OKMC Nov11 * SG169 * Dive index * Mission links * Dive 74 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  169 HD_B  0.0099999998 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  74 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  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2630 ALTIM_PING_DELTA  0
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  9 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  300 UPLOAD_DIVES_MAX  -1 C_VBD  2979 DEVICE3  35
T_MISSION  330 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  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -10363.725 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  230 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  13 PITCH_AD_RATE  165 COMPASS_USE  0 SEABIRD_C_I  -0.0019472764
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00023438112

Pre-dive calculations and measurements:
GPS1  231111,104906,2225.761,12400.057,37,1.2,37,-3.1 TGT_NAME  N3
_CALLS  1 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.004,-0.324
_SM_DEPTHo  1.13 KALMAN_X  8631008.0,0.0,0.0,5147999.0,-1982.0
_SM_ANGLEo  -65.7 KALMAN_Y  2355586.2,0.0,0.0,139615.5,40331.5
GPS2  231111,105532,2225.699,12400.030,12,1.3,12,-3.1 MHEAD_RNG_PITCHd_Wd  210.2,103155,-15.1,-11.000
SPEED_LIMITS  0.191,0.324 D_GRID  5422

Post-dive calculations and measurements:
FINISH  0.7,1.022402 _10V_AH  10.3,14.392
SM_CCo  15201,0.00,0.000,0,0,454,619.38 FG_AHR_24Vo  0.000
SM_GC  0.95,5.38,0.20,0.00,0.024,0.064,0.000,119,2678,454,-5.78,-0.08,619.38,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2223.01,12402.76,231111,060620 MEM  330336
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  86950,1323
HUMID  39.40 CAP_FILE_SIZE  168932,0
INTERNAL_PRESSURE  9.50588 CFSIZE  260165632,215969792
TCM_TEMP  25.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 CURRENT  0.057, 30.0,1
_24V_AH  23.9,17.406 GPS  231111,151024,2221.936,12358.381,35,1.9,35,-3.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1522184.57 SBE_CT89224512.13
Roll_motor138104346.17 AA4330117133924.23
VBD_pump_during_apogee784116721891.52 WL_BB2F7871051976.01
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010376.29 nil000.00
Iridium_during_connect39160149.53 nil000.00
Iridium_during_xfer1912231021.33 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS13507.01
TT8351419716.85
LPSleep78622177.36
TT8_Active81919167.19
TT8_Sampling3064391256.26
TT8_CF831045146.64
TT8_Kalman0810.32
Analog_circuits221212273.46
GPS_charging000.00
Compass276715427.51
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 pitch_volts roll_volts vbd_volts
14 end surface: CONTROL_FINISHED_OK
state 15 begin dive
17 -0.65 -223.8 0.0 0.0 0 111 0.00 0.00 -91.43 0.000 2 0.000 0.000 117 2680 2937 0 0 0 0 0 0 28.83 28.83 28.83
114 -0.65 -223.8 3.4 -5.5 12 146 6.43 2.22 -18.45 0.000 4 0.222 0.044 1804 1179 3892 0 0 0 0 0 0 25.80 26.16 26.48
302 -0.57 -223.8 72.9 -29.2 41 310 0.12 2.25 0.00 0.000 6 0.174 0.045 1825 2658 3892 0 0 0 0 0 0 26.08 26.25 28.83
