OKMC 16May13 * SG181 * Dive index * Mission links * Dive 84 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 HD_C  1.5e-05 ROLL_MAX  3785 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  11 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  84 ESCAPE_HEADING  0 C_ROLL_DIVE  2450 ALTIM_TOP_MIN_OBSTACLE  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2350 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_FLARE  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1020 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  58 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  32 XPDR_VALID  2
D_BOOST  150 N_FILEKB  8 ROLL_AD_RATE  350 XPDR_INHIBIT  90
T_BOOST  5 FILEMGR  0 ROLL_MAXERRORS  2 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  9 VBD_MIN  440 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  163 C_VBD  2753 DEVICE1  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
T_DIVE  330 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  360 CALL_WAIT  60 PITCH_VBD_SHIFT  0.001 DEVICE5  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERS  1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_NO_W  120 T_GPS  15 UNCOM_BLEED  50 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  -8 T_GPS_CHARGE  -95785.938 DBDW  0 COMPASS_DEVICE  97
USE_ICE  0 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  149
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  350 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 AH0_10V  0 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  250 MINV_24V  12 SIM_W  0
MAX_BUOY  200 PITCH_MAX  3941 MINV_10V  12 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2700 FG_AHR_10V  0 SEABIRD_T_G  0.004364301
GLIDE_SLOPE  30 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00062910328
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PHONE_SUPPLY  2 SEABIRD_T_I  2.4425184e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -160.75446 SEABIRD_T_J  2.6404416e-06
MASS  52184 PITCH_GAIN  20 PRESSURE_SLOPE  0.000109412 SEABIRD_C_G  -9.9046793
MASS_COMP  0 PITCH_TIMEOUT  17 AD7714Ch0Gain  1 SEABIRD_C_H  1.1251128
NAV_MODE  2 PITCH_AD_RATE  165 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0019873739
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00023203803
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.0033 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0082 ROLL_MIN  209 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0

Pre-dive calculations and measurements:
GPS1  250513,172721,2226.030,12117.289,10,2.3,29,-2.9 TGT_NAME  N1
_CALLS  1 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  -0.24 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  250513,173439,2226.213,12117.291,12,3.0,31,-2.9 MHEAD_RNG_PITCHd_Wd  20.4,70756,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  1236

