OKMC Nov11 * SG169 * Dive index * Mission links * Dive 326 * 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  326 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  1 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  320 UPLOAD_DIVES_MAX  -1 C_VBD  2979 DEVICE3  35
T_MISSION  360 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  -11132.382 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  225 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  0 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  100112,215807,2208.095,12247.994,36,0.9,36,-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  -0.228,0.143
_SM_DEPTHo  1.10 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -62.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  100112,220537,2208.064,12247.985,14,1.0,14,-2.9 MHEAD_RNG_PITCHd_Wd  309.2,173702,-15.1,-10.312
SPEED_LIMITS  0.179,0.315 D_GRID  4730

Post-dive calculations and measurements:
FINISH  0.2,1.010343 _10V_AH  10.0,41.972
SM_CCo  16236,16.98,0.123,0,0,1243,425.10 FG_AHR_24Vo  0.000
SM_GC  0.90,5.28,0.32,16.98,0.028,0.045,0.123,111,2670,1243,-5.79,-0.25,425.10,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2159.71,12247.19,100112,171707 MEM  324604
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  96918,1498
HUMID  44.25 CAP_FILE_SIZE  170675,0
INTERNAL_PRESSURE  9.52541 CFSIZE  260165632,193036288
TCM_TEMP  23.80 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  0 GPS  110112,023836,2210.851,12246.346,64,1.0,75,-2.9
_24V_AH  23.1,69.682

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1422978.86 SBE_CT101724564.11
Roll_motor11477204.32 AA43301898331447.16
VBD_pump_during_apogee557119015324.68 WL_BB2F000.00
VBD_pump_during_surface1612348.30 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810368.96 nil000.00
Iridium_during_connect37160139.21 nil000.00
Iridium_during_xfer2452231264.93 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS14507.49
TT8352219697.46
LPSleep92082201.66
TT8_Active65519129.69
TT8_Sampling2928391165.60
TT8_CF836245166.03
TT8_Kalman000.00
Analog_circuits205612246.81
GPS_charging000.00
Compass249015373.53
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
17 -0.65 -219.0 0.0 0.0 0 109 0.00 0.00 -88.80 0.000 2 0.000 0.000 119 2677 2996 0 0 0 0 0 0 28.83 28.83 28.83
112 -0.65 -219.0 3.2 -7.1 16 143 6.90 1.88 -17.88 0.000 4 0.230 0.057 1786 3820 3873 0 0 0 0 0 0 24.95 26.01 26.54
200 -0.56 -219.0 35.8 -32.2 32 207 0.12 1.80 0.00 0.000 6 0.158 0.021 1827 2568 3874 0 0 0 0 0 0 25.86 26.22 28.83
512 -0.49 -219.0 134.8 -22.3 93 518 0.00 2.03 0.00 0.000 4 0.000 0.026 1833 1166 3874 0 0 0 0 0 0 28.83 26.25 28.83
553 -0.48 -219.0 142.0 -15.8 100 560 0.12 2.28 0.00 0.000 6 0.126 0.040 1861 2659 3874 0 0 0 0 0 0 26.03 26.16 28.83
865 -0.46 -219.0 185.0 -15.5 161 871 0.00 0.00 0.00 0.000 6 0.000 0.000 1861 2659 3874 0 0 0 0 0 0 28.83 28.83 28.83
