OKMC Jun11 * SG181 * Dive index * Mission links * Dive 629 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 INT_PRESSURE_YINT  0
MISSION  6 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 DEEPGLIDER  0
DIVE  629 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  58 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  36 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  475 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  0 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0 DEVICE4  -1
D_NO_BLEED  200 CALL_NDIVES  1 VBD_MIN  440 DEVICE5  -1
D_BOOST  3 COMM_SEQ  0 VBD_MAX  3960 DEVICE6  -1
T_BOOST  0 PROTOCOL  9 C_VBD  2869 LOGGERS  0
D_FINISH  0 N_NOCOMM  1 VBD_DBAND  2 LOGGERDEVICE1  99
D_PITCH  0 NOCOMM_ACTION  0 VBD_CNV  -0.24529999 LOGGERDEVICE2  117
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 LOGGERDEVICE3  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 COMPASS_DEVICE  33
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 PHONE_DEVICE  49
T_DIVE  320 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  350 HEAPDBG  0 VBD_MAXERRORS  1 RAFOS_DEVICE  -1
T_ABORT  1440 T_GPS  15 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_TURN  225 N_GPS  20 AH0_24V  150 SIM_W  0
T_TURN_SAMPINT  5 T_GPS_ALMANAC  0 AH0_10V  110 SIM_PITCH  0
T_NO_W  120 T_GPS_CHARGE  -41382.414 MINV_24V  19 SEABIRD_T_G  0.0043841996
T_LOITER  0 T_RSLEEP  2 MINV_10V  8 SEABIRD_T_H  0.00063541438
T_EPIRB  0 STROBE  0 FG_AHR_10V  0 SEABIRD_T_I  2.4687597e-05
USE_BATHY  -7 RAFOS_PEAK_OFFSET  1.5 FG_AHR_24V  0 SEABIRD_T_J  2.6519353e-06
USE_ICE  0 RAFOS_CORR_THRESH  60 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9512653
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 PRESSURE_YINT  -61.82621 SEABIRD_C_H  1.1266108
D_OFFGRID  1000 PITCH_MIN  225 PRESSURE_SLOPE  0.000116609 SEABIRD_C_I  -0.0016982662
T_WATCHDOG  10 PITCH_MAX  3941 AD7714Ch0Gain  128 SEABIRD_C_J  0.00020129427
RELAUNCH  1 C_PITCH  2300 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -8 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  1.0
MAX_BUOY  175 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  1.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  60 ALTIM_TOP_PING_RANGE  0 TM_STARTS  41.0
SPEED_FACTOR  1 PITCH_TIMEOUT  15 ALTIM_BOTTOM_TURN_MARGIN  0 TM_NFFT  256.0
RHO  1.0275 PITCH_AD_RATE  145 ALTIM_TOP_TURN_MARGIN  0 TM_NAVG  1.0
MASS  51861 PITCH_MAXERRORS  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_PSD  0.0
NAV_MODE  2 PITCH_ADJ_GAIN  0 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  200.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 ALTIM_PING_DELTA  10 LA_PROFILE  1.0
