Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 80 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 80 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2350 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 37 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -77768.273 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -77768.273

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2350 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 37 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 30 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 80 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 133455,6134.980,-839.743,23,1.8,40,-9.1 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.193,0.080

_SM_DEPTHo 1.72 KALMAN_X 89209.9,-2702.2,-1768.3,-93067.7,31088.2

_SM_ANGLEo -59.4 KALMAN_Y 132937.3,995.8,680.7,-131343.4,-7185.4

GPS2 134015,6134.945,-839.639,11,1.1,11,-9.1 MHEAD_RNG_PITCHd_Wd 301.6,36160,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,1.003717 XPDR_PINGS 0

SM_CCo 23470,29.27,0.811,3,0,1655,300.00 ALTIM_BOTTOM_PING 825.9,52.7

SM_GC 1.72,0.00,0.00,29.27,0.000,0.000,0.811,27,1877,1655,-11.35,-0.65,300.00 _24V_AH 23.2,23.742

IRIDIUM_FIX 6108.28,-840.31,251107,101023 _10V_AH 10.1,10.096

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56799,1132

HUMID 2051 CFSIZE 260165632,254017536

INTERNAL_PRESSURE 9.22887 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,32,3,0

TCM_TEMP 15.60 GPS 251107,201408,6138.360,-842.149,29,1.1,29,-9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 141 84.39 SBE_CT 836 24 465.52

Roll_motor 130 76 231.37 SBE_O2 767 19 338.14

VBD_pump_during_apogee 353 1440 11824.92 WL_BB2F 608 105 1483.09

VBD_pump_during_surface 29 810 550.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 96.21 nil 0 0 0.00

Iridium_during_connect 33 160 125.40 nil 0 0 0.00

Iridium_during_xfer 150 223 779.64

Transponder_ping 7 420 73.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.50

TT8 2039 19 407.80

LPSleep 18459 2 408.30

TT8_Active 541 19 108.34

TT8_Sampling 2415 39 970.91

TT8_CF8 379 45 175.62

TT8_Kalman 33 81 27.56

Analog_circuits 1701 12 206.25

GPS_charging 0 0 0.00

Compass 2371 8 191.58

RAFOS 0 0 0.00

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.95 -146.6 0.0 0.0 0 83 0.00 0.00 -62.47 0.000 2 0.000 0.000 28 1867 2973

85 -0.95 -146.6 3.7 -4.5 3 118 12.10 2.60 -14.35 0.000 4 0.141 0.058 2282 3304 3475

212 -0.95 -146.6 16.4 -6.4 8 217 0.00 2.53 0.00 0.000 6 0.000 0.041 2282 1914 3476

541 -0.95 -146.6 40.5 -9.2 24 542 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1914 3476

849 -0.95 -146.6 63.1 -5.6 39 850 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1914 3476

1158 -0.95 -146.6 88.3 -10.1 54 1160 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1914 3476

1467 -0.95 -146.6 127.3 -14.0 69 1469 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1914 3476

1776 -0.95 -146.6 165.7 -13.2 84 1777 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1914 3476

2086 -0.95 -146.6 194.0 -4.9 99 2087 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1914 3476

2395 -0.95 -146.6 212.1 -6.5 114 2396 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1914 3476

2704 -0.95 -146.6 235.5 -8.0 129 2705 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1913 3476

3013 -0.95 -146.6 256.3 -6.2 144 3014 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1914 3476

3322 -0.95 -146.6 283.7 -9.5 159 3324 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1914 3476

3632 -0.95 -146.6 307.7 -7.4 174 3633 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1914 3476

3941 -0.95 -146.6 336.1 -6.8 189 3942 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1914 3476

4250 -0.95 -146.6 357.6 -6.9 204 4251 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1914 3476

4561 -0.95 -146.6 375.1 -5.5 219 4562 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1914 3476

4869 -0.95 -146.6 396.5 -7.0 234 4870 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1914 3476

5178 -0.95 -146.6 418.1 -6.6 249 5182 0.00 2.50 0.00 0.000 4 0.000 0.048 2282 3305 3476

