OKMC Nov11 * SG169 * Dive index * Mission links * Dive 600 * 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  20
DIVE  600 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  500
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2630 ALTIM_PING_DELTA  50
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  280 UPLOAD_DIVES_MAX  -1 C_VBD  2979 DEVICE3  35
T_MISSION  320 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  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -13671.485 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  300 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  050312,234837,2327.456,12139.121,53,1.1,53,-3.1 TGT_NAME  N1
_CALLS  2 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.81 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  050312,235744,2327.861,12139.348,15,1.8,15,-3.1 MHEAD_RNG_PITCHd_Wd  227.5,50484,-14.6,-11.786
SPEED_LIMITS  0.204,0.374 D_GRID  1282

Post-dive calculations and measurements:
FINISH  0.0,1.021919 _10V_AH  9.8,73.278
SM_CCo  15224,0.00,0.000,0,0,409,630.42 FG_AHR_24Vo  0.000
SM_GC  0.66,5.65,0.25,0.00,0.028,0.061,0.000,129,2650,409,-5.80,-0.37,630.42,0,0,0,0,0,0,25.62,26.10,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2321.52,12145.38,050312,232344 MEM  324640
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  90353,1363
HUMID  51.37 CAP_FILE_SIZE  174977,0
INTERNAL_PRESSURE  9.41798 CFSIZE  260165632,166055936
TCM_TEMP  22.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS  0 CURRENT  0.197, 42.6,1
_24V_AH  22.5,121.748 GPS  060312,041306,2327.291,12138.895,39,1.8,45,-3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622786.43 SBE_CT92624500.45
Roll_motor15673258.02 AA43301739331291.79
VBD_pump_during_apogee802123722321.76 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init56103131.05 nil000.00
Iridium_during_connect83160298.90 nil000.00
Iridium_during_xfer198223994.44 nil000.00
Transponder_ping242023.62 nil000.00
GUMSTIX_24V000.00
GPS16507.96
TT8339319658.46
LPSleep81642175.22
TT8_Active87619170.03
TT8_Sampling2898391130.70
TT8_CF841545186.62
TT8_Kalman000.00
Analog_circuits229612270.10
GPS_charging000.00
Compass239915352.66
RAFOS000.00
Transponder19305.64

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 -0.72 -292.0 0.0 0.0 0 118 0.00 0.00 -98.62 0.000 2 0.000 0.000 117 2666 2995 0 0 0 0 0 0 28.83 28.83 28.83
122 -0.72 -292.0 4.1 -10.4 17 154 6.88 1.73 -17.05 0.000 4 0.228 0.051 1759 3827 3961 0 0 0 0 0 0 24.77 25.75 26.48
238 -0.65 -292.0 45.8 -23.2 38 245 0.12 1.77 0.00 0.000 6 0.158 0.023 1795 2595 3962 0 0 0 0 0 0 25.53 25.94 28.83
553 -0.55 -292.0 132.1 -27.3 99 561 0.12 2.22 0.00 0.000 4 0.177 0.025 1843 1177 3962 0 0 0 0 0 0 25.85 25.75 28.83
610 -0.57 -292.0 143.1 -12.1 109 617 0.00 2.42 0.00 0.000 6 0.000 0.035 1832 2648 3962 0 0 0 0 0 0 28.83 25.63 28.83