KALMAN_USE  2 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  1.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  20 ALTIM_SENSITIVITY  2 LA_STARTS  23.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2590 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2165 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  101011,103924,2153.580,12008.773,27,1.0,44,-2.6 TGT_NAME  W1
_CALLS  2 TGT_LATLONG  2207.170,12035.130
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.206,0.235
_SM_DEPTHo  1.37 KALMAN_X  28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo  -57.8 KALMAN_Y  68902.1,-606.5,-201.3,102840.5,390.9
GPS2  101011,104708,2153.582,12008.859,13,2.0,13,-2.6 MHEAD_RNG_PITCHd_Wd  18.4,51621,-16.5,-10.312
SPEED_LIMITS  0.179,0.281 D_GRID  1412

Post-dive calculations and measurements:
FINISH  0.6,1.021187 _10V_AH  9.8,78.867
SM_CCo  17098,0.00,0.000,0,0,443,595.10 FG_AHR_24Vo  0.000
SM_GC  1.54,6.22,0.00,0.00,0.029,0.000,0.000,208,2576,443,-6.45,-0.40,595.10,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2143.45,12006.86,101011,101043 MEM  322752
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  80208,1364
HUMID  48.85 CAP_FILE_SIZE  179938,0
INTERNAL_PRESSURE  9.37536 CFSIZE  260165632,194064384
TCM_TEMP  24.40 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.310,192.0,1
_24V_AH  23.6,104.998 GPS  101011,153337,2154.036,12008.971,28,1.1,28,-2.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622285.24 SBE_CT94424535.05
Roll_motor8261120.21 AA4330000.00
VBD_pump_during_apogee632106415875.88 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init55103135.65 nil000.00
Iridium_during_connect42160161.99 TMicro000.00
Iridium_during_xfer148223779.50 LAB000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS15507.65
TT8349919679.11
LPSleep101312217.44
TT8_Active70619137.14
TT8_Sampling2810391096.30
TT8_CF839945179.25
TT8_Kalman000.00
Analog_circuits212112249.45
GPS_charging000.00
Compass253315372.49
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
18 -0.49 -170.3 0.0 0.0 0 84 0.00 0.00 -64.15 0.000 2 0.000 0.000 128 2574 2304 0 0 0 0 0 0
88 -0.49 -170.3 3.3 -3.3 10 131 8.43 1.10 -27.73 0.000 4 0.223 0.062 2132 3302 3563 0 0 0 0 0 0
190 -0.49 -170.3 34.5 -37.6 27 196 0.00 1.05 0.00 0.000 6 0.000 0.023 2131 2569 3561 0 0 0 0 0 0
333 -0.49 -170.3 91.7 -40.6 52 339 0.00 1.12 0.00 0.000 4 0.000 0.037 2125 3299 3559 0 0 0 0 0 0
358 -0.49 -170.3 100.2 -35.1 56 365 0.00 1.00 0.00 0.000 6 0.000 0.024 2126 2592 3559 0 0 0 0 0 0
501 -0.49 -170.3 137.2 -21.6 81 509 0.00 0.95 0.00 0.000 4 0.000 0.024 2125 1891 3558 0 0 0 0 0 0
617 -0.49 -170.3 157.5 -17.5 101 624 0.00 1.08 0.00 0.000 6 0.000 0.035 2120 2600 3557 0 0 0 0 0 0
760 -0.49 -170.3 184.0 -19.7 126 767 0.00 1.05 0.00 0.000 4 0.000 0.038 2114 3300 3558 0 0 0 0 0 0