Post-dive calculations and measurements:
FINISH  -0.2,1.021227 _10V_AH  13.5,0.000
SM_CCo  11853,32.58,0.150,0,0,915,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.16,7.68,0.15,32.58,0.053,0.125,0.150,234,2482,915,-7.61,-0.82,450.13,0,0,0,0,0,0,14.82,14.81,14.69 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2220.67,12048.63,250513,141436 MEM  322808
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  20106,570
HUMID  45.78 CAP_FILE_SIZE  137755,0
INTERNAL_PRESSURE  9.66834 CFSIZE  260034560,249147392
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.098, 8.8,1
SC_FREEKB  3905792 GPS  250513,205436,2228.738,12117.960,40,1.0,40,-2.9
_24V_AH  13.4,41.706

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21432122.06 nil000.00
Roll_motor116125195.77 nil000.00
VBD_pump_during_apogee456180311032.19 nil000.00
VBD_pump_during_surface3214965.45 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2811242.91 nil000.00
Iridium_during_connect2016044.97 SciCon118845823.14
Iridium_during_xfer191223571.75 nil000.00
Transponder_ping04201.41 nil000.00
GUMSTIX_24V000.00
GPS35209.95
TT8177810263.08
LPSleep81262240.27
TT8_Active5831086.27
TT8_Sampling170928667.82
TT8_CF81393567.27
TT8_Kalman000.00
Analog_circuits138416299.00
GPS_charging000.00
Compass13156119.72
RAFOS000.00
Transponder050.04

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
19 -0.91 -194.6 227 2454 919 912 0.0 0.0 0 103 0.00 0.00 -81.57 0.000 16386 0.000 0.000 226 2455 2983 3023 2943 0 0 0 0 0 0 28.83 28.83 28.83
106 -0.91 -194.6 226 2455 3023 2944 3.1 -11.2 14 132 10.62 2.30 -9.45 0.000 18692 0.432 0.113 2388 3778 3549 3641 3457 0 0 0 0 0 0 14.41 14.66 14.89
185 -0.91 -194.6 2388 3780 3641 3461 39.4 -41.4 25 190 0.00 2.08 0.00 0.000 1030 0.000 0.037 2388 2442 3551 3641 3461 0 0 0 0 0 0 28.83 14.76 28.83
497 -0.91 -194.6 2388 2436 3641 3463 131.3 -24.5 42 502 0.00 2.15 0.00 0.000 516 0.000 0.044 2388 1055 3552 3641 3463 0 0 0 0 0 0 28.83 14.80 28.83
553 -0.91 -194.6 2388 1054 3641 3462 142.3 -25.6 44 560 0.00 2.28 0.00 0.000 1030 0.000 0.060 2378 2457 3552 3641 3464 0 0 0 0 0 0 28.83 14.81 28.83
859 -0.91 -194.6 2378 2458 3641 3464 215.5 -19.8 60 860 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 2458 3552 3641 3464 0 0 0 0 0 0 28.83 28.83 28.83
1160 -0.91 -194.6 2378 2458 3641 3464 277.0 -19.2 75 1166 0.00 2.20 0.00 0.000 516 0.000 0.044 2378 1049 3552 3641 3464 0 0 0 0 0 0 28.83 14.90 28.83
1284 -0.91 -194.6 2378 1047 3642 3465 297.4 -16.0 81 1290 0.15 2.25 0.00 0.000 3078 0.269 0.057 2403 2455 3555 3642 3468 0 0 0 0 0 0 14.77 14.89 28.83