5244 -0.95 -146.6 422.9 -7.2 252 5249 0.00 2.55 0.00 0.000 6 0.000 0.044 2282 1901 3476

5571 -0.95 -146.6 443.3 -5.6 268 5572 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1901 3476

5880 -0.95 -146.6 463.5 -7.4 283 5881 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1901 3476

6189 -0.95 -146.6 489.8 -9.0 298 6190 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1901 3476

6498 -0.95 -146.6 519.2 -9.1 313 6499 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1901 3476

6808 -0.95 -146.6 543.7 -7.1 328 6809 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1901 3476

7117 -0.95 -146.6 565.1 -6.9 343 7121 0.00 2.53 0.00 0.000 4 0.000 0.051 2282 3300 3476

7183 -0.95 -146.6 569.8 -7.2 346 7187 0.00 2.55 0.00 0.000 6 0.000 0.046 2282 1900 3476

7509 -0.95 -146.6 592.8 -7.0 362 7511 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1900 3476

7819 -0.95 -146.6 614.7 -7.5 377 7820 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1900 3476

8128 -0.95 -146.6 633.3 -5.9 392 8132 0.00 2.55 0.00 0.000 4 0.000 0.053 2282 3307 3476

8245 -0.95 -146.6 640.2 -6.0 397 8249 0.00 2.55 0.00 0.000 6 0.000 0.046 2282 1883 3476

8566 -0.95 -146.6 659.0 -5.9 413 8567 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1884 3476

8875 -0.95 -146.6 678.1 -5.7 428 8879 0.00 2.58 0.00 0.000 4 0.000 0.054 2282 3299 3477

8958 -0.95 -146.6 683.0 -5.6 432 8963 0.00 2.53 0.00 0.000 6 0.000 0.049 2282 1902 3476

9284 -0.95 -146.6 701.8 -5.7 448 9285 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1902 3476

9593 -0.95 -146.6 719.6 -6.6 463 9597 0.00 2.58 0.00 0.000 4 0.000 0.069 2282 492 3475

9678 -0.95 -146.6 725.7 -7.9 467 9682 0.00 2.50 0.00 0.000 6 0.000 0.050 2282 1906 3475

10002 -0.95 -146.6 748.8 -8.1 483 10003 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1907 3475

10312 -0.95 -146.6 765.3 -3.6 498 10314 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1907 3475

10621 -0.95 -146.6 782.7 -5.6 513 10626 0.00 2.58 0.00 0.000 4 0.000 0.064 2282 3304 3475

10709 -0.95 -146.6 789.1 -8.5 517 10714 0.00 2.60 0.00 0.000 6 0.000 0.056 2282 1904 3475

11037 -0.95 -146.6 806.2 -5.1 533 11038 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1903 3474

11346 -0.95 -146.6 824.7 -6.0 548 11347 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1903 3473

11655 -0.95 -146.6 841.9 -6.4 563 11656 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1903 3472

11964 -0.95 -146.6 860.1 -6.8 578 11965 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1903 3470

12107 end dive: BOTTOM_OBSTACLE_DETECTED

state 12107 begin apogee

12112 -0.36 0.0 869.8 7.0 585 12240 0.65 0.00 124.95 1.440 6 0.089 0.000 2420 2342 2878

12241 end apogee: CONTROL_FINISHED_OK

state 12241 begin climb

12242 0.95 146.6 873.7 0.0 591 12375 1.27 2.75 124.10 1.388 4 0.058 0.073 2700 3758 2280

12503 0.95 146.6 866.2 8.2 603 12508 0.00 2.60 0.00 0.000 6 0.000 0.053 2699 2351 2280

12825 0.95 152.1 849.0 5.8 619 12835 0.00 2.72 5.88 1.355 4 0.000 0.077 2700 944 2257

12936 0.95 152.1 840.7 8.3 624 12941 0.00 2.60 0.00 0.000 6 0.000 0.055 2700 2348 2256