675 -0.46 -223.8 208.2 -31.8 102 687 0.12 2.17 0.00 0.000 4 0.180 0.028 1872 1182 3893 0 0 0 0 0 0 26.25 26.42 28.83
702 -0.38 -223.8 215.1 -29.5 105 708 0.00 2.22 0.00 0.000 6 0.000 0.043 1861 2659 3893 0 0 0 0 0 0 28.83 26.40 28.83
1039 -0.34 -223.8 283.8 -19.3 149 1046 0.12 0.00 0.00 0.000 6 0.155 0.000 1897 2659 3893 0 0 0 0 0 0 26.39 28.83 28.83
1349 -0.38 -223.8 314.3 -7.0 180 1357 0.00 2.10 0.00 0.000 4 0.000 0.032 1898 1184 3892 0 0 0 0 0 0 28.83 26.53 28.83
1383 -0.43 -223.8 316.6 -7.1 183 1392 0.00 2.20 0.00 0.000 6 0.000 0.042 1897 2657 3892 0 0 0 0 0 0 28.83 26.51 28.83
1690 -0.55 -223.8 347.9 -11.8 214 1700 0.15 2.12 0.00 0.000 4 0.099 0.031 1839 1181 3890 0 0 0 0 0 0 26.54 26.55 28.83
1716 -0.66 -223.8 350.6 -12.0 216 1724 0.12 2.17 0.00 0.000 6 0.103 0.041 1793 2656 3890 0 0 0 0 0 0 26.48 26.54 28.83
2025 -0.71 -223.8 381.6 -9.3 247 2028 0.00 1.75 0.00 0.000 4 0.000 0.047 1787 3822 3889 0 0 0 0 0 0 28.83 26.54 28.83
2069 -0.73 -223.8 386.1 -10.5 251 2078 0.00 1.80 0.00 0.000 6 0.000 0.027 1787 2560 3889 0 0 0 0 0 0 28.83 26.62 28.83
2376 -0.67 -223.8 449.4 -20.5 282 2380 0.00 1.92 0.00 0.000 4 0.000 0.050 1777 3817 3888 0 0 0 0 0 0 28.83 26.54 28.83
2441 -0.62 -223.8 461.7 -19.5 288 2448 0.08 1.80 0.00 0.000 6 0.121 0.028 1807 2579 3887 0 0 0 0 0 0 26.46 26.63 28.83
2750 -0.59 -223.8 509.5 -14.7 319 2761 0.00 1.88 0.00 0.000 4 0.000 0.047 1798 3815 3886 0 0 0 0 0 0 28.83 26.55 28.83
2833 -0.59 -223.8 521.8 -12.8 327 2837 0.00 1.75 0.00 0.000 6 0.000 0.028 1798 2577 3885 0 0 0 0 0 0 28.83 26.63 28.83
3144 -0.55 -223.8 569.0 -15.8 358 3149 0.12 2.03 0.00 0.000 4 0.151 0.031 1840 1175 3883 0 0 0 0 0 0 26.51 26.59 28.83
3223 -0.60 -223.8 576.6 -8.1 365 3229 0.00 2.22 0.00 0.000 6 0.000 0.044 1834 2658 3883 0 0 0 0 0 0 28.83 26.58 28.83
3533 -0.61 -223.8 606.1 -9.1 393 3534 0.00 0.00 0.00 0.000 6 0.000 0.000 1833 2658 3880 0 0 0 0 0 0 28.83 28.83 28.83
3830 -0.63 -223.8 632.6 -8.4 408 3835 0.00 2.12 0.00 0.000 4 0.000 0.033 1833 1180 3878 0 0 0 0 0 0 28.83 26.59 28.83
3858 -0.65 -223.8 634.2 -8.3 409 3862 0.00 2.22 0.00 0.000 6 0.000 0.044 1826 2659 3878 0 0 0 0 0 0 28.83 26.58 28.83
4165 -0.66 -223.8 663.2 -9.7 424 4169 0.00 1.75 0.00 0.000 4 0.000 0.050 1818 3814 3875 0 0 0 0 0 0 28.83 26.55 28.83
4209 -0.67 -223.8 667.0 -9.3 426 4212 0.00 1.80 0.00 0.000 6 0.000 0.030 1818 2562 3874 0 0 0 0 0 0 28.83 26.64 28.83
4531 -0.67 -223.8 697.6 -9.6 442 4537 0.00 1.98 0.00 0.000 4 0.000 0.034 1818 1176 3871 0 0 0 0 0 0 28.83 26.58 28.83
4573 -0.69 -223.8 701.3 -9.3 444 4577 0.00 2.22 0.00 0.000 6 0.000 0.047 1813 2652 3871 0 0 0 0 0 0 28.83 26.55 28.83
4887 -0.69 -223.8 732.9 -10.5 460 4888 0.00 0.00 0.00 0.000 6 0.000 0.000 1813 2652 3869 0 0 0 0 0 0 28.83 28.83 28.83
5185 -0.69 -223.8 764.3 -10.4 475 5191 0.00 2.15 0.00 0.000 4 0.000 0.035 1813 1185 3865 0 0 0 0 0 0 28.83 26.57 28.83
5226 -0.70 -223.8 768.2 -10.1 477 5231 0.00 2.20 0.00 0.000 6 0.000 0.046 1813 2656 3865 0 0 0 0 0 0 28.83 26.55 28.83