1607 -0.91 -194.6 2403 2455 3643 3464 352.1 -17.5 97 1609 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2455 3553 3642 3464 0 0 0 0 0 0 28.83 28.83 28.83
1908 -0.91 -194.6 2403 2452 3640 3462 405.4 -17.3 112 1913 0.00 2.20 0.00 0.000 516 0.000 0.050 2403 1056 3552 3642 3462 0 0 0 0 0 0 28.83 14.94 28.83
1954 -0.91 -194.6 1544 1055 3637 3459 413.1 -17.8 114 1960 0.00 2.25 0.00 0.000 1030 0.000 0.060 2396 2449 3551 3642 3461 0 0 0 0 0 0 28.83 14.92 28.83
2272 -0.91 -194.6 2396 2448 3642 3457 468.7 -16.3 130 2277 0.00 2.17 0.00 0.000 260 0.000 0.086 2386 3777 3549 3641 3457 0 0 0 0 0 0 28.83 14.91 28.83
2363 -0.91 -194.6 2386 3777 3642 3456 483.0 -17.3 134 2369 0.00 2.03 0.00 0.000 1030 0.000 0.040 2386 2444 3551 3646 3456 0 0 0 0 0 0 28.83 15.00 28.83
2677 -0.91 -194.6 2386 2442 3641 3452 534.3 -15.0 150 2682 0.00 2.17 0.00 0.000 516 0.000 0.050 2386 1054 3546 3641 3451 0 0 0 0 0 0 28.83 14.95 28.83
2754 -0.91 -194.6 2386 1054 3641 3451 543.8 -15.3 153 2762 0.12 2.25 0.00 0.000 3078 0.272 0.063 2404 2447 3545 3640 3450 0 0 0 0 0 0 14.81 14.93 28.83
3059 -0.91 -194.6 2403 2447 3638 3447 591.6 -15.6 169 3065 0.00 2.20 0.00 0.000 260 0.000 0.091 2396 3781 3542 3638 3447 0 0 0 0 0 0 28.83 14.91 28.83
3156 -0.91 -194.6 2396 3781 3636 3447 606.7 -16.2 173 3161 0.00 2.05 0.00 0.000 1030 0.000 0.044 2396 2444 3541 3636 3447 0 0 0 0 0 0 28.83 15.00 28.83
3484 -0.91 -194.6 2396 2439 3634 3443 655.8 -14.1 184 3489 0.00 2.17 0.00 0.000 516 0.000 0.055 2396 1062 3538 3634 3442 0 0 0 0 0 0 28.83 14.95 28.83
3535 -0.91 -194.6 2396 1061 3634 3443 660.5 -13.9 185 3541 0.00 2.28 0.00 0.000 1030 0.000 0.068 2386 2454 3538 3634 3443 0 0 0 0 0 0 28.83 14.93 28.83
3849 -0.91 -194.6 2386 2454 3632 3440 711.7 -14.6 196 3855 0.00 2.20 0.00 0.000 260 0.000 0.095 2376 3781 3535 3631 3440 0 0 0 0 0 0 28.83 14.91 28.83
3921 -0.91 -194.6 2376 3781 3629 3440 721.4 -15.0 198 3927 0.12 2.05 0.00 0.000 3078 0.278 0.045 2402 2447 3534 3629 3440 0 0 0 0 0 0 14.78 14.99 28.83
4245 -0.91 -194.6 2403 2441 3624 3437 764.0 -12.4 209 4250 0.00 2.25 0.00 0.000 260 0.000 0.095 2395 3787 3531 3623 3439 0 0 0 0 0 0 28.83 14.90 28.83
4296 -0.91 -194.6 2394 3787 3623 3439 768.5 -12.9 210 4302 0.00 2.08 0.00 0.000 1030 0.000 0.047 2395 2447 3531 3624 3439 0 0 0 0 0 0 28.83 14.98 28.83
4609 -0.91 -194.6 2395 2442 3624 3435 815.1 -13.5 221 4614 0.00 2.20 0.00 0.000 516 0.000 0.057 2395 1058 3529 3624 3435 0 0 0 0 0 0 28.83 14.94 28.83
4666 -0.91 -194.6 2395 1057 3623 3435 819.9 -13.6 222 4672 0.00 2.28 0.00 0.000 1030 0.000 0.070 2385 2449 3529 3623 3435 0 0 0 0 0 0 28.83 14.92 28.83
4971 -0.91 -194.6 2385 2450 3622 3433 860.4 -11.7 233 4972 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2449 3527 3622 3433 0 0 0 0 0 0 28.83 28.83 28.83