13256 0.97 162.9 822.4 5.7 640 13268 0.00 0.00 10.02 1.377 6 0.000 0.000 2700 2348 2213

13565 0.97 162.9 795.8 7.2 655 13566 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2348 2212

13874 1.04 225.4 781.0 4.1 670 13937 0.10 2.80 53.10 1.408 4 0.060 0.075 2735 941 1959

14054 1.04 225.4 767.2 7.6 678 14058 0.00 2.60 0.00 0.000 6 0.000 0.053 2735 2344 1959

14380 1.04 225.4 739.2 8.5 694 14385 0.00 2.67 0.00 0.000 4 0.000 0.073 2735 936 1958

14442 1.04 225.4 733.3 9.8 697 14446 0.00 2.58 0.00 0.000 6 0.000 0.051 2735 2352 1958

14766 1.04 225.4 707.6 7.3 713 14771 0.00 2.65 0.00 0.000 4 0.000 0.067 2735 941 1958

14899 1.04 225.4 696.2 8.9 719 14904 0.00 2.55 0.00 0.000 6 0.000 0.046 2735 2347 1957

15226 1.04 225.4 671.5 7.0 735 15227 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2348 1957

15535 1.04 225.4 648.7 7.6 750 15539 0.00 2.60 0.00 0.000 4 0.000 0.064 2735 942 1958

15675 1.04 225.4 636.4 8.9 756 15680 0.00 2.50 0.00 0.000 6 0.000 0.042 2735 2352 1958

15990 1.04 225.4 609.8 8.7 771 15994 0.00 2.60 0.00 0.000 4 0.000 0.060 2735 942 1959

16055 1.04 225.4 603.7 9.1 774 16059 0.00 2.50 0.00 0.000 6 0.000 0.041 2735 2344 1959

16382 1.04 225.4 572.0 9.7 790 16383 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2345 1959

16691 1.04 225.4 543.9 9.1 805 16695 0.00 2.58 0.00 0.000 4 0.000 0.060 2735 942 1961

16761 1.04 225.4 537.4 8.3 808 16766 0.00 2.50 0.00 0.000 6 0.000 0.039 2735 2344 1961

17083 1.04 225.4 513.8 7.0 824 17084 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2344 1962

17392 1.04 225.4 490.9 7.6 839 17396 0.00 2.58 0.00 0.000 4 0.000 0.058 2735 941 1962

17479 1.04 225.4 483.2 8.3 843 17484 0.00 2.50 0.00 0.000 6 0.000 0.038 2735 2351 1962

17806 1.04 225.4 455.9 8.6 859 17807 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2351 1963

18115 1.04 225.4 429.3 8.4 874 18120 0.00 2.58 0.00 0.000 4 0.000 0.058 2735 935 1964

18221 1.04 225.4 419.4 9.5 879 18226 0.00 2.50 0.00 0.000 6 0.000 0.038 2735 2352 1964

18547 1.04 225.4 395.2 6.5 895 18551 0.00 2.58 0.00 0.000 4 0.000 0.056 2735 939 1965

18596 1.04 225.4 391.5 6.9 897 18601 0.00 2.50 0.00 0.000 6 0.000 0.038 2735 2349 1965

18917 1.04 225.4 369.1 7.6 913 18921 0.00 2.58 0.00 0.000 4 0.000 0.057 2735 940 1966

19000 1.04 225.4 364.2 7.5 917 19004 0.00 2.50 0.00 0.000 6 0.000 0.038 2735 2356 1966

19325 1.05 226.6 344.8 6.0 933 19331 0.00 0.00 3.62 1.010 6 0.000 0.000 2735 2356 1954

19634 1.05 226.6 324.5 6.2 948 19639 0.00 2.60 0.00 0.000 4 0.000 0.056 2735 932 1955

19745 1.05 226.6 316.5 6.6 953 19750 0.00 2.53 0.00 0.000 6 0.000 0.039 2735 2350 1954

20072 1.05 226.6 294.7 8.7 969 20073 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2351 1955