5545 -0.70 -223.8 800.0 -10.0 493 5549 0.00 1.77 0.00 0.000 4 0.000 0.053 1804 3822 3862 0 0 0 0 0 0 28.83 26.52 28.83
5567 -0.70 -223.8 802.2 -10.1 494 5571 0.00 1.80 0.00 0.000 6 0.000 0.030 1804 2568 3862 0 0 0 0 0 0 28.83 26.63 28.83
5891 -0.70 -223.8 834.9 -10.2 510 5896 0.00 1.98 0.00 0.000 4 0.000 0.037 1804 1184 3859 0 0 0 0 0 0 28.83 26.55 28.83
5929 -0.71 -223.8 839.0 -10.2 512 5935 0.00 2.22 0.00 0.000 6 0.000 0.046 1799 2654 3859 0 0 0 0 0 0 28.83 26.54 28.83
6250 -0.71 -223.8 875.5 -11.8 528 6255 0.00 2.12 0.00 0.000 4 0.000 0.034 1800 1183 3856 0 0 0 0 0 0 28.83 26.55 28.83
6277 -0.71 -223.8 878.0 -11.8 529 6281 0.00 2.20 0.00 0.000 6 0.000 0.047 1799 2652 3856 0 0 0 0 0 0 28.83 26.53 28.83
6589 -0.71 -223.8 913.7 -10.6 545 6590 0.00 0.00 0.00 0.000 6 0.000 0.000 1799 2652 3854 0 0 0 0 0 0 28.83 28.83 28.83
6890 -0.71 -223.8 943.9 -9.7 560 6893 0.00 2.15 0.00 0.000 4 0.000 0.035 1799 1183 3853 0 0 0 0 0 0 28.83 26.54 28.83
6932 -0.72 -223.8 947.8 -9.4 562 6938 0.00 2.22 0.00 0.000 6 0.000 0.048 1799 2658 3853 0 0 0 0 0 0 28.83 26.53 28.83
7252 -0.72 -223.8 978.1 -9.7 578 7253 0.00 0.00 0.00 0.000 6 0.000 0.000 1799 2658 3850 0 0 0 0 0 0 28.83 28.83 28.83
7389 end dive: TARGET_DEPTH_EXCEEDED
state 7390 begin apogee
7395 -0.20 0.0 991.5 -9.6 585 7594 0.40 0.10 186.65 1.167 6 0.099 0.105 1943 2526 2968 0 0 0 0 0 0 26.39 24.78 24.12
7595 end apogee: CONTROL_FINISHED_OK
state 7595 begin climb
7597 0.65 223.8 1001.9 0.0 595 7812 0.73 2.17 202.73 1.164 4 0.046 0.053 2224 3803 2049 0 0 0 0 0 0 25.03 24.61 23.90
7878 0.55 223.8 964.8 24.0 609 7883 0.17 2.10 0.00 0.000 6 0.195 0.034 2193 2464 2035 0 0 0 0 0 0 25.10 25.27 28.83
8193 0.48 223.8 903.4 18.8 625 8198 0.00 2.12 0.00 0.000 4 0.000 0.050 2193 3813 2030 0 0 0 0 0 0 28.83 25.89 28.83
8244 0.40 223.8 895.1 19.5 627 8251 0.22 2.05 0.00 0.000 6 0.169 0.034 2142 2466 2029 0 0 0 0 0 0 25.76 25.98 28.83
8552 0.37 223.8 848.4 13.7 643 8557 0.00 2.08 0.00 0.000 4 0.000 0.053 2142 3809 2027 0 0 0 0 0 0 28.83 26.11 28.83
8581 0.34 223.8 845.6 13.9 644 8592 0.12 2.03 0.00 0.000 6 0.170 0.034 2120 2463 2027 0 0 0 0 0 0 25.98 26.17 28.83
8892 0.33 223.8 809.1 11.1 660 8897 0.00 2.08 0.00 0.000 4 0.000 0.051 2120 3808 2026 0 0 0 0 0 0 28.83 26.22 28.83
8911 0.31 223.8 806.8 11.2 661 8916 0.00 2.03 0.00 0.000 6 0.000 0.033 2129 2463 2026 0 0 0 0 0 0 28.83 26.28 28.83
9231 0.29 223.8 768.6 11.8 677 9237 0.00 2.10 0.00 0.000 4 0.000 0.051 2130 3816 2026 0 0 0 0 0 0 28.83 26.29 28.83
9280 0.27 223.8 763.0 12.8 679 9285 0.15 2.03 0.00 0.000 6 0.163 0.032 2101 2462 2025 0 0 0 0 0 0 26.13 26.34 28.83
9588 0.35 282.0 733.3 9.1 694 9639 0.00 0.00 43.08 1.095 6 0.000 0.000 2101 2460 1828 0 0 0 0 1 0 28.83 28.83 24.67
9930 0.48 363.5 704.8 8.3 711 10027 0.15 2.25 87.43 0.956 4 0.068 0.051 2189 3812 1484 0 0 0 0 0 0 26.11 25.03 24.36
10091 0.44 363.5 675.6 19.8 719 10097 0.12 2.10 0.00 0.000 6 0.137 0.034 2159 2464 1473 0 0 0 0 0 0 25.39 25.52 28.83