923 -0.54 -292.0 192.2 -16.1 170 930 0.00 2.35 0.00 0.000 4 0.000 0.026 1832 1177 3963 0 0 0 0 0 0 28.83 25.78 28.83
983 -0.60 -292.0 200.0 -9.7 181 990 0.00 2.42 0.00 0.000 6 0.000 0.036 1823 2647 3963 0 0 0 0 0 0 28.83 25.61 28.83
1289 -0.56 -292.0 243.6 -15.9 212 1298 0.00 2.35 0.00 0.000 4 0.000 0.026 1823 1172 3963 0 0 0 0 0 0 28.83 25.76 28.83
1352 -0.59 -292.0 250.8 -9.1 218 1360 0.00 2.42 0.00 0.000 6 0.000 0.036 1814 2645 3963 0 0 0 0 0 0 28.83 25.60 28.83
1661 -0.55 -292.0 297.3 -17.0 249 1670 0.00 2.35 0.00 0.000 4 0.000 0.028 1814 1182 3961 0 0 0 0 0 0 28.83 25.73 28.83
1713 -0.57 -292.0 303.8 -12.0 254 1722 0.00 2.40 0.00 0.000 6 0.000 0.037 1812 2637 3960 0 0 0 0 0 0 28.83 25.53 28.83
2024 -0.54 -292.0 348.0 -13.2 285 2025 0.00 0.00 0.00 0.000 6 0.000 0.000 1813 2636 3958 0 0 0 0 0 0 28.83 28.83 28.83
2325 -0.52 -292.0 387.5 -13.2 315 2334 0.00 2.33 0.00 0.000 4 0.000 0.027 1812 1178 3957 0 0 0 0 0 0 28.83 25.73 28.83
2389 -0.56 -292.0 394.2 -9.0 321 2398 0.00 2.42 0.00 0.000 6 0.000 0.037 1812 2641 3956 0 0 0 0 0 0 28.83 25.53 28.83
2700 -0.55 -292.0 430.1 -12.6 352 2708 0.00 2.33 0.00 0.000 4 0.000 0.026 1812 1178 3954 0 0 0 0 0 0 28.83 25.74 28.83
2727 -0.54 -292.0 433.1 -12.4 354 2734 0.00 2.45 0.00 0.000 6 0.000 0.037 1809 2649 3954 0 0 0 0 0 0 28.83 25.50 28.83
3032 -0.52 -292.0 469.6 -13.4 385 3041 0.10 2.33 0.00 0.000 4 0.155 0.024 1838 1185 3951 0 0 0 0 0 0 26.17 25.70 28.83
3068 -0.54 -292.0 473.4 -12.4 388 3075 0.00 2.42 0.00 0.000 6 0.000 0.036 1836 2646 3951 0 0 0 0 0 0 28.83 25.52 28.83
3375 -0.65 -292.0 504.3 -10.6 419 3385 0.12 2.38 0.00 0.000 4 0.123 0.028 1800 1178 3949 0 0 0 0 0 0 26.10 25.63 28.83
3580 -0.77 -292.0 524.1 -9.2 439 3589 0.08 2.40 0.00 0.000 6 0.093 0.034 1768 2644 3947 0 0 0 0 0 0 25.37 25.57 28.83
3889 -0.80 -292.0 552.1 -9.0 470 3893 0.00 1.80 0.00 0.000 4 0.000 0.045 1762 3828 3945 0 0 0 0 0 0 28.83 25.40 28.83
3934 -0.82 -292.0 556.3 -9.8 474 3941 0.00 1.77 0.00 0.000 6 0.000 0.023 1762 2587 3945 0 0 0 0 0 0 28.83 25.97 28.83
4251 -0.77 -292.0 614.5 -17.7 502 4257 0.00 2.22 0.00 0.000 4 0.000 0.028 1764 1182 3943 0 0 0 0 0 0 28.83 25.64 28.83
4336 -0.76 -292.0 623.5 -11.2 506 4342 0.00 2.45 0.00 0.000 6 0.000 0.040 1753 2643 3943 0 0 0 0 0 0 28.83 25.40 28.83
4651 -0.70 -292.0 675.9 -16.0 522 4657 0.00 2.35 0.00 0.000 4 0.000 0.031 1754 1185 3941 0 0 0 0 0 0 28.83 25.55 28.83
4684 -0.65 -292.0 679.0 -16.0 523 4692 0.20 2.45 0.00 0.000 6 0.116 0.038 1804 2646 3941 0 0 0 0 0 0 25.08 25.40 28.83
4992 -0.65 -292.0 709.4 -9.5 539 4998 0.00 2.38 0.00 0.000 4 0.000 0.028 1804 1175 3938 0 0 0 0 0 0 28.83 25.59 28.83
5024 -0.65 -292.0 711.1 -9.1 540 5032 0.00 2.47 0.00 0.000 6 0.000 0.039 1802 2649 3937 0 0 0 0 0 0 28.83 25.37 28.83
5333 -0.65 -292.0 742.6 -10.6 556 5338 0.00 2.38 0.00 0.000 4 0.000 0.028 1802 1179 3935 0 0 0 0 0 0 28.83 25.58 28.83
5354 -0.65 -292.0 744.7 -10.4 557 5358 0.00 2.47 0.00 0.000 6 0.000 0.040 1799 2643 3935 0 0 0 0 0 0 28.83 25.33 28.83
