OKMC Nov11 * SG169 * Dive index * Mission links * Dive 156 * 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  0
DIVE  156 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  340 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  -10913.432 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  091211,123936,2316.268,12153.034,24,1.1,24,-3.1 TGT_NAME  N1
_CALLS  1 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  0.94 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -58.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  091211,124550,2316.417,12153.044,12,1.4,12,-3.1 MHEAD_RNG_PITCHd_Wd  238.2,52080,-13.7,-11.000
SPEED_LIMITS  0.191,0.365 D_GRID  3658

Post-dive calculations and measurements:
FINISH  0.3,1.022672 _10V_AH  10.2,23.707
SM_CCo  15866,0.00,0.000,0,0,457,618.65 FG_AHR_24Vo  0.000
SM_GC  0.85,5.50,0.17,0.00,0.031,0.067,0.000,127,2686,457,-5.79,-0.51,618.65,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2305.10,12152.12,091211,080857 MEM  324636
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  93579,1405
HUMID  42.12 CAP_FILE_SIZE  173875,0
INTERNAL_PRESSURE  9.45705 CFSIZE  260165632,208490496
TCM_TEMP  24.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 CURRENT  0.359, 43.2,1
_24V_AH  23.3,34.338 GPS  091211,171137,2316.298,12151.282,28,1.4,28,-3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1623488.77 SBE_CT95224532.40
Roll_motor13187268.58 AA43301819331399.13
VBD_pump_during_apogee812117122178.85 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3110374.90 nil000.00
Iridium_during_connect2016077.58 nil000.00
Iridium_during_xfer1952231013.88 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS13507.13
TT8370819749.02
LPSleep84992189.85
TT8_Active84919171.56
TT8_Sampling2842391153.90
TT8_CF831845148.78
TT8_Kalman000.00
Analog_circuits227712278.71
GPS_charging000.00
Compass243915373.30
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 14 begin dive
16 -0.70 -292.0 0.0 0.0 0 119 0.00 0.00 -99.88 0.000 2 0.000 0.000 117 2687 3056 0 0 0 0 0 0 28.83 28.83 28.83
122 -0.70 -292.0 4.1 -9.1 15 150 6.70 1.83 -16.12 0.000 4 0.234 0.053 1766 3832 3963 0 0 0 0 0 0 25.48 26.08 26.45
288 -0.60 -292.0 70.7 -30.0 45 298 0.15 1.85 0.00 0.000 6 0.163 0.027 1814 2580 3964 0 0 0 0 0 0 25.84 26.19 28.83
613 -0.52 -292.0 165.0 -26.0 106 620 0.00 2.05 0.00 0.000 4 0.000 0.031 1822 1180 3964 0 0 0 0 0 0 28.83 26.27 28.83
704 -0.52 -292.0 180.4 -12.8 123 712 0.10 2.25 0.00 0.000 6 0.146 0.042 1840 2659 3965 0 0 0 0 0 0 26.12 26.25 28.83
1018 -0.49 -292.0 231.8 -15.7 165 1021 0.00 1.77 0.00 0.000 4 0.000 0.048 1832 3818 3965 0 0 0 0 0 0 28.83 26.26 28.83
1063 -0.46 -292.0 237.9 -14.9 169 1072 0.00 1.83 0.00 0.000 6 0.000 0.026 1837 2562 3965 0 0 0 0 0 0 28.83 26.43 28.83