879 -0.49 -170.3 204.8 -16.9 144 886 0.00 1.00 0.00 0.000 6 0.000 0.023 2115 2594 3557 0 0 0 0 0 0
1204 -0.49 -170.3 260.2 -15.5 175 1208 0.00 1.10 0.00 0.000 4 0.000 0.039 2110 3292 3557 0 0 0 0 0 0
1273 -0.49 -170.3 270.4 -14.2 181 1278 0.08 1.00 0.00 0.000 6 0.145 0.024 2135 2585 3557 0 0 0 0 0 0
1606 -0.49 -170.3 309.3 -11.9 212 1609 0.00 0.95 0.00 0.000 4 0.000 0.024 2135 1878 3556 0 0 0 0 0 0
1691 -0.49 -170.3 319.5 -11.4 219 1697 0.00 1.10 0.00 0.000 6 0.000 0.034 2131 2603 3555 0 0 0 0 0 0
2016 -0.49 -170.3 360.5 -12.6 250 2017 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2603 3552 0 0 0 0 0 0
2337 -0.49 -170.3 399.5 -11.7 280 2341 0.00 1.00 0.00 0.000 4 0.000 0.026 2131 1889 3548 0 0 0 0 0 0
2439 -0.49 -170.3 411.4 -11.7 289 2443 0.00 1.08 0.00 0.000 6 0.000 0.037 2126 2586 3548 0 0 0 0 0 0
2770 -0.49 -170.3 451.1 -11.9 320 2773 0.00 1.08 0.00 0.000 4 0.000 0.042 2120 3291 3543 0 0 0 0 0 0
2808 -0.49 -170.3 456.2 -12.7 323 2815 0.00 1.00 0.00 0.000 6 0.000 0.025 2120 2593 3543 0 0 0 0 0 0
3134 -0.49 -170.3 497.8 -13.5 354 3135 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2592 3540 0 0 0 0 0 0
3445 -0.49 -170.3 539.6 -13.5 370 3446 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2592 3536 0 0 0 0 0 0
3753 -0.49 -170.3 580.9 -13.2 385 3757 0.00 0.98 0.00 0.000 4 0.000 0.028 2120 1895 3533 0 0 0 0 0 0
3780 -0.49 -170.3 584.6 -13.2 386 3784 0.00 1.08 0.00 0.000 6 0.000 0.038 2115 2589 3533 0 0 0 0 0 0
4109 -0.49 -170.3 629.4 -14.2 402 4112 0.00 1.08 0.00 0.000 4 0.000 0.044 2112 3284 3529 0 0 0 0 0 0
4132 -0.49 -170.3 633.1 -14.6 403 4137 0.08 1.00 0.00 0.000 6 0.138 0.027 2136 2601 3530 0 0 0 0 0 0
4465 -0.49 -170.3 674.7 -12.2 419 4469 0.00 1.00 0.00 0.000 4 0.000 0.028 2136 1888 3526 0 0 0 0 0 0
4593 -0.49 -170.3 689.8 -10.9 424 4600 0.00 1.08 0.00 0.000 6 0.000 0.038 2133 2583 3525 0 0 0 0 0 0
4910 -0.49 -170.3 721.9 -9.6 440 4913 0.00 1.00 0.00 0.000 4 0.000 0.028 2133 1886 3523 0 0 0 0 0 0
4960 -0.49 -170.3 726.7 -9.4 442 4964 0.00 1.10 0.00 0.000 6 0.000 0.039 2128 2589 3522 0 0 0 0 0 0
5288 -0.49 -170.3 757.4 -9.5 458 5292 0.00 1.05 0.00 0.000 4 0.000 0.029 2128 1880 3520 0 0 0 0 0 0
5313 -0.49 -170.3 759.7 -9.5 459 5317 0.00 1.10 0.00 0.000 6 0.000 0.039 2125 2583 3520 0 0 0 0 0 0
5646 -0.49 -170.3 792.2 -10.0 475 5650 0.00 1.10 0.00 0.000 4 0.000 0.045 2120 3290 3518 0 0 0 0 0 0
5674 -0.49 -170.3 795.5 -10.2 476 5678 0.00 1.02 0.00 0.000 6 0.000 0.026 2120 2592 3517 0 0 0 0 0 0
6002 -0.49 -170.3 831.3 -11.4 492 6006 0.00 0.98 0.00 0.000 4 0.000 0.028 2120 1898 3515 0 0 0 0 0 0
6116 -0.49 -170.3 844.4 -11.6 497 6119 0.00 1.08 0.00 0.000 6 0.000 0.041 2114 2585 3515 0 0 0 0 0 0
6449 -0.49 -170.3 884.2 -11.7 513 6453 0.00 1.00 0.00 0.000 4 0.000 0.030 2114 1899 3512 0 0 0 0 0 0