20381 1.05 226.6 270.7 8.6 984 20385 0.00 2.58 0.00 0.000 4 0.000 0.057 2735 938 1956

20474 1.05 226.6 261.5 9.7 988 20479 0.00 2.50 0.00 0.000 6 0.000 0.039 2735 2350 1956

20801 1.05 226.6 233.6 7.8 1004 20802 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2351 1956

21110 1.05 226.6 211.6 6.7 1019 21114 0.00 2.58 0.00 0.000 4 0.000 0.056 2735 939 1956

21221 1.05 226.6 203.5 9.8 1024 21226 0.00 2.50 0.00 0.000 6 0.000 0.038 2735 2351 1956

21548 1.05 226.6 172.9 10.0 1040 21552 0.00 2.58 0.00 0.000 4 0.000 0.055 2735 933 1956

21624 1.05 226.6 162.1 14.1 1043 21631 0.00 2.53 0.00 0.000 6 0.000 0.038 2735 2351 1956

21940 1.05 226.6 124.3 14.1 1059 21941 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2350 1957

22249 1.09 266.4 108.6 4.8 1074 22284 0.00 0.00 32.17 0.879 6 0.000 0.000 2735 2350 1791

22579 1.09 266.4 82.7 10.2 1090 22584 0.00 2.60 0.00 0.000 4 0.000 0.056 2735 940 1791

22645 1.09 266.4 76.2 9.8 1093 22650 0.00 2.50 0.00 0.000 6 0.000 0.038 2735 2344 1791

22972 1.09 266.4 42.3 8.7 1109 22976 0.00 2.60 0.00 0.000 4 0.000 0.056 2735 936 1791

23093 1.09 266.4 31.2 7.3 1114 23101 0.00 2.50 0.00 0.000 6 0.000 0.038 2735 2344 1791

23409 1.09 266.4 2.7 8.3 1130 23410 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2343 1791

23428 end climb: SURFACE_DEPTH_REACHED

state 23428 begin surface coast

23450 end surface coast: CONTROL_FINISHED_OK

state 23450 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	80	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2350	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	37	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-77768.273	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	133455,6134.980,-839.743,23,1.8,40,-9.1	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.193,0.080
_SM_DEPTHo	1.72	KALMAN_X	89209.9,-2702.2,-1768.3,-93067.7,31088.2
_SM_ANGLEo	-59.4	KALMAN_Y	132937.3,995.8,680.7,-131343.4,-7185.4
GPS2	134015,6134.945,-839.639,11,1.1,11,-9.1	MHEAD_RNG_PITCHd_Wd	301.6,36160,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	1.1,1.003717	XPDR_PINGS	0
SM_CCo	23470,29.27,0.811,3,0,1655,300.00	ALTIM_BOTTOM_PING	825.9,52.7
SM_GC	1.72,0.00,0.00,29.27,0.000,0.000,0.811,27,1877,1655,-11.35,-0.65,300.00	_24V_AH	23.2,23.742
IRIDIUM_FIX	6108.28,-840.31,251107,101023	_10V_AH	10.1,10.096
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56799,1132
HUMID	2051	CFSIZE	260165632,254017536
INTERNAL_PRESSURE	9.22887	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,32,3,0
TCM_TEMP	15.60	GPS	251107,201408,6138.360,-842.149,29,1.1,29,-9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	141	84.39	SBE_CT	836	24	465.52
Roll_motor	130	76	231.37	SBE_O2	767	19	338.14
VBD_pump_during_apogee	353	1440	11824.92	WL_BB2F	608	105	1483.09
VBD_pump_during_surface	29	810	550.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	96.21	nil	0	0	0.00
Iridium_during_connect	33	160	125.40	nil	0	0	0.00
Iridium_during_xfer	150	223	779.64
Transponder_ping	7	420	73.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.50
TT8	2039	19	407.80
LPSleep	18459	2	408.30
TT8_Active	541	19	108.34
TT8_Sampling	2415	39	970.91
TT8_CF8	379	45	175.62
TT8_Kalman	33	81	27.56
Analog_circuits	1701	12	206.25
GPS_charging	0	0	0.00
Compass	2371	8	191.58
RAFOS	0	0	0.00

