OKMC Jun11 * SG181 * Dive index * Mission links * Dive 192 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 INT_PRESSURE_YINT  0
MISSION  6 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 DEEPGLIDER  0
DIVE  192 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  43 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  33 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  475 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  2 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0.029999999 DEVICE4  -1
D_NO_BLEED  200 CALL_NDIVES  1 VBD_MIN  440 DEVICE5  -1
D_BOOST  3 COMM_SEQ  0 VBD_MAX  3960 DEVICE6  -1
T_BOOST  0 PROTOCOL  9 C_VBD  2869 LOGGERS  0
D_FINISH  0 N_NOCOMM  1 VBD_DBAND  2 LOGGERDEVICE1  99
D_PITCH  0 NOCOMM_ACTION  0 VBD_CNV  -0.24529999 LOGGERDEVICE2  117
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 LOGGERDEVICE3  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 COMPASS_DEVICE  33
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 PHONE_DEVICE  49
T_DIVE  300 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  340 HEAPDBG  0 VBD_MAXERRORS  1 RAFOS_DEVICE  -1
T_ABORT  1440 T_GPS  15 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_TURN  225 N_GPS  20 AH0_24V  150 SIM_W  0
T_TURN_SAMPINT  5 T_GPS_ALMANAC  0 AH0_10V  110 SIM_PITCH  0
T_NO_W  120 T_GPS_CHARGE  -40760.859 MINV_24V  19 SEABIRD_T_G  0.0043841996
T_LOITER  0 T_RSLEEP  2 MINV_10V  8 SEABIRD_T_H  0.00063541438
T_EPIRB  0 STROBE  0 FG_AHR_10V  0 SEABIRD_T_I  2.4687597e-05
USE_BATHY  -5 RAFOS_PEAK_OFFSET  1.5 FG_AHR_24V  0 SEABIRD_T_J  2.6519353e-06
USE_ICE  0 RAFOS_CORR_THRESH  60 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9512653
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 PRESSURE_YINT  -61.82621 SEABIRD_C_H  1.1266108
D_OFFGRID  1000 PITCH_MIN  225 PRESSURE_SLOPE  0.000116609 SEABIRD_C_I  -0.0016982662
T_WATCHDOG  10 PITCH_MAX  3941 AD7714Ch0Gain  128 SEABIRD_C_J  0.00020129427
RELAUNCH  1 C_PITCH  2320 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -8 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  2.0
MAX_BUOY  225 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  2.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  60 ALTIM_TOP_PING_RANGE  0 TM_STARTS  2.0
SPEED_FACTOR  1 PITCH_TIMEOUT  15 ALTIM_BOTTOM_TURN_MARGIN  0 TM_NFFT  256.0
RHO  1.0275 PITCH_AD_RATE  145 ALTIM_TOP_TURN_MARGIN  0 TM_NAVG  1.0
MASS  51861 PITCH_MAXERRORS  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_PSD  0.0
NAV_MODE  1 PITCH_ADJ_GAIN  0 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  100.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 ALTIM_PING_DELTA  10 LA_PROFILE  2.0
KALMAN_USE  2 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  2.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  40 ALTIM_SENSITIVITY  2 LA_STARTS  12.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2600 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2125 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  170711,025601,1917.460,12033.663,38,1.0,38,-2.1 TGT_NAME  W4
_CALLS  1 TGT_LATLONG  1834.500,12031.750
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.299,-0.061
_SM_DEPTHo  1.05 KALMAN_X  -45911.5,389.4,844.6,41510.1,-5401.7
_SM_ANGLEo  -59.3 KALMAN_Y  23776.0,369.6,-164.2,-95083.8,1680.3
GPS2  170711,030220,1917.630,12033.725,12,1.1,12,-2.1 MHEAD_RNG_PITCHd_Wd  184.6,79952,-15.3,-11.000
SPEED_LIMITS  0.191,0.321 D_GRID  2617