10412 0.44 363.5 625.9 15.5 735 10417 0.00 2.10 0.00 0.000 4 0.000 0.050 2159 3813 1468 0 0 0 0 0 0 28.83 25.98 28.83
10443 0.44 363.5 622.7 15.5 736 10450 0.00 2.05 0.00 0.000 6 0.000 0.032 2169 2459 1468 0 0 0 0 0 0 28.83 26.04 28.83
10752 0.42 363.5 575.4 14.6 760 10756 0.00 2.12 0.00 0.000 4 0.000 0.051 2169 3813 1467 0 0 0 0 0 0 28.83 26.15 28.83
10776 0.41 363.5 571.6 15.8 762 10787 0.12 2.03 0.00 0.000 6 0.158 0.032 2146 2461 1467 0 0 0 0 0 0 26.06 26.22 28.83
11086 0.42 363.5 534.7 11.1 793 11095 0.00 2.08 0.00 0.000 4 0.000 0.041 2156 1067 1465 0 0 0 0 0 0 28.83 26.28 28.83
11128 0.47 383.1 530.1 10.3 797 11151 0.00 2.20 17.23 0.831 6 0.000 0.044 2156 2533 1415 0 0 0 0 0 0 28.83 26.28 25.35
11459 0.50 392.2 494.0 10.7 830 11471 0.00 2.22 3.70 0.627 4 0.000 0.040 2167 1068 1379 0 0 0 0 0 0 28.83 26.16 25.22
11484 0.52 395.6 491.3 10.9 832 11494 0.00 2.20 2.70 0.461 6 0.000 0.042 2167 2527 1367 0 0 0 0 0 0 28.83 26.17 25.18
11795 0.52 395.6 449.8 13.6 863 11806 0.00 2.03 1.75 0.187 4 0.000 0.054 2167 3816 1368 0 0 0 0 0 0 28.83 26.22 26.06
11860 0.54 395.6 441.1 13.4 869 11868 0.00 2.03 0.00 0.000 6 0.000 0.034 2177 2464 1374 0 0 0 0 0 0 28.83 26.29 28.83
12171 0.54 395.6 402.1 13.5 900 12180 0.00 2.10 1.85 0.181 4 0.000 0.050 2177 3810 1367 0 0 0 0 0 0 28.83 26.31 26.13
12214 0.54 395.6 395.5 15.3 904 12223 0.00 2.00 0.00 0.000 6 0.000 0.033 2188 2462 1374 0 0 0 0 0 0 28.83 26.37 28.83
12525 0.52 395.6 345.3 14.9 935 12535 0.00 0.00 1.75 0.183 6 0.000 0.000 2188 2461 1365 0 0 0 0 0 0 28.83 28.83 26.18
12834 0.52 395.6 296.8 15.5 966 12843 0.00 2.10 1.48 0.187 4 0.000 0.050 2188 3815 1366 0 0 0 0 0 0 28.83 26.39 26.22
12871 0.51 395.6 291.3 15.9 969 12878 0.00 2.00 0.00 0.000 6 0.000 0.032 2198 2464 1373 0 0 0 0 0 0 28.83 26.44 28.83
13180 0.50 395.6 247.0 13.2 1002 13188 0.00 0.00 1.67 0.178 6 0.000 0.000 2198 2462 1367 0 0 0 0 0 0 28.83 28.83 26.27
13525 0.50 395.6 202.0 13.0 1063 13535 0.00 2.15 1.60 0.181 4 0.000 0.048 2198 3816 1369 0 0 0 0 0 0 28.83 26.45 26.27
13548 0.50 395.6 198.4 13.8 1066 13558 0.10 2.03 1.62 0.161 6 0.130 0.032 2173 2463 1367 0 0 0 0 0 0 26.32 26.51 26.27
13904 0.67 500.2 169.2 7.5 1127 14006 0.12 2.20 91.20 0.602 4 0.078 0.040 2280 1067 923 0 0 0 0 0 0 26.62 25.57 25.07
14015 0.62 500.2 146.7 24.6 1142 14024 0.20 2.28 0.00 0.000 6 0.133 0.041 2215 2520 918 0 0 0 0 0 0 25.53 25.66 28.83
14371 0.78 592.5 106.9 7.9 1203 14481 0.12 2.30 103.85 0.323 4 0.076 0.038 2316 1068 568 0 0 0 0 0 0 26.25 25.66 25.29
14517 0.76 592.5 74.7 22.0 1223 14535 0.20 2.25 3.08 0.158 6 0.129 0.041 2254 2530 569 0 0 0 0 0 0 25.66 25.77 25.53
14878 0.88 644.8 46.4 9.3 1285 14916 0.12 2.25 28.77 0.204 4 0.079 0.042 2370 1069 438 0 0 0 0 0 0 26.26 26.07 25.78
14955 0.86 644.8 30.9 22.8 1296 14965 0.22 2.25 2.50 0.143 6 0.126 0.041 2294 2527 440 0 0 0 0 0 0 25.95 26.12 25.89
15103 end climb: SURFACE_DEPTH_REACHED
state 15103 begin surface coast
15126 end surface coast: CONTROL_FINISHED_OK
state 15126 begin surface