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.95	-146.6	0.0	0.0	0	83	0.00	0.00	-62.47	0.000	2	0.000	0.000	28	1867	2973
85	-0.95	-146.6	3.7	-4.5	3	118	12.10	2.60	-14.35	0.000	4	0.141	0.058	2282	3304	3475
212	-0.95	-146.6	16.4	-6.4	8	217	0.00	2.53	0.00	0.000	6	0.000	0.041	2282	1914	3476
541	-0.95	-146.6	40.5	-9.2	24	542	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1914	3476
849	-0.95	-146.6	63.1	-5.6	39	850	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1914	3476
1158	-0.95	-146.6	88.3	-10.1	54	1160	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1914	3476
1467	-0.95	-146.6	127.3	-14.0	69	1469	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1914	3476
1776	-0.95	-146.6	165.7	-13.2	84	1777	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1914	3476
2086	-0.95	-146.6	194.0	-4.9	99	2087	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1914	3476
2395	-0.95	-146.6	212.1	-6.5	114	2396	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1914	3476
2704	-0.95	-146.6	235.5	-8.0	129	2705	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1913	3476
3013	-0.95	-146.6	256.3	-6.2	144	3014	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1914	3476
3322	-0.95	-146.6	283.7	-9.5	159	3324	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1914	3476
3632	-0.95	-146.6	307.7	-7.4	174	3633	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1914	3476
3941	-0.95	-146.6	336.1	-6.8	189	3942	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1914	3476
4250	-0.95	-146.6	357.6	-6.9	204	4251	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1914	3476
4561	-0.95	-146.6	375.1	-5.5	219	4562	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1914	3476
4869	-0.95	-146.6	396.5	-7.0	234	4870	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1914	3476
5178	-0.95	-146.6	418.1	-6.6	249	5182	0.00	2.50	0.00	0.000	4	0.000	0.048	2282	3305	3476
5244	-0.95	-146.6	422.9	-7.2	252	5249	0.00	2.55	0.00	0.000	6	0.000	0.044	2282	1901	3476
5571	-0.95	-146.6	443.3	-5.6	268	5572	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1901	3476
5880	-0.95	-146.6	463.5	-7.4	283	5881	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1901	3476
6189	-0.95	-146.6	489.8	-9.0	298	6190	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1901	3476
6498	-0.95	-146.6	519.2	-9.1	313	6499	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1901	3476
6808	-0.95	-146.6	543.7	-7.1	328	6809	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1901	3476
7117	-0.95	-146.6	565.1	-6.9	343	7121	0.00	2.53	0.00	0.000	4	0.000	0.051	2282	3300	3476
7183	-0.95	-146.6	569.8	-7.2	346	7187	0.00	2.55	0.00	0.000	6	0.000	0.046	2282	1900	3476
7509	-0.95	-146.6	592.8	-7.0	362	7511	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1900	3476
7819	-0.95	-146.6	614.7	-7.5	377	7820	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1900	3476
8128	-0.95	-146.6	633.3	-5.9	392	8132	0.00	2.55	0.00	0.000	4	0.000	0.053	2282	3307	3476
8245	-0.95	-146.6	640.2	-6.0	397	8249	0.00	2.55	0.00	0.000	6	0.000	0.046	2282	1883	3476