1369 -0.44 -292.0 278.4 -12.2 200 1378 0.00 1.98 0.00 0.000 4 0.000 0.047 1827 3823 3965 0 0 0 0 0 0 28.83 26.29 28.83
1435 -0.44 -292.0 285.7 -11.2 206 1442 0.12 1.80 0.00 0.000 6 0.116 0.025 1868 2557 3965 0 0 0 0 0 0 26.26 26.46 28.83
1743 -0.46 -292.0 311.7 -8.1 237 1744 0.00 0.00 0.00 0.000 6 0.000 0.000 1868 2558 3964 0 0 0 0 0 0 28.83 28.83 28.83
2046 -0.49 -292.0 336.1 -8.2 267 2052 0.00 0.00 0.00 0.000 6 0.000 0.000 1868 2558 3962 0 0 0 0 0 0 28.83 28.83 28.83
2355 -0.52 -292.0 356.9 -6.0 298 2366 0.00 1.95 0.00 0.000 4 0.000 0.048 1860 3812 3959 0 0 0 0 0 0 28.83 26.32 28.83
2399 -0.56 -292.0 359.3 -5.4 302 2402 0.00 1.80 0.00 0.000 6 0.000 0.028 1860 2560 3959 0 0 0 0 0 0 28.83 26.51 28.83
2711 -0.68 -292.0 385.8 -10.6 333 2721 0.17 1.95 0.00 0.000 4 0.093 0.028 1793 1183 3957 0 0 0 0 0 0 26.44 26.41 28.83
2767 -0.78 -292.0 391.3 -9.8 338 2774 0.00 2.20 0.00 0.000 6 0.000 0.039 1793 2658 3957 0 0 0 0 0 0 28.83 26.38 28.83
3076 -0.81 -292.0 420.8 -9.5 369 3086 0.12 1.75 0.00 0.000 4 0.078 0.044 1685 3820 3954 0 0 0 0 0 0 26.59 26.33 28.83
3222 -0.73 -292.0 451.2 -23.5 383 3231 0.25 1.80 0.00 0.000 6 0.136 0.026 1768 2572 3953 0 0 0 0 0 0 26.02 26.48 28.83
3531 -0.69 -292.0 501.7 -15.1 414 3535 0.00 2.03 0.00 0.000 4 0.000 0.030 1772 1174 3951 0 0 0 0 0 0 28.83 26.41 28.83
3577 -0.67 -292.0 507.4 -13.3 418 3584 0.12 2.22 0.00 0.000 6 0.132 0.042 1800 2654 3951 0 0 0 0 0 0 26.20 26.34 28.83
3886 -0.66 -292.0 542.4 -10.8 449 3890 0.00 1.80 0.00 0.000 4 0.000 0.050 1792 3810 3949 0 0 0 0 0 0 28.83 26.29 28.83
3918 -0.65 -292.0 546.5 -11.7 452 3922 0.00 1.80 0.00 0.000 6 0.000 0.027 1792 2570 3948 0 0 0 0 0 0 28.83 26.51 28.83
4230 -0.63 -292.0 582.4 -11.5 483 4238 0.00 1.95 0.00 0.000 4 0.000 0.047 1782 3812 3946 0 0 0 0 0 0 28.83 26.29 28.83
4252 -0.61 -292.0 584.8 -11.3 485 4262 0.10 1.80 0.00 0.000 6 0.140 0.027 1812 2556 3946 0 0 0 0 0 0 26.27 26.49 28.83
4574 -0.61 -292.0 616.4 -10.0 509 4575 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2556 3945 0 0 0 0 0 0 28.83 28.83 28.83
4871 -0.61 -292.0 645.2 -9.8 524 4877 0.00 1.98 0.00 0.000 4 0.000 0.048 1802 3817 3942 0 0 0 0 0 0 28.83 26.27 28.83
4915 -0.62 -292.0 649.2 -9.7 526 4918 0.00 1.80 0.00 0.000 6 0.000 0.027 1802 2573 3942 0 0 0 0 0 0 28.83 26.48 28.83
5232 -0.62 -292.0 685.1 -11.3 542 5233 0.00 0.00 0.00 0.000 6 0.000 0.000 1802 2565 3940 0 0 0 0 0 0 28.83 28.83 28.83
5533 -0.62 -292.0 718.2 -10.9 557 5537 0.00 1.98 0.00 0.000 4 0.000 0.049 1794 3821 3937 0 0 0 0 0 0 28.83 26.25 28.83
5577 -0.62 -292.0 723.0 -10.9 559 5580 0.00 1.83 0.00 0.000 6 0.000 0.027 1793 2572 3936 0 0 0 0 0 0 28.83 26.46 28.83
5898 -0.61 -292.0 760.1 -11.5 575 5904 0.00 2.03 0.00 0.000 4 0.000 0.032 1794 1183 3934 0 0 0 0 0 0 28.83 26.34 28.83
5925 -0.61 -292.0 762.2 -11.4 576 5929 0.00 2.22 0.00 0.000 6 0.000 0.044 1784 2653 3934 0 0 0 0 0 0 28.83 26.28 28.83
