0
2894 -0.59 -146.0 338.4 -11.5 321 2899 0.00 2.30 0.00 0.000 4 0.000 0.072 2655 3903 3629 0 0 0 0 0 0
2928 -0.54 -146.0 342.4 -12.0 323 2935 0.12 2.20 0.00 0.000 6 0.197 0.043 2684 2482 3629 0 0 0 0 0 0
3253 -0.54 -146.0 373.8 -9.2 354 3257 0.00 2.17 0.00 0.000 4 0.000 0.057 2684 1080 3629 0 0 0 0 0 0
3269 -0.54 -146.0 375.6 -9.9 355 3276 0.00 2.22 0.00 0.000 6 0.000 0.055 2684 2494 3629 0 0 0 0 0 0
3595 -0.57 -146.0 404.4 -8.9 386 3596 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2494 3629 0 0 0 0 0 0
3915 -0.59 -146.0 431.6 -8.4 416 3919 0.00 2.28 0.00 0.000 4 0.000 0.073 2683 3899 3630 0 0 0 0 0 0
3934 -0.62 -146.0 433.4 -9.0 417 3937 0.00 2.17 0.00 0.000 6 0.000 0.044 2684 2480 3630 0 0 0 0 0 0
4266 -0.65 -146.0 463.8 -9.5 448 4268 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2480 3630 0 0 0 0 0 0
4584 -0.68 -146.0 493.6 -9.4 478 4589 0.12 2.20 0.00 0.000 4 0.132 0.057 2641 1077 3630 0 0 0 0 0 0
4628 -0.64 -146.0 499.0 -12.4 481 4635 0.00 2.28 0.00 0.000 6 0.000 0.057 2641 2498 3629 0 0 0 0 0 0
4954 -0.58 -146.0 539.6 -12.0 512 4958 0.12 2.30 0.00 0.000 4 0.218 0.074 2670 3904 3629 0 0 0 0 0 0
4986 -0.58 -146.0 543.4 -10.7 514 4993 0.00 2.20 0.00 0.000 6 0.000 0.044 2670 2482 3629 0 0 0 0 0 0
5312 -0.58 -146.0 575.2 -9.8 545 5313 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2482 3630 0 0 0 0 0 0
5640 -0.58 -146.0 605.9 -9.3 572 5644 0.00 2.33 0.00 0.000 4 0.000 0.071 2670 3899 3629 0 0 0 0 0 0
5650 -0.58 -146.0 607.1 -9.1 572 5654 0.00 2.20 0.00 0.000 6 0.000 0.043 2670 2479 3629 0 0 0 0 0 0
5974 -0.58 -146.0 636.5 -9.1 583 5975 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2479 3629 0 0 0 0 0 0
6281 -0.58 -146.0 663.3 -8.5 593 6282 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2479 3630 0 0 0 0 0 0
6587 -0.58 -146.0 689.5 -8.7 603 6590 0.00 2.17 0.00 0.000 4 0.000 0.059 2670 1083 3629 0 0 0 0 0 0
6597 -0.58 -146.0 690.5 -8.7 603 6601 0.00 2.22 0.00 0.000 6 0.000 0.058 2670 2490 3629 0 0 0 0 0 0
6922 -0.58 -146.0 718.7 -8.8 614 6923 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2490 3629 0 0 0 0 0 0
7227 -0.58 -146.0 746.5 -9.0 624 7229 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2490 3629 0 0 0 0 0 0
7536 -0.60 -146.0 774.0 -8.9 634 7540 0.00 2.33 0.00 0.000 4 0.000 0.076 2670 3905 3629 0 0 0 0 0 0
7557 -0.60 -146.0 776.3 -8.9 634 7564 0.00 2.20 0.00 0.000 6 0.000 0.045 2670 2486 3629 0 0 0 0 0 0
7871 -0.62 -146.0 802.8 -8.3 645 7875 0.00 2.20 0.00 0.000 4 0.000 0.060 2670 1080 3629 0 0 0 0 0 0
7905 -0.65 -146.0 806.0 -9.3 646 7909 0.00 2.25 0.00 0.000 6 0.000 0.059 2670 2491 3629 0 0 0 0 0 0