8566	-0.95	-146.6	659.0	-5.9	413	8567	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1884	3476
8875	-0.95	-146.6	678.1	-5.7	428	8879	0.00	2.58	0.00	0.000	4	0.000	0.054	2282	3299	3477
8958	-0.95	-146.6	683.0	-5.6	432	8963	0.00	2.53	0.00	0.000	6	0.000	0.049	2282	1902	3476
9284	-0.95	-146.6	701.8	-5.7	448	9285	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1902	3476
9593	-0.95	-146.6	719.6	-6.6	463	9597	0.00	2.58	0.00	0.000	4	0.000	0.069	2282	492	3475
9678	-0.95	-146.6	725.7	-7.9	467	9682	0.00	2.50	0.00	0.000	6	0.000	0.050	2282	1906	3475
10002	-0.95	-146.6	748.8	-8.1	483	10003	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1907	3475
10312	-0.95	-146.6	765.3	-3.6	498	10314	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1907	3475
10621	-0.95	-146.6	782.7	-5.6	513	10626	0.00	2.58	0.00	0.000	4	0.000	0.064	2282	3304	3475
10709	-0.95	-146.6	789.1	-8.5	517	10714	0.00	2.60	0.00	0.000	6	0.000	0.056	2282	1904	3475
11037	-0.95	-146.6	806.2	-5.1	533	11038	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1903	3474
11346	-0.95	-146.6	824.7	-6.0	548	11347	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1903	3473
11655	-0.95	-146.6	841.9	-6.4	563	11656	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1903	3472
11964	-0.95	-146.6	860.1	-6.8	578	11965	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1903	3470
12107	end dive: BOTTOM_OBSTACLE_DETECTED
state	12107	begin apogee
12112	-0.36	0.0	869.8	7.0	585	12240	0.65	0.00	124.95	1.440	6	0.089	0.000	2420	2342	2878
12241	end apogee: CONTROL_FINISHED_OK
state	12241	begin climb
12242	0.95	146.6	873.7	0.0	591	12375	1.27	2.75	124.10	1.388	4	0.058	0.073	2700	3758	2280
12503	0.95	146.6	866.2	8.2	603	12508	0.00	2.60	0.00	0.000	6	0.000	0.053	2699	2351	2280
12825	0.95	152.1	849.0	5.8	619	12835	0.00	2.72	5.88	1.355	4	0.000	0.077	2700	944	2257
12936	0.95	152.1	840.7	8.3	624	12941	0.00	2.60	0.00	0.000	6	0.000	0.055	2700	2348	2256
13256	0.97	162.9	822.4	5.7	640	13268	0.00	0.00	10.02	1.377	6	0.000	0.000	2700	2348	2213
13565	0.97	162.9	795.8	7.2	655	13566	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2348	2212
13874	1.04	225.4	781.0	4.1	670	13937	0.10	2.80	53.10	1.408	4	0.060	0.075	2735	941	1959
14054	1.04	225.4	767.2	7.6	678	14058	0.00	2.60	0.00	0.000	6	0.000	0.053	2735	2344	1959
14380	1.04	225.4	739.2	8.5	694	14385	0.00	2.67	0.00	0.000	4	0.000	0.073	2735	936	1958
14442	1.04	225.4	733.3	9.8	697	14446	0.00	2.58	0.00	0.000	6	0.000	0.051	2735	2352	1958
14766	1.04	225.4	707.6	7.3	713	14771	0.00	2.65	0.00	0.000	4	0.000	0.067	2735	941	1958
14899	1.04	225.4	696.2	8.9	719	14904	0.00	2.55	0.00	0.000	6	0.000	0.046	2735	2347	1957
15226	1.04	225.4	671.5	7.0	735	15227	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2348	1957
15535	1.04	225.4	648.7	7.6	750	15539	0.00	2.60	0.00	0.000	4	0.000	0.064	2735	942	1958
15675	1.04	225.4	636.4	8.9	756	15680	0.00	2.50	0.00	0.000	6	0.000	0.042	2735	2352	1958
15990	1.04	225.4	609.8	8.7	771	15994	0.00	2.60	0.00	0.000	4	0.000	0.060	2735	942	1959