6239 -0.59 -292.0 800.9 -12.1 592 6241 0.12 0.00 0.00 0.000 6 0.143 0.000 1821 2654 3932 0 0 0 0 0 0 26.36 28.83 28.83
6538 -0.61 -292.0 825.1 -7.9 607 6540 0.00 0.00 0.00 0.000 6 0.000 0.000 1821 2654 3930 0 0 0 0 0 0 28.83 28.83 28.83
6840 -0.63 -292.0 848.3 -7.6 622 6846 0.00 2.15 0.00 0.000 4 0.000 0.032 1821 1188 3928 0 0 0 0 0 0 28.83 26.31 28.83
6868 -0.65 -292.0 849.8 -7.5 623 6872 0.00 2.25 0.00 0.000 6 0.000 0.043 1814 2659 3929 0 0 0 0 0 0 28.83 26.26 28.83
7175 -0.66 -292.0 876.6 -8.9 638 7179 0.00 1.80 0.00 0.000 4 0.000 0.050 1805 3822 3927 0 0 0 0 0 0 28.83 26.19 28.83
7222 -0.68 -292.0 880.3 -8.7 640 7226 0.00 1.83 0.00 0.000 6 0.000 0.028 1805 2565 3927 0 0 0 0 0 0 28.83 26.44 28.83
7534 -0.68 -292.0 908.9 -8.9 656 7535 0.00 0.00 0.00 0.000 6 0.000 0.000 1805 2562 3925 0 0 0 0 0 0 28.83 28.83 28.83
7835 -0.69 -292.0 933.8 -8.0 671 7839 0.00 1.95 0.00 0.000 4 0.000 0.051 1797 3810 3923 0 0 0 0 0 0 28.83 26.15 28.83
7900 -0.70 -292.0 938.7 -7.8 674 7903 0.00 1.80 0.00 0.000 6 0.000 0.029 1797 2575 3923 0 0 0 0 0 0 28.83 26.42 28.83
8217 -0.70 -292.0 964.7 -8.0 690 8223 0.00 2.05 0.00 0.000 4 0.000 0.033 1796 1179 3921 0 0 0 0 0 0 28.83 26.27 28.83
8240 -0.70 -292.0 966.5 -8.1 691 8244 0.00 2.25 0.00 0.000 6 0.000 0.044 1787 2653 3921 0 0 0 0 0 0 28.83 26.20 28.83
8490 end dive: TARGET_DEPTH_EXCEEDED
state 8490 begin apogee
8495 -0.20 0.0 990.0 -9.5 704 8706 0.45 0.12 205.07 1.172 6 0.097 0.088 1946 2527 2977 0 0 0 0 0 0 25.96 24.63 23.84
8707 end apogee: CONTROL_FINISHED_OK
state 8707 begin climb
8709 0.70 292.0 999.4 0.0 714 8988 0.77 2.45 267.27 1.167 4 0.038 0.037 2265 1058 1775 0 0 0 0 0 0 24.81 24.08 23.28
9126 0.64 292.0 931.9 20.9 734 9133 0.17 2.35 0.00 0.000 6 0.168 0.046 2221 2522 1757 0 0 0 0 0 0 25.01 25.24 28.83
9433 0.57 292.0 867.1 20.0 750 9437 0.00 2.03 0.00 0.000 4 0.000 0.049 2221 3817 1754 0 0 0 0 0 0 28.83 25.81 28.83
9560 0.50 292.0 841.0 20.7 756 9565 0.20 2.05 0.00 0.000 6 0.166 0.032 2176 2464 1752 0 0 0 0 0 0 25.62 25.96 28.83
9874 0.47 292.0 793.9 14.9 772 9879 0.00 2.12 0.00 0.000 4 0.000 0.048 2175 3809 1752 0 0 0 0 0 0 28.83 26.01 28.83
9913 0.44 292.0 787.3 15.6 774 9918 0.12 2.03 0.00 0.000 6 0.158 0.031 2153 2466 1752 0 0 0 0 0 0 25.85 26.09 28.83
10238 0.42 292.0 744.8 12.8 790 10239 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2464 1751 0 0 0 0 0 0 28.83 28.83 28.83
10537 0.41 292.0 708.0 12.3 805 10543 0.00 2.08 0.00 0.000 4 0.000 0.049 2153 3804 1751 0 0 0 0 0 0 28.83 26.10 28.83
10584 0.39 292.0 702.5 13.0 807 10588 0.00 2.03 0.00 0.000 6 0.000 0.031 2163 2463 1750 0 0 0 0 0 0 28.83 26.20 28.83
10892 0.38 292.0 661.7 13.2 822 10893 0.12 0.00 0.00 0.000 6 0.164 0.000 2129 2462 1750 0 0 0 0 0 0 26.10 28.83 28.83