5271 -0.91 -194.6 2385 2450 3621 3432 894.0 -11.0 243 5276 0.00 2.22 0.00 0.000 516 0.000 0.056 2385 1057 3526 3620 3432 0 0 0 0 0 0 28.83 14.94 28.83
5313 -0.91 -194.6 2385 1057 3621 3432 897.1 -10.8 244 5318 0.12 2.30 0.00 0.000 3078 0.276 0.070 2403 2458 3526 3620 3432 0 0 0 0 0 0 14.79 14.91 28.83
5637 -0.91 -194.6 2399 2458 3618 3429 936.6 -12.7 255 5643 0.00 2.20 0.00 0.000 260 0.000 0.100 2395 3777 3523 3617 3429 0 0 0 0 0 0 28.83 14.88 28.83
5664 -0.91 -194.6 2395 3777 3617 3429 936.6 -12.7 255 5671 0.00 2.08 0.00 0.000 1030 0.000 0.048 2395 2438 3522 3616 3429 0 0 0 0 0 0 28.83 14.98 28.83
5970 -0.91 -194.6 2395 2437 3617 3426 980.2 -12.5 266 5976 0.00 2.20 0.00 0.000 516 0.000 0.059 2393 1059 3521 3616 3426 0 0 0 0 0 0 28.83 14.92 28.83
6007 -0.91 -194.6 1544 1058 3611 3423 984.4 -12.3 267 6012 0.00 2.30 0.00 0.000 1030 0.000 0.072 2386 2454 3521 3616 3426 0 0 0 0 0 0 28.83 14.90 28.83
6063 end dive: TARGET_DEPTH_EXCEEDED
state 6063 begin apogee
6068 -0.25 0.0 2385 2349 3615 3426 992.4 -12.6 269 6260 0.77 0.00 183.38 1.803 10246 0.226 0.000 2610 2349 2750 2777 2724 0 0 0 0 0 0 14.75 28.83 13.50
6261 end apogee: CONTROL_FINISHED_OK
state 6261 begin climb
6263 0.91 194.6 2610 2349 2775 2722 999.2 0.0 275 6465 1.17 2.45 188.62 1.766 10756 0.123 0.063 2998 972 1954 1979 1929 0 0 0 0 0 0 14.14 14.02 13.43
6507 0.91 194.6 2998 971 1978 1917 965.9 18.0 283 6512 0.00 2.38 0.00 0.000 1030 0.000 0.067 2998 2348 1947 1978 1916 0 0 0 0 0 0 28.83 14.26 28.83
6820 0.91 194.6 2998 2348 1978 1906 895.8 22.0 294 6825 0.00 2.42 0.00 0.000 260 0.000 0.099 2998 3757 1942 1978 1906 0 0 0 0 0 0 28.83 14.59 28.83
6852 0.91 194.6 2998 3758 1978 1906 888.3 22.2 295 6857 0.00 2.25 0.00 0.000 1030 0.000 0.044 3008 2350 1942 1978 1906 0 0 0 0 0 0 28.83 14.67 28.83
7185 0.91 194.6 3008 2347 1978 1902 812.6 23.2 306 7186 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2347 1940 1978 1902 0 0 0 0 0 0 28.83 28.83 28.83
7485 0.91 194.6 3008 2344 1978 1899 740.3 23.9 316 7490 0.00 2.40 0.00 0.000 260 0.000 0.095 3008 3758 1938 1978 1899 0 0 0 0 0 0 28.83 14.78 28.83
7536 0.91 194.6 3008 3758 1978 1900 731.4 24.6 317 7542 0.00 2.22 0.00 0.000 1030 0.000 0.044 3019 2341 1938 1978 1899 0 0 0 0 0 0 28.83 14.85 28.83
7849 0.91 194.6 3019 2336 1978 1897 650.9 23.0 328 7850 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2336 1937 1978 1897 0 0 0 0 0 0 28.83 28.83 28.83
8149 0.91 194.6 3019 2335 1977 1896 582.5 23.1 339 8154 0.00 2.42 0.00 0.000 260 0.000 0.093 3019 3761 1937 1978 1896 0 0 0 0 0 0 28.83 14.83 28.83
8201 0.91 194.6 3019 3762 1978 1896 572.2 23.5 341 8208 0.15 2.20 0.00 0.000 5126 0.297 0.043 2997 2345 1937 1978 1896 0 0 0 0 0 0 14.71 14.90 28.83
8515 0.91 194.6 2997 2341 1978 1895 503.0 21.1 357 8516 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2341 1940 1978 1902 0 0 0 0 0 0 28.83 28.83 28.83