5667 -0.65 -292.0 771.5 -8.7 573 5668 0.00 0.00 0.00 0.000 6 0.000 0.000 1799 2642 3933 0 0 0 0 0 0 28.83 28.83 28.83
5970 -0.65 -292.0 801.9 -10.2 588 5975 0.00 2.33 0.00 0.000 4 0.000 0.028 1799 1187 3931 0 0 0 0 0 0 28.83 25.56 28.83
6021 -0.67 -292.0 806.0 -10.6 590 6028 0.00 2.45 0.00 0.000 6 0.000 0.039 1799 2644 3931 0 0 0 0 0 0 28.83 25.33 28.83
6328 -0.67 -292.0 839.2 -10.5 606 6329 0.00 0.00 0.00 0.000 6 0.000 0.000 1799 2644 3929 0 0 0 0 0 0 28.83 28.83 28.83
6632 -0.67 -292.0 866.8 -8.0 621 6637 0.00 2.38 0.00 0.000 4 0.000 0.031 1799 1186 3928 0 0 0 0 0 0 28.83 25.48 28.83
6671 -0.68 -292.0 869.9 -7.7 623 6676 0.00 2.45 0.00 0.000 6 0.000 0.039 1799 2640 3927 0 0 0 0 0 0 28.83 25.28 28.83
6992 -0.68 -292.0 891.2 -5.8 639 6993 0.00 0.00 0.00 0.000 6 0.000 0.000 1799 2639 3926 0 0 0 0 0 0 28.83 28.83 28.83
7291 -0.70 -292.0 908.2 -5.8 654 7297 0.00 2.40 0.00 0.000 4 0.000 0.031 1799 1177 3924 0 0 0 0 0 0 28.83 25.41 28.83
7339 -0.71 -292.0 911.7 -7.4 656 7343 0.00 2.47 0.00 0.000 6 0.000 0.037 1799 2644 3924 0 0 0 0 0 0 28.83 25.27 28.83
7648 -0.71 -292.0 955.3 -13.2 671 7653 0.00 2.38 0.00 0.000 4 0.000 0.030 1799 1185 3923 0 0 0 0 0 0 28.83 25.46 28.83
7669 -0.72 -292.0 958.1 -13.0 672 7673 0.00 2.45 0.00 0.000 6 0.000 0.041 1799 2642 3923 0 0 0 0 0 0 28.83 25.19 28.83
7920 end dive: TARGET_DEPTH_EXCEEDED
state 7920 begin apogee
7927 -0.20 0.0 990.6 -12.9 685 8145 0.40 0.15 211.38 1.185 6 0.090 0.073 1940 2534 2977 0 0 0 0 0 0 25.33 24.28 23.13
8146 end apogee: CONTROL_FINISHED_OK
state 8146 begin climb
8150 0.72 292.0 998.7 0.0 696 8442 0.88 2.65 282.08 1.167 4 0.077 0.034 2247 1053 1777 0 0 0 0 0 0 24.31 23.72 22.47
8566 0.69 292.0 968.5 14.8 717 8572 0.00 2.42 0.00 0.000 6 0.000 0.040 2247 2518 1758 0 0 0 0 0 0 28.83 25.19 28.83
8886 0.60 292.0 897.3 22.8 733 8890 0.12 2.05 0.00 0.000 4 0.186 0.043 2211 3813 1756 0 0 0 0 0 0 25.64 25.52 28.83
8930 0.52 292.0 888.7 21.7 735 8936 0.12 2.05 0.00 0.000 6 0.158 0.028 2183 2469 1755 0 0 0 0 0 0 25.24 25.82 28.83
9249 0.49 292.0 839.6 15.5 751 9255 0.00 2.12 0.00 0.000 4 0.000 0.044 2182 3809 1754 0 0 0 0 0 0 28.83 25.47 28.83
9334 0.45 292.0 826.5 16.3 755 9341 0.12 2.05 0.00 0.000 6 0.160 0.028 2161 2469 1754 0 0 0 0 0 0 25.39 25.77 28.83
9650 0.44 292.0 784.5 13.8 771 9656 0.00 2.15 0.00 0.000 4 0.000 0.044 2161 3812 1753 0 0 0 0 0 0 28.83 25.37 28.83
9678 0.42 292.0 781.6 13.9 772 9682 0.00 2.08 0.00 0.000 6 0.000 0.028 2171 2463 1753 0 0 0 0 0 0 28.83 25.70 28.83
9987 0.40 292.5 743.3 11.8 787 9991 0.00 2.20 0.00 0.000 4 0.000 0.046 2171 3815 1753 0 0 0 0 0 0 28.83 25.29 28.83
10042 0.38 292.5 737.8 12.1 789 10050 0.17 2.08 0.00 0.000 6 0.140 0.029 2133 2465 1753 0 0 0 0 0 0 25.20 25.69 28.83
10351 0.58 435.3 711.6 7.9 805 10489 0.12 2.33 122.78 1.237 4 0.076 0.046 2218 3807 1207 0 0 0 0 1 0 26.26 24.63 23.28