11192 0.39 305.6 629.9 10.7 837 11211 0.00 2.17 9.90 0.873 4 0.000 0.049 2129 3809 1725 0 0 0 0 0 0 28.83 26.15 25.31
11242 0.41 314.1 625.1 10.8 839 11254 0.00 2.05 3.47 0.647 6 0.000 0.031 2139 2453 1695 0 0 0 0 0 0 28.83 26.15 24.94
11556 0.42 318.5 590.2 10.9 859 11566 0.00 2.20 4.40 0.744 4 0.000 0.048 2139 3811 1682 0 0 0 0 0 0 28.83 26.15 25.08
11592 0.42 318.5 585.9 11.7 862 11600 0.00 2.03 1.60 0.197 6 0.000 0.031 2149 2464 1678 0 0 0 0 0 0 28.83 26.17 25.82
11901 0.42 321.1 550.7 10.9 893 11911 0.00 2.17 3.47 0.637 4 0.000 0.048 2149 3811 1669 0 0 0 0 0 0 28.83 26.19 24.96
11933 0.42 321.1 546.5 12.0 896 11947 0.00 2.03 1.65 0.198 6 0.000 0.031 2159 2464 1672 0 0 0 0 0 0 28.83 26.20 25.84
12245 0.41 321.1 506.4 13.0 927 12255 0.00 2.12 2.00 0.186 4 0.000 0.038 2171 1055 1670 0 0 0 0 0 0 28.83 26.20 23.31
12270 0.41 321.1 503.6 12.3 929 12278 0.00 2.28 0.00 0.000 6 0.000 0.042 2171 2520 1678 0 0 0 0 0 0 28.83 26.18 28.83
12579 0.40 321.1 464.9 11.9 960 12591 0.12 2.05 1.88 0.171 4 0.158 0.050 2131 3804 1668 0 0 0 0 0 0 26.11 26.16 25.75
12657 0.52 400.2 457.1 9.0 967 12738 0.05 2.00 70.15 1.040 6 0.059 0.031 2205 2460 1346 0 0 0 0 1 0 26.17 26.25 24.33
13047 0.49 400.2 393.0 16.8 1006 13056 0.12 0.00 1.90 0.179 6 0.157 0.000 2171 2460 1346 0 0 0 0 0 0 25.77 28.83 25.48
13358 0.51 411.0 355.8 10.7 1037 13387 0.00 2.22 18.85 0.763 4 0.000 0.047 2171 3821 1292 0 0 0 0 0 0 28.83 25.85 25.13
13413 0.53 422.0 350.0 10.7 1042 13423 0.00 2.08 3.90 0.614 6 0.000 0.029 2180 2458 1256 0 0 0 0 0 0 28.83 25.89 24.85
13731 0.53 422.0 313.8 12.0 1074 13741 0.00 2.15 1.75 0.184 4 0.000 0.038 2191 1066 1260 0 0 0 0 0 0 28.83 26.02 25.64
13799 0.68 513.8 307.6 8.7 1080 13896 0.12 2.22 86.93 0.721 6 0.077 0.039 2275 2524 872 0 0 0 0 0 0 26.07 26.05 24.63
14196 0.63 513.8 220.3 21.4 1120 14207 0.17 2.20 0.00 0.000 4 0.161 0.037 2232 1070 856 0 0 0 0 0 0 25.64 25.88 28.83
14252 0.65 513.8 211.6 14.2 1125 14261 0.00 2.20 0.00 0.000 6 0.000 0.040 2232 2523 855 0 0 0 0 0 0 28.83 25.93 28.83
14569 0.65 513.8 164.6 15.4 1178 14575 0.00 2.00 0.00 0.000 4 0.000 0.047 2232 3816 855 0 0 0 0 0 0 28.83 26.06 28.83
14619 0.68 513.8 157.2 13.8 1187 14626 0.00 2.03 0.00 0.000 6 0.000 0.028 2242 2463 854 0 0 0 0 0 0 28.83 26.15 28.83
14936 0.68 513.8 114.9 13.0 1248 14943 0.00 2.10 0.00 0.000 4 0.000 0.040 2252 1059 854 0 0 0 0 0 0 28.83 26.17 28.83
14994 0.82 594.0 109.2 9.0 1258 15095 0.00 2.20 92.55 0.346 6 0.000 0.037 2252 2524 569 0 0 0 0 0 0 28.83 26.20 25.25
15406 0.96 669.5 65.2 9.1 1334 15446 0.15 2.28 32.53 0.246 4 0.067 0.037 2370 1064 442 0 0 0 0 0 0 26.22 25.94 25.44
15481 0.93 669.5 49.9 24.3 1346 15490 0.20 2.25 2.92 0.160 6 0.124 0.042 2309 2528 433 0 0 0 0 0 0 25.77 25.94 25.53
15768 end climb: SURFACE_DEPTH_REACHED
state 15768 begin surface coast
15791 end surface coast: CONTROL_FINISHED_OK
state 15791 begin surface