1179 -0.45 -219.0 233.7 -14.2 202 1180 0.00 0.00 0.00 0.000 6 0.000 0.000 1861 2659 3874 0 0 0 0 0 0 28.83 28.83 28.83
1481 -0.43 -219.0 276.5 -14.3 232 1487 0.00 0.00 0.00 0.000 6 0.000 0.000 1861 2659 3874 0 0 0 0 0 0 28.83 28.83 28.83
1790 -0.42 -219.0 320.1 -13.8 263 1791 0.00 0.00 0.00 0.000 6 0.000 0.000 1861 2659 3873 0 0 0 0 0 0 28.83 28.83 28.83
2091 -0.42 -219.0 362.3 -13.9 293 2099 0.00 2.17 0.00 0.000 4 0.000 0.027 1862 1173 3873 0 0 0 0 0 0 28.83 26.34 28.83
2115 -0.42 -219.0 365.6 -14.0 295 2121 0.00 2.25 0.00 0.000 6 0.000 0.039 1853 2652 3873 0 0 0 0 0 0 28.83 26.25 28.83
2422 -0.42 -219.0 407.0 -12.0 326 2423 0.00 0.00 0.00 0.000 6 0.000 0.000 1853 2652 3873 0 0 0 0 0 0 28.83 28.83 28.83
2725 -0.43 -219.0 444.7 -11.7 356 2728 0.00 1.80 0.00 0.000 4 0.000 0.046 1844 3820 3873 0 0 0 0 0 0 28.83 26.21 28.83
2750 -0.45 -219.0 447.5 -11.3 358 2756 0.00 1.80 0.00 0.000 6 0.000 0.022 1843 2554 3873 0 0 0 0 0 0 28.83 26.48 28.83
3057 -0.46 -219.0 477.6 -8.0 389 3058 0.00 0.00 0.00 0.000 6 0.000 0.000 1844 2554 3872 0 0 0 0 0 0 28.83 28.83 28.83
3359 -0.48 -219.0 503.5 -9.2 419 3367 0.00 1.98 0.00 0.000 4 0.000 0.045 1836 3817 3871 0 0 0 0 0 0 28.83 26.21 28.83
3390 -0.50 -219.0 506.6 -9.3 422 3394 0.00 1.80 0.00 0.000 6 0.000 0.023 1836 2567 3871 0 0 0 0 0 0 28.83 26.47 28.83
3702 -0.52 -219.0 534.9 -8.9 453 3711 0.00 2.00 0.00 0.000 4 0.000 0.027 1835 1165 3869 0 0 0 0 0 0 28.83 26.34 28.83
3744 -0.55 -219.0 538.3 -8.0 457 3753 0.00 2.25 0.00 0.000 6 0.000 0.037 1828 2654 3869 0 0 0 0 0 0 28.83 26.26 28.83
4055 -0.57 -219.0 566.0 -9.5 488 4063 0.00 2.15 0.00 0.000 4 0.000 0.028 1828 1180 3867 0 0 0 0 0 0 28.83 26.32 28.83
4076 -0.58 -219.0 568.2 -10.1 490 4085 0.00 2.22 0.00 0.000 6 0.000 0.038 1820 2652 3867 0 0 0 0 0 0 28.83 26.24 28.83
4396 -0.58 -219.0 603.1 -10.9 521 4399 0.00 1.77 0.00 0.000 4 0.000 0.046 1811 3823 3865 0 0 0 0 0 0 28.83 26.17 28.83
4445 -0.60 -219.0 607.3 -10.6 523 4448 0.00 1.80 0.00 0.000 6 0.000 0.023 1811 2569 3865 0 0 0 0 0 0 28.83 26.45 28.83
4756 -0.60 -219.0 643.5 -11.3 539 4762 0.00 2.00 0.00 0.000 4 0.000 0.044 1801 3820 3863 0 0 0 0 0 0 28.83 26.17 28.83
4782 -0.60 -219.0 645.7 -11.2 540 4785 0.00 1.80 0.00 0.000 6 0.000 0.023 1801 2569 3862 0 0 0 0 0 0 28.83 26.44 28.83
5098 -0.60 -219.0 681.9 -11.1 556 5104 0.00 2.00 0.00 0.000 4 0.000 0.044 1792 3820 3860 0 0 0 0 0 0 28.83 26.15 28.83
5126 -0.60 -219.0 684.1 -11.2 557 5129 0.00 1.83 0.00 0.000 6 0.000 0.023 1792 2562 3861 0 0 0 0 0 0 28.83 26.44 28.83
5439 -0.60 -219.0 721.8 -11.2 573 5444 0.00 2.00 0.00 0.000 4 0.000 0.028 1792 1177 3859 0 0 0 0 0 0 28.83 26.28 28.83
5460 -0.60 -219.0 724.1 -11.3 574 5465 0.12 2.25 0.00 0.000 6 0.127 0.039 1822 2655 3858 0 0 0 0 0 0 26.05 26.19 28.83
5782 -0.62 -219.0 750.6 -8.3 590 5786 0.00 1.80 0.00 0.000 4 0.000 0.047 1814 3818 3856 0 0 0 0 0 0 28.83 26.12 28.83