6505 -0.49 -170.3 890.6 -10.6 515 6509 0.08 1.08 0.00 0.000 6 0.143 0.040 2136 2585 3512 0 0 0 0 0 0
6826 -0.49 -170.3 921.3 -9.9 531 6830 0.00 1.10 0.00 0.000 4 0.000 0.046 2132 3291 3510 0 0 0 0 0 0
6877 -0.49 -170.3 927.2 -10.7 533 6881 0.00 1.02 0.00 0.000 6 0.000 0.028 2132 2598 3510 0 0 0 0 0 0
7204 -0.49 -170.3 965.3 -11.6 549 7208 0.00 1.00 0.00 0.000 4 0.000 0.029 2132 1895 3509 0 0 0 0 0 0
7327 -0.49 -170.3 980.2 -11.9 554 7331 0.00 1.10 0.00 0.000 6 0.000 0.041 2126 2591 3508 0 0 0 0 0 0
7420 end dive: TARGET_DEPTH_EXCEEDED
state 7420 begin apogee
7426 -0.13 0.0 991.9 12.7 559 7562 0.38 0.00 127.85 1.064 6 0.128 0.000 2247 2156 2869 0 0 0 0 0 0
7564 end apogee: CONTROL_FINISHED_OK
state 7564 begin climb
7566 0.49 170.3 1001.0 0.0 565 7713 0.57 1.10 138.45 1.049 4 0.086 0.034 2454 1469 2174 0 0 0 0 0 0
7802 0.64 298.2 995.9 5.1 576 7914 0.12 1.10 103.05 1.036 6 0.052 0.032 2522 2173 1652 0 0 0 0 0 0
8238 0.70 345.5 959.2 8.4 597 8282 0.00 1.12 38.88 1.000 4 0.000 0.040 2522 2860 1459 0 0 0 0 0 0
8434 0.72 358.6 940.4 9.8 605 8450 0.00 1.08 12.65 0.904 6 0.000 0.027 2526 2142 1405 0 0 0 0 0 0
8776 0.75 386.7 908.3 9.2 622 8805 0.00 1.17 23.23 0.958 4 0.000 0.037 2526 2863 1292 0 0 0 0 0 0
8844 0.78 411.1 901.5 9.3 625 8871 0.00 1.05 21.33 0.936 6 0.000 0.027 2530 2167 1191 0 0 0 0 0 0
9197 0.81 432.0 869.8 9.5 642 9218 0.00 0.00 19.40 0.926 6 0.000 0.000 2530 2167 1108 0 0 0 0 0 0
9523 0.82 439.7 837.6 10.0 658 9538 0.10 1.12 7.80 0.797 4 0.101 0.037 2584 2866 1075 0 0 0 0 0 0
9572 0.82 439.7 831.4 13.3 660 9576 0.00 1.05 0.00 0.000 6 0.000 0.028 2589 2169 1076 0 0 0 0 0 0
9899 0.82 439.7 785.5 14.1 676 9903 0.00 1.08 0.00 0.000 4 0.000 0.038 2589 2862 1075 0 0 0 0 0 0
9937 0.82 439.7 779.5 15.1 677 9946 0.08 1.05 0.00 0.000 6 0.141 0.027 2569 2158 1076 0 0 0 0 0 0
10255 0.82 439.7 738.8 12.8 693 10258 0.00 1.10 0.00 0.000 4 0.000 0.037 2568 2870 1075 0 0 0 0 0 0
10301 0.82 439.7 732.5 14.0 695 10304 0.00 1.05 0.00 0.000 6 0.000 0.028 2570 2164 1075 0 0 0 0 0 0
10634 0.82 439.7 688.4 13.0 711 10638 0.00 1.02 0.00 0.000 4 0.000 0.034 2576 1470 1075 0 0 0 0 0 0
10658 0.82 439.7 685.5 12.1 712 10661 0.00 1.08 0.00 0.000 6 0.000 0.034 2576 2169 1075 0 0 0 0 0 0
10991 0.82 439.7 646.7 10.7 728 10994 0.00 1.05 0.00 0.000 4 0.000 0.039 2576 2860 1075 0 0 0 0 0 0
11131 0.82 439.7 630.8 11.5 734 11134 0.00 1.02 0.00 0.000 6 0.000 0.027 2580 2172 1074 0 0 0 0 0 0
11458 0.84 461.4 599.0 9.4 750 11481 0.00 1.10 18.42 0.788 4 0.000 0.033 2585 1467 987 0 0 0 0 0 0
11493 0.89 502.3 596.0 8.6 751 11531 0.00 1.08 33.25 0.793 6 0.000 0.033 2585 2161 821 0 0 0 0 0 0
11853 0.95 551.7 566.2 8.3 769 11900 0.00 1.10 41.95 0.785 4 0.000 0.033 2590 1469 620 0 0 0 0 0 0