16055	1.04	225.4	603.7	9.1	774	16059	0.00	2.50	0.00	0.000	6	0.000	0.041	2735	2344	1959
16382	1.04	225.4	572.0	9.7	790	16383	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2345	1959
16691	1.04	225.4	543.9	9.1	805	16695	0.00	2.58	0.00	0.000	4	0.000	0.060	2735	942	1961
16761	1.04	225.4	537.4	8.3	808	16766	0.00	2.50	0.00	0.000	6	0.000	0.039	2735	2344	1961
17083	1.04	225.4	513.8	7.0	824	17084	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2344	1962
17392	1.04	225.4	490.9	7.6	839	17396	0.00	2.58	0.00	0.000	4	0.000	0.058	2735	941	1962
17479	1.04	225.4	483.2	8.3	843	17484	0.00	2.50	0.00	0.000	6	0.000	0.038	2735	2351	1962
17806	1.04	225.4	455.9	8.6	859	17807	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2351	1963
18115	1.04	225.4	429.3	8.4	874	18120	0.00	2.58	0.00	0.000	4	0.000	0.058	2735	935	1964
18221	1.04	225.4	419.4	9.5	879	18226	0.00	2.50	0.00	0.000	6	0.000	0.038	2735	2352	1964
18547	1.04	225.4	395.2	6.5	895	18551	0.00	2.58	0.00	0.000	4	0.000	0.056	2735	939	1965
18596	1.04	225.4	391.5	6.9	897	18601	0.00	2.50	0.00	0.000	6	0.000	0.038	2735	2349	1965
18917	1.04	225.4	369.1	7.6	913	18921	0.00	2.58	0.00	0.000	4	0.000	0.057	2735	940	1966
19000	1.04	225.4	364.2	7.5	917	19004	0.00	2.50	0.00	0.000	6	0.000	0.038	2735	2356	1966
19325	1.05	226.6	344.8	6.0	933	19331	0.00	0.00	3.62	1.010	6	0.000	0.000	2735	2356	1954
19634	1.05	226.6	324.5	6.2	948	19639	0.00	2.60	0.00	0.000	4	0.000	0.056	2735	932	1955
19745	1.05	226.6	316.5	6.6	953	19750	0.00	2.53	0.00	0.000	6	0.000	0.039	2735	2350	1954
20072	1.05	226.6	294.7	8.7	969	20073	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2351	1955
20381	1.05	226.6	270.7	8.6	984	20385	0.00	2.58	0.00	0.000	4	0.000	0.057	2735	938	1956
20474	1.05	226.6	261.5	9.7	988	20479	0.00	2.50	0.00	0.000	6	0.000	0.039	2735	2350	1956
20801	1.05	226.6	233.6	7.8	1004	20802	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2351	1956
21110	1.05	226.6	211.6	6.7	1019	21114	0.00	2.58	0.00	0.000	4	0.000	0.056	2735	939	1956
21221	1.05	226.6	203.5	9.8	1024	21226	0.00	2.50	0.00	0.000	6	0.000	0.038	2735	2351	1956
21548	1.05	226.6	172.9	10.0	1040	21552	0.00	2.58	0.00	0.000	4	0.000	0.055	2735	933	1956
21624	1.05	226.6	162.1	14.1	1043	21631	0.00	2.53	0.00	0.000	6	0.000	0.038	2735	2351	1956
21940	1.05	226.6	124.3	14.1	1059	21941	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2350	1957
22249	1.09	266.4	108.6	4.8	1074	22284	0.00	0.00	32.17	0.879	6	0.000	0.000	2735	2350	1791
22579	1.09	266.4	82.7	10.2	1090	22584	0.00	2.60	0.00	0.000	4	0.000	0.056	2735	940	1791
22645	1.09	266.4	76.2	9.8	1093	22650	0.00	2.50	0.00	0.000	6	0.000	0.038	2735	2344	1791
22972	1.09	266.4	42.3	8.7	1109	22976	0.00	2.60	0.00	0.000	4	0.000	0.056	2735	936	1791
23093	1.09	266.4	31.2	7.3	1114	23101	0.00	2.50	0.00	0.000	6	0.000	0.038	2735	2344	1791
23409	1.09	266.4	2.7	8.3	1130	23410	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2343	1791
23428	end climb: SURFACE_DEPTH_REACHED
state	23428	begin surface coast
23450	end surface coast: CONTROL_FINISHED_OK
state	23450	begin surface