5807 -0.65 -219.0 752.7 -8.3 591 5811 0.00 1.83 0.00 0.000 6 0.000 0.024 1813 2566 3855 0 0 0 0 0 0 28.83 26.41 28.83
6124 -0.66 -219.0 782.6 -9.4 607 6125 0.00 0.00 0.00 0.000 6 0.000 0.000 1814 2565 3852 0 0 0 0 0 0 28.83 28.83 28.83
6427 -0.68 -219.0 812.0 -10.0 622 6432 0.00 1.95 0.00 0.000 4 0.000 0.046 1806 3813 3851 0 0 0 0 0 0 28.83 26.10 28.83
6473 -0.71 -219.0 816.0 -10.1 624 6477 0.00 1.83 0.00 0.000 6 0.000 0.025 1806 2556 3851 0 0 0 0 0 0 28.83 26.39 28.83
6781 -0.72 -219.0 849.5 -10.7 639 6785 0.00 2.00 0.00 0.000 4 0.000 0.029 1805 1179 3848 0 0 0 0 0 0 28.83 26.23 28.83
6802 -0.74 -219.0 851.9 -10.5 640 6808 0.00 2.25 0.00 0.000 6 0.000 0.040 1799 2651 3848 0 0 0 0 0 0 28.83 26.13 28.83
7123 -0.75 -219.0 885.5 -10.8 656 7126 0.00 1.80 0.00 0.000 4 0.000 0.048 1791 3812 3846 0 0 0 0 0 0 28.83 26.06 28.83
7153 -0.76 -219.0 887.9 -10.7 657 7156 0.00 1.80 0.00 0.000 6 0.000 0.024 1791 2571 3846 0 0 0 0 0 0 28.83 26.38 28.83
7465 -0.76 -219.0 921.1 -10.1 673 7467 0.00 0.00 0.00 0.000 6 0.000 0.000 1791 2564 3844 0 0 0 0 0 0 28.83 28.83 28.83
7764 -0.76 -219.0 950.1 -9.9 688 7769 0.00 1.98 0.00 0.000 4 0.000 0.047 1781 3821 3842 0 0 0 0 0 0 28.83 26.03 28.83
7826 -0.78 -219.0 955.9 -9.8 691 7831 0.00 1.85 0.00 0.000 6 0.000 0.025 1781 2562 3842 0 0 0 0 0 0 28.83 26.36 28.83
8142 end dive: TARGET_DEPTH_EXCEEDED
state 8142 begin apogee
8147 -0.20 0.0 991.8 -11.4 707 8347 0.45 0.15 190.38 1.190 6 0.096 0.077 1940 2536 2973 0 0 0 0 0 0 25.84 24.75 23.42
8348 end apogee: CONTROL_FINISHED_OK
state 8348 begin climb
8350 0.65 219.0 1003.0 0.0 717 8567 0.75 2.20 207.18 1.182 4 0.049 0.046 2224 3807 2075 0 0 0 0 0 0 24.98 24.43 23.13
8718 0.55 219.0 952.9 22.8 735 8725 0.17 2.08 0.00 0.000 6 0.184 0.034 2190 2473 2055 0 0 0 0 0 0 25.38 25.74 28.83
9028 0.50 219.0 899.8 15.1 751 9033 0.00 2.08 0.00 0.000 4 0.000 0.044 2190 3813 2051 0 0 0 0 0 0 28.83 26.00 28.83
9066 0.44 219.0 893.2 15.3 753 9072 0.17 2.05 0.00 0.000 6 0.164 0.029 2153 2464 2049 0 0 0 0 0 0 25.70 26.09 28.83
9387 0.42 219.0 856.4 11.8 769 9388 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2462 2048 0 0 0 0 0 0 28.83 28.83 28.83
9686 0.40 219.0 818.0 13.4 784 9687 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2462 2048 0 0 0 0 0 0 28.83 28.83 28.83
9986 0.38 219.0 779.6 12.3 799 9987 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2462 2047 0 0 0 0 0 0 28.83 28.83 28.83
10287 0.36 219.0 745.9 11.2 814 10291 0.00 2.17 0.00 0.000 4 0.000 0.045 2153 3819 2047 0 0 0 0 0 0 28.83 26.08 28.83
10331 0.34 219.0 740.1 12.1 816 10336 0.15 2.05 0.00 0.000 6 0.151 0.028 2122 2461 2045 0 0 0 0 0 0 25.87 26.22 28.83
10647 0.40 258.6 709.9 9.1 832 10687 0.00 2.17 28.25 0.959 4 0.000 0.038 2132 1064 1923 0 0 0 0 1 0 28.83 25.86 24.13
10725 0.48 311.4 702.9 8.6 836 10787 0.00 2.28 51.83 1.147 6 0.000 0.038 2132 2531 1708 0 0 0 0 1 0 28.83 25.87 23.73