8816 0.91 194.6 2997 2341 1978 1895 444.9 18.4 372 8822 0.00 2.22 0.00 0.000 516 0.000 0.057 3005 961 1936 1977 1895 0 0 0 0 0 0 28.83 14.90 28.83
8864 0.91 194.6 3005 960 1977 1895 437.0 18.5 374 8869 0.00 2.28 0.00 0.000 1030 0.000 0.063 3005 2355 1936 1978 1894 0 0 0 0 0 0 28.83 14.88 28.83
9181 0.91 194.6 3006 2355 1977 1894 379.4 18.4 390 9186 0.00 2.35 0.00 0.000 260 0.000 0.093 3005 3758 1936 1978 1894 0 0 0 0 0 0 28.83 14.86 28.83
9199 0.91 194.6 3005 3758 1978 1894 379.4 18.4 390 9205 0.00 2.20 0.00 0.000 1030 0.000 0.042 3016 2340 1935 1977 1894 0 0 0 0 0 0 28.83 14.92 28.83
9503 0.91 194.6 3015 2336 1978 1893 318.2 19.4 406 9509 0.00 2.20 0.00 0.000 516 0.000 0.054 3025 959 1935 1978 1893 0 0 0 0 0 0 28.83 14.91 28.83
9555 0.91 194.6 3026 958 1978 1893 310.6 18.7 408 9562 0.15 2.28 0.00 0.000 5126 0.288 0.062 2994 2356 1935 1977 1893 0 0 0 0 0 0 14.72 14.87 28.83
9870 0.91 194.6 2993 2356 1978 1892 253.2 17.3 424 9875 0.00 2.35 0.00 0.000 260 0.000 0.092 2993 3764 1935 1978 1893 0 0 0 0 0 0 28.83 14.86 28.83
9937 0.91 194.6 2993 3764 1978 1893 242.4 16.6 427 9942 0.00 2.20 0.00 0.000 1030 0.000 0.043 3001 2343 1936 1978 1894 0 0 0 0 0 0 28.83 14.93 28.83
10254 0.91 194.6 3002 2339 1978 1892 190.9 17.3 443 10255 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2339 1935 1978 1893 0 0 0 0 0 0 28.83 28.83 28.83
10555 0.91 194.6 3001 2339 1977 1892 139.7 15.8 458 10561 0.00 2.38 0.00 0.000 260 0.000 0.087 2998 3756 1935 1979 1892 0 0 0 0 0 0 28.83 14.86 28.83
10578 0.91 194.6 3001 3756 1978 1893 135.6 16.0 459 10583 0.00 2.20 0.00 0.000 1030 0.000 0.041 3012 2332 1935 1978 1893 0 0 0 0 0 0 28.83 14.94 28.83
10900 0.91 194.6 3012 2328 1978 1893 86.6 13.5 475 10905 0.00 2.17 0.00 0.000 516 0.000 0.052 3022 961 1935 1977 1894 0 0 0 0 0 0 28.83 14.90 28.83
10917 0.91 194.6 3022 960 1978 1895 86.6 13.5 475 10924 0.00 2.25 0.00 0.000 1030 0.000 0.057 3022 2359 1935 1977 1893 0 0 0 0 0 0 28.83 14.88 28.83
11224 0.95 239.8 3022 2359 1978 1893 61.7 8.4 491 11249 0.00 2.25 19.62 0.321 8708 0.000 0.048 3032 955 1774 1811 1737 0 0 0 0 0 0 28.83 14.83 14.63
11289 0.95 239.8 2120 955 1785 1737 54.3 11.0 494 11295 0.00 2.25 0.00 0.000 1030 0.000 0.056 3032 2349 1780 1816 1744 0 0 0 0 0 0 28.83 14.82 28.83
11598 1.09 378.7 3031 2349 1818 1745 23.1 5.2 526 11670 0.00 2.22 64.97 0.213 8708 0.000 0.047 3042 960 1208 1245 1171 0 0 0 0 0 0 28.83 14.78 14.64
11719 1.09 378.7 3041 963 1250 1173 12.8 10.0 547 11726 0.00 2.25 0.00 0.000 1030 0.000 0.054 3042 2358 1211 1250 1173 0 0 0 0 0 0 28.83 14.78 28.83
11811 end climb: SURFACE_DEPTH_REACHED
state 11811 begin surface coast
11837 end surface coast: CONTROL_FINISHED_OK
state 11837 begin surface