10496 0.53 435.3 687.7 19.0 812 10503 0.17 2.15 0.00 0.000 6 0.151 0.028 2182 2462 1211 0 0 0 0 0 0 24.58 24.96 28.83
10814 0.57 461.4 646.0 11.1 828 10856 0.00 2.30 35.33 0.928 4 0.000 0.039 2193 1066 1087 0 0 0 0 0 0 28.83 25.41 24.06
10876 0.60 477.4 638.9 11.4 831 10897 0.00 2.38 15.43 0.907 6 0.000 0.037 2193 2524 1030 0 0 0 0 0 0 28.83 25.51 23.94
11203 0.60 477.4 598.0 13.0 848 11209 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2523 1012 0 0 0 0 0 0 28.83 28.83 28.83
11513 0.62 477.4 558.2 13.0 879 11522 0.00 2.33 0.00 0.000 4 0.000 0.035 2205 1057 1011 0 0 0 0 0 0 28.83 25.56 28.83
11557 0.71 519.0 553.4 10.7 883 11605 0.00 2.33 40.50 0.878 6 0.000 0.034 2204 2520 855 0 0 0 0 0 0 28.83 25.60 24.18
11907 0.71 519.0 512.8 13.5 918 11917 0.10 2.33 0.00 0.000 4 0.092 0.034 2283 1061 839 0 0 0 0 0 0 26.16 25.58 28.83
11941 0.71 519.0 507.1 15.5 921 11951 0.10 2.30 0.00 0.000 6 0.111 0.037 2246 2509 838 0 0 0 0 0 0 25.34 25.58 28.83
12250 0.67 519.0 440.4 22.4 952 12254 0.00 2.10 0.00 0.000 4 0.000 0.047 2245 3820 839 0 0 0 0 0 0 28.83 25.38 28.83
12302 0.65 519.0 429.2 21.5 957 12312 0.12 2.08 0.00 0.000 6 0.148 0.027 2222 2463 837 0 0 0 0 0 0 25.39 25.72 28.83
12613 0.64 519.0 377.4 16.2 988 12619 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2462 837 0 0 0 0 0 0 28.83 28.83 28.83
12923 0.64 519.0 329.5 14.4 1019 12932 0.00 2.20 0.00 0.000 4 0.000 0.037 2233 1064 837 0 0 0 0 0 0 28.83 25.38 28.83
12947 0.64 519.0 326.4 13.9 1021 12955 0.00 2.33 0.00 0.000 6 0.000 0.034 2232 2522 837 0 0 0 0 0 0 28.83 25.47 28.83
13255 0.62 519.0 278.3 16.6 1052 13264 0.00 2.35 0.00 0.000 4 0.000 0.035 2244 1037 837 0 0 0 0 0 0 28.83 25.39 28.83
13279 0.61 519.0 274.5 16.9 1054 13287 0.12 2.38 0.00 0.000 6 0.122 0.034 2207 2522 836 0 0 0 0 0 0 25.25 25.44 28.83
13587 0.76 608.7 244.6 9.4 1085 13678 0.12 2.40 80.53 0.677 4 0.076 0.036 2309 1059 481 0 0 0 0 0 0 26.27 25.36 24.22
13697 0.70 608.7 219.2 30.0 1095 13705 0.25 2.38 0.00 0.000 6 0.125 0.036 2234 2521 473 0 0 0 0 0 0 25.10 25.46 28.83
14006 0.83 675.5 177.9 10.0 1145 14027 0.12 2.40 14.00 0.620 4 0.077 0.034 2333 1055 428 0 0 0 0 0 0 26.17 25.71 24.49
14050 0.80 675.5 170.2 21.1 1152 14058 0.22 2.35 0.00 0.000 6 0.127 0.036 2265 2523 415 0 0 0 0 0 0 25.39 25.72 28.83
14367 0.79 675.5 107.6 18.0 1213 14374 0.00 2.03 0.00 0.000 4 0.000 0.043 2265 3822 410 0 0 0 0 0 0 28.83 25.51 28.83
14397 0.79 675.5 101.5 18.3 1218 14404 0.00 2.05 0.00 0.000 6 0.000 0.025 2275 2467 409 0 0 0 0 0 0 28.83 25.79 28.83
14711 1.00 808.8 65.1 8.2 1279 14718 0.12 2.22 0.00 0.000 4 0.080 0.034 2378 1061 409 0 0 0 0 0 0 26.27 25.50 28.83
14835 1.00 808.8 46.7 14.3 1302 14843 0.15 2.35 0.00 0.000 6 0.119 0.036 2333 2527 409 0 0 0 0 0 0 25.28 25.51 28.83
15115 end climb: SURFACE_DEPTH_REACHED
state 15115 begin surface coast
15149 end surface coast: CONTROL_FINISHED_OK
state 15149 begin surface