11980 0.95 551.7 553.7 11.4 774 11987 0.00 1.08 0.00 0.000 6 0.000 0.028 2590 2170 622 0 0 0 0 0 0
12296 0.95 551.7 517.9 11.8 790 12300 0.00 1.05 0.00 0.000 4 0.000 0.034 2592 1478 622 0 0 0 0 0 0
12330 0.95 551.7 513.8 11.9 791 12334 0.00 1.05 0.00 0.000 6 0.000 0.028 2591 2168 623 0 0 0 0 0 0
12659 0.95 551.7 476.6 10.6 816 12662 0.00 1.05 0.00 0.000 4 0.000 0.037 2592 2864 623 0 0 0 0 0 0
12705 0.95 551.7 471.4 10.8 820 12709 0.00 1.05 0.00 0.000 6 0.000 0.029 2592 2170 623 0 0 0 0 0 0
13036 0.95 551.7 435.9 10.9 851 13037 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2170 623 0 0 0 0 0 0
13359 0.95 551.7 399.3 11.8 881 13363 0.00 1.05 0.00 0.000 4 0.000 0.034 2592 2859 624 0 0 0 0 0 0
13551 0.95 551.7 376.1 11.7 898 13555 0.00 1.05 0.00 0.000 6 0.000 0.030 2592 2164 624 0 0 0 0 0 0
13882 0.96 553.6 341.5 10.2 929 13895 0.00 1.08 4.60 0.527 4 0.000 0.037 2592 1471 611 0 0 0 0 0 0
13968 0.96 553.6 332.1 11.0 936 13975 0.00 1.05 0.00 0.000 6 0.000 0.028 2592 2172 612 0 0 0 0 0 0
14294 0.96 553.6 298.4 10.6 967 14297 0.00 1.02 0.00 0.000 4 0.000 0.037 2592 2851 613 0 0 0 0 0 0
14556 0.96 553.6 269.3 11.8 990 14559 0.00 1.02 0.00 0.000 6 0.000 0.028 2592 2162 613 0 0 0 0 0 0
14887 0.96 559.8 233.9 10.1 1021 14900 0.00 1.08 7.22 0.550 4 0.000 0.034 2592 1474 586 0 0 0 0 0 0
15152 0.96 559.8 204.2 12.2 1044 15159 0.00 1.05 0.00 0.000 6 0.000 0.028 2592 2167 586 0 0 0 0 0 0
15495 0.96 559.8 165.0 10.8 1102 15502 0.00 1.02 0.00 0.000 4 0.000 0.034 2592 2857 587 0 0 0 0 0 0
15717 0.96 559.8 140.7 11.5 1141 15724 0.00 1.02 0.00 0.000 6 0.000 0.028 2592 2169 588 0 0 0 0 0 0
15862 0.96 559.8 125.1 10.7 1166 15869 0.00 1.05 0.00 0.000 4 0.000 0.031 2592 2867 588 0 0 0 0 0 0
15917 0.99 583.6 119.8 9.3 1175 15945 0.00 1.05 19.98 0.526 6 0.000 0.028 2592 2160 487 0 0 0 0 0 0
16081 0.99 583.6 102.1 11.0 1203 16087 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2160 488 0 0 0 0 0 0
16225 1.00 591.1 87.1 10.0 1228 16238 0.00 0.00 7.50 0.442 6 0.000 0.000 2592 2160 457 0 0 0 0 0 0
16376 1.00 591.1 70.1 11.7 1254 16383 0.00 1.08 0.00 0.000 4 0.000 0.034 2592 2865 458 0 0 0 0 0 0
16431 1.00 591.1 63.2 12.4 1263 16438 0.00 1.05 0.00 0.000 6 0.000 0.029 2592 2161 459 0 0 0 0 0 0
16576 1.01 599.9 47.8 10.0 1288 16590 0.10 1.08 5.72 0.381 4 0.116 0.029 2629 2861 440 0 0 0 0 0 0
16633 1.02 601.2 42.0 10.3 1297 16641 0.00 1.02 0.10 0.108 6 0.000 0.028 2629 2166 439 0 0 0 0 0 0
16779 1.02 601.2 26.2 10.8 1322 16785 0.00 0.00 0.00 0.000 6 0.000 0.000 2629 2165 440 0 0 0 0 0 0
16922 1.03 611.9 10.3 9.9 1347 16930 0.00 1.02 0.80 0.081 4 0.000 0.027 2629 2871 442 0 0 0 0 0 0
16991 end climb: SURFACE_DEPTH_REACHED
state 16991 begin surface coast
17022 end surface coast: CONTROL_FINISHED_OK
state 17022 begin surface