8235 -0.67 -146.0 834.1 -8.7 657 8236 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2491 3629 0 0 0 0 0 0
8541 -0.69 -146.0 860.8 -8.7 667 8542 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2491 3629 0 0 0 0 0 0
8848 -0.72 -146.0 886.6 -8.3 677 8849 0.12 0.00 0.00 0.000 6 0.129 0.000 2628 2492 3628 0 0 0 0 0 0
9153 -0.63 -146.0 921.0 -11.7 687 9155 0.12 0.00 0.00 0.000 6 0.217 0.000 2656 2492 3628 0 0 0 0 0 0
9464 -0.63 -146.0 950.8 -9.6 697 9468 0.00 2.30 0.00 0.000 4 0.000 0.076 2656 3901 3628 0 0 0 0 0 0
9502 -0.63 -146.0 955.1 -8.8 698 9506 0.00 2.20 0.00 0.000 6 0.000 0.047 2655 2482 3628 0 0 0 0 0 0
9832 -0.93 -146.0 967.9 -0.0 709 9834 0.28 0.00 0.00 0.000 6 0.106 0.000 2560 2482 3629 0 0 0 0 0 0
9891 end dive: NO_VERTICAL_VELOCITY
state 9891 begin apogee
9897 -0.12 0.0 967.9 0.0 711 10032 0.80 0.00 128.38 1.551 6 0.124 0.000 2819 2258 3029 0 0 0 0 0 0
10033 end apogee: CONTROL_FINISHED_OK
state 10033 begin climb
10035 0.62 146.0 967.8 0.0 715 10183 0.77 2.55 136.85 1.493 4 0.124 0.067 3065 884 2433 0 0 0 0 0 0
10353 0.54 146.0 938.1 12.5 725 10357 0.00 2.35 0.00 0.000 6 0.000 0.054 3063 2276 2426 0 0 0 0 0 0
10687 0.46 146.0 896.0 12.4 736 10692 0.17 2.33 0.00 0.000 4 0.187 0.071 3017 3683 2425 0 0 0 0 0 0
10771 0.40 146.0 886.8 10.7 738 10776 0.12 2.25 0.00 0.000 6 0.197 0.055 2997 2284 2425 0 0 0 0 0 0
11089 0.47 183.1 859.7 8.3 749 11124 0.00 0.00 33.10 1.408 6 0.000 0.000 2997 2283 2283 0 0 0 0 0 0
11426 0.57 213.8 831.2 8.6 760 11462 0.15 2.40 28.83 1.382 4 0.094 0.070 3072 872 2158 0 0 0 0 0 0
11497 0.51 213.8 822.1 14.4 762 11502 0.15 2.33 0.00 0.000 6 0.187 0.056 3036 2285 2154 0 0 0 0 0 0
11826 0.51 213.8 783.4 11.5 773 11830 0.00 2.28 0.00 0.000 4 0.000 0.072 3035 3692 2152 0 0 0 0 0 0
11899 0.48 213.8 773.5 13.5 775 11903 0.00 2.25 0.00 0.000 6 0.000 0.055 3044 2279 2150 0 0 0 0 0 0
12222 0.45 213.8 733.4 12.3 786 12227 0.12 2.28 0.00 0.000 4 0.198 0.067 3021 860 2149 0 0 0 0 0 0
12273 0.52 222.2 728.1 9.6 787 12285 0.00 2.25 7.85 1.164 6 0.000 0.055 3021 2281 2124 0 0 0 0 0 0
12590 0.56 222.2 696.2 10.0 798 12595 0.00 2.28 0.00 0.000 4 0.000 0.071 3021 3686 2122 0 0 0 0 0 0
12652 0.56 222.2 688.8 13.5 799 12658 0.00 2.28 0.00 0.000 6 0.000 0.055 3031 2262 2121 0 0 0 0 0 0
12964 0.56 222.2 653.5 11.3 810 12968 0.00 2.22 0.00 0.000 4 0.000 0.067 3042 864 2121 0 0 0 0 0 0
13014 0.58 222.2 647.6 11.3 811 13018 0.00 2.25 0.00 0.000 6 0.000 0.055 3042 2276 2120 0 0 0 0 0 0
13333 0.58 222.2 610.1 11.5 822 13337 0.00 2.28 0.00 0.000 4 0.000 0.070 3042 3695 2120 0 0 0 0 0 0
13399 0.55 222.2 601.3 13.6 824 13403 0.00 2.25 0.00 0.000 6 0.000 0.054 3052 2268 2120 0 0 0 0 0 0