11105 0.52 324.8 666.8 9.9 855 11130 0.12 0.00 22.30 0.959 6 0.076 0.000 2209 2532 1653 0 0 0 0 0 0 26.20 28.83 24.37
11425 0.48 324.8 609.7 17.8 871 11427 0.15 0.00 0.00 0.000 6 0.151 0.000 2168 2532 1632 0 0 0 0 0 0 25.87 28.83 28.83
11727 0.48 324.8 570.7 12.6 897 11735 0.00 2.00 0.00 0.000 4 0.000 0.045 2167 3813 1631 0 0 0 0 0 0 28.83 26.02 28.83
11748 0.48 324.8 567.5 13.4 899 11756 0.00 2.05 0.00 0.000 6 0.000 0.027 2178 2451 1630 0 0 0 0 0 0 28.83 26.16 28.83
12058 0.48 324.8 525.1 13.2 930 12062 0.00 2.08 0.00 0.000 4 0.000 0.035 2189 1061 1630 0 0 0 0 0 0 28.83 26.13 28.83
12112 0.50 324.8 518.8 11.7 935 12119 0.00 2.25 0.00 0.000 6 0.000 0.038 2189 2532 1628 0 0 0 0 0 0 28.83 26.11 28.83
12420 0.49 324.8 475.3 14.7 966 12429 0.00 2.20 0.00 0.000 4 0.000 0.034 2200 1060 1628 0 0 0 0 0 0 28.83 26.15 28.83
12451 0.49 324.8 470.8 14.6 969 12461 0.12 2.22 0.00 0.000 6 0.128 0.038 2162 2524 1628 0 0 0 0 0 0 25.96 26.13 28.83
12762 0.58 383.5 437.6 8.5 1000 12823 0.10 0.00 53.45 0.809 6 0.091 0.000 2225 2524 1402 0 0 0 0 0 0 26.49 28.83 24.40
13122 0.55 383.5 381.6 16.1 1036 13124 0.12 0.00 0.00 0.000 6 0.155 0.000 2191 2524 1390 0 0 0 0 0 0 25.96 28.83 28.83
13424 0.57 383.5 345.7 10.6 1066 13432 0.00 2.20 0.00 0.000 4 0.000 0.036 2201 1062 1390 0 0 0 0 0 0 28.83 26.08 28.83
13456 0.61 395.3 342.4 9.9 1069 13466 0.00 2.20 3.95 0.568 6 0.000 0.035 2202 2522 1364 0 0 0 0 0 0 28.83 26.10 24.20
13765 0.62 395.3 305.8 13.4 1100 13766 0.00 0.00 0.00 0.000 6 0.000 0.000 2201 2522 1373 0 0 0 0 0 0 28.83 28.83 28.83
14069 0.62 395.3 268.0 12.1 1130 14078 0.00 2.15 0.00 0.000 4 0.000 0.034 2213 1064 1373 0 0 0 0 0 0 28.83 26.16 28.83
14110 0.65 395.3 263.3 10.4 1134 14119 0.00 2.22 0.00 0.000 6 0.000 0.036 2213 2532 1373 0 0 0 0 0 0 28.83 26.17 28.83
14420 0.65 395.3 225.5 12.2 1165 14429 0.00 2.00 0.00 0.000 4 0.000 0.043 2213 3812 1373 0 0 0 0 0 0 28.83 26.13 28.83
14472 0.65 395.3 218.5 13.5 1170 14481 0.00 2.03 0.00 0.000 6 0.000 0.027 2224 2455 1373 0 0 0 0 0 0 28.83 26.28 28.83
14785 0.64 395.3 177.6 13.6 1217 14791 0.00 2.05 0.00 0.000 4 0.000 0.035 2234 1060 1373 0 0 0 0 0 0 28.83 26.20 28.83
14823 0.66 395.3 172.9 11.1 1224 14830 0.00 2.20 0.00 0.000 6 0.000 0.037 2234 2527 1374 0 0 0 0 0 0 28.83 26.20 28.83
15136 0.64 395.3 125.7 14.8 1285 15142 0.00 2.00 0.00 0.000 4 0.000 0.044 2234 3817 1374 0 0 0 0 0 0 28.83 26.14 28.83
15236 0.64 395.3 111.1 13.2 1304 15243 0.00 2.03 0.00 0.000 6 0.000 0.027 2245 2455 1375 0 0 0 0 0 0 28.83 26.30 28.83
15547 0.64 395.3 73.4 10.7 1365 15553 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2453 1374 0 0 0 0 0 0 28.83 28.83 28.83
15857 0.64 395.3 37.7 13.8 1426 15863 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2453 1375 0 0 0 0 0 0 28.83 28.83 28.83
16164 end climb: SURFACE_DEPTH_REACHED
state 16164 begin surface coast
16221 end surface coast: CONTROL_FINISHED_OK
state 16222 begin surface