13725 0.52 222.2 560.4 12.5 853 13729 0.00 2.22 0.00 0.000 4 0.000 0.066 3063 865 2120 0 0 0 0 0 0
13764 0.52 222.2 555.3 13.1 856 13769 0.12 2.25 0.00 0.000 6 0.183 0.054 3033 2281 2119 0 0 0 0 0 0
14089 0.52 222.2 519.1 11.1 886 14093 0.00 2.25 0.00 0.000 4 0.000 0.070 3032 3689 2119 0 0 0 0 0 0
14144 0.52 222.2 512.1 13.0 890 14151 0.00 2.25 0.00 0.000 6 0.000 0.054 3040 2272 2119 0 0 0 0 0 0
14469 0.52 222.2 473.9 11.8 921 14473 0.00 2.22 0.00 0.000 4 0.000 0.065 3050 865 2119 0 0 0 0 0 0
14519 0.52 222.2 468.1 11.7 925 14524 0.00 2.22 0.00 0.000 6 0.000 0.054 3050 2281 2119 0 0 0 0 0 0
14850 0.52 222.2 426.3 12.7 956 14854 0.00 2.25 0.00 0.000 4 0.000 0.069 3050 3691 2119 0 0 0 0 0 0
14913 0.48 222.2 417.6 13.3 961 14918 0.15 2.22 0.00 0.000 6 0.194 0.052 3023 2273 2119 0 0 0 0 0 0
15244 0.53 231.0 384.9 9.6 992 15259 0.00 2.30 8.73 1.030 4 0.000 0.065 3029 867 2088 0 0 0 0 0 0
15315 0.61 238.4 377.8 9.7 998 15334 0.00 2.25 8.70 1.028 6 0.000 0.052 3030 2282 2058 0 0 0 0 0 0
15652 0.69 255.0 344.8 9.2 1030 15676 0.15 2.28 16.67 1.090 4 0.093 0.066 3095 3691 1990 0 0 0 0 0 0
15715 0.58 255.0 335.1 18.1 1035 15723 0.20 2.28 0.00 0.000 6 0.199 0.052 3057 2276 1988 0 0 0 0 0 0
16040 0.58 255.0 291.8 13.0 1066 16044 0.00 2.25 0.00 0.000 4 0.000 0.064 3065 859 1987 0 0 0 0 0 0
16085 0.61 255.0 286.1 12.8 1070 16089 0.00 2.25 0.00 0.000 6 0.000 0.053 3066 2285 1985 0 0 0 0 0 0
16411 0.58 255.0 242.4 14.3 1100 16415 0.00 2.25 0.00 0.000 4 0.000 0.067 3066 3685 1985 0 0 0 0 0 0
16473 0.53 255.0 233.2 16.7 1105 16478 0.15 2.22 0.00 0.000 6 0.189 0.052 3038 2268 1985 0 0 0 0 0 0
16799 0.56 255.0 198.5 10.6 1135 16803 0.00 2.22 0.00 0.000 4 0.000 0.063 3042 859 1984 0 0 0 0 0 0
16866 0.67 282.8 191.9 8.7 1140 16898 0.10 2.25 25.98 1.011 6 0.125 0.050 3086 2287 1876 0 0 0 0 0 0
17224 0.63 282.8 138.4 15.2 1174 17229 0.00 2.25 0.00 0.000 4 0.000 0.065 3087 3687 1872 0 0 0 0 0 0
17265 0.59 282.8 132.2 14.1 1177 17270 0.17 2.22 0.00 0.000 6 0.187 0.050 3052 2267 1871 0 0 0 0 0 0
17593 0.70 307.5 96.7 8.9 1210 17624 0.12 2.25 22.70 0.941 4 0.103 0.062 3121 866 1775 0 0 0 0 0 0
17722 0.70 307.5 79.7 12.6 1232 17729 0.12 2.25 0.00 0.000 6 0.191 0.048 3091 2286 1773 0 0 0 0 0 0
18069 0.74 307.5 40.4 10.9 1293 18076 0.00 2.25 0.00 0.000 4 0.000 0.064 3091 3691 1771 0 0 0 0 0 0
18116 0.74 307.5 34.1 13.7 1301 18123 0.00 2.22 0.00 0.000 6 0.000 0.050 3098 2275 1770 0 0 0 0 0 0
18307 end climb: SURFACE_OBSTACLE_DETECTED
state 18307 begin subsurface finish
18313 0.04 33.1 10.0 -12.1 1335 18356 0.70 2.25 -33.83 0.000 4 0.165 0.073 2886 858 2897 0 0 0 0 0 0
18357 end subsurface finish: CONTROL_FINISHED_OK
state 18357 begin surface