Post-dive calculations and measurements:
FINISH  0.2,1.020472 _10V_AH  10.0,30.094
SM_CCo  16908,0.00,0.000,0,0,442,595.59 FG_AHR_24Vo  0.000
SM_GC  0.98,6.55,0.00,0.00,0.032,0.000,0.000,216,2614,442,-6.51,0.40,595.59,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1909.23,12035.11,160711,222212 MEM  321528
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  90107,1306
HUMID  40.94 CAP_FILE_SIZE  180143,0
INTERNAL_PRESSURE  9.3363 CFSIZE  260165632,233127936
TCM_TEMP  25.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 GPS  170711,074536,1916.421,12035.385,25,1.3,25,-2.1
_24V_AH  23.5,30.541

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622787.03 SBE_CT91124513.88
Roll_motor16055208.27 AA43301315331020.02
VBD_pump_during_apogee634110116415.97 WL_BB2F13531053339.32
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010374.00 nil000.00
Iridium_during_connect1716066.45 TMicro000.00
Iridium_during_xfer182223955.50 LAB000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS15507.63
TT8317319628.41
LPSleep96972212.38
TT8_Active65719130.25
TT8_Sampling3390391349.34
TT8_CF835345161.76
TT8_Kalman000.00
Analog_circuits210512252.60
GPS_charging000.00
Compass242415363.61
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.52 -219.0 0.0 0.0 0 89 0.00 0.00 -70.97 0.000 2 0.000 0.000 196 2607 2474 0 0 0 0 0 0
92 -0.52 -219.0 3.8 -4.2 10 130 7.88 1.88 -23.98 0.000 4 0.227 0.055 2133 3786 3765 0 0 0 0 0 0
218 -0.52 -219.0 68.6 -58.1 31 226 0.00 1.80 0.00 0.000 6 0.000 0.024 2133 2574 3765 0 0 0 0 0 0
352 -0.52 -219.0 127.6 -36.6 56 360 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2574 3766 0 0 0 0 0 0
485 -0.52 -219.0 159.6 -22.0 81 493 0.00 1.90 0.00 0.000 4 0.000 0.041 2124 3781 3767 0 0 0 0 0 0
516 -0.52 -219.0 166.7 -22.3 86 525 0.00 1.70 0.00 0.000 6 0.000 0.024 2124 2635 3767 0 0 0 0 0 0
651 -0.52 -219.0 200.6 -25.1 111 652 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2631 3768 0 0 0 0 0 0
972 -0.52 -219.0 266.8 -17.3 141 979 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2630 3769 0 0 0 0 0 0
1301 -0.52 -219.0 327.0 -18.0 172 1307 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2631 3767 0 0 0 0 0 0
1627 -0.52 -219.0 386.9 -18.6 203 1631 0.00 2.08 0.00 0.000 4 0.000 0.028 2124 1203 3765 0 0 0 0 0 0
1679 -0.52 -219.0 395.6 -14.2 207 1684 0.12 2.15 0.00 0.000 6 0.146 0.034 2151 2617 3765 0 0 0 0 0 0
2010 -0.52 -219.0 430.0 -9.4 238 2013 0.00 1.75 0.00 0.000 4 0.000 0.045 2151 3778 3762 0 0 0 0 0 0
2048 -0.52 -219.0 433.3 -8.5 241 2054 0.00 1.73 0.00 0.000 6 0.000 0.024 2150 2616 3761 0 0 0 0 0 0
2373 -0.52 -219.0 460.6 -8.8 272 2377 0.00 2.05 0.00 0.000 4 0.000 0.029 2151 1213 3758 0 0 0 0 0 0
2408 -0.52 -219.0 464.0 -9.4 275 2412 0.00 2.17 0.00 0.000 6 0.000 0.034 2150 2641 3757 0 0 0 0 0 0
2734 -0.52 -219.0 496.6 -9.2 305 2737 0.00 1.73 0.00 0.000 4 0.000 0.047 2150 3778 3753 0 0 0 0 0 0
2769 -0.52 -219.0 499.5 -9.0 308 2772 0.00 1.67 0.00 0.000 6 0.000 0.025 2151 2628 3753 0 0 0 0 0 0
3091 -0.52 -219.0 530.4 -11.2 324 3094 0.00 2.10 0.00 0.000 4 0.000 0.030 2151 1191 3750 0 0 0 0 0 0
3146 -0.52 -219.0 537.2 -11.5 326 3153 0.00 2.22 0.00 0.000 6 0.000 0.036 2151 2619 3750 0 0 0 0 0 0
3462 -0.52 -219.0 576.2 -12.3 342 3466 0.00 1.77 0.00 0.000 4 0.000 0.047 2151 3784 3746 0 0 0 0 0 0
3512 -0.52 -219.0 581.6 -10.5 344 3516 0.00 1.75 0.00 0.000 6 0.000 0.026 2151 2613 3745 0 0 0 0 0 0
3840 -0.52 -219.0 610.1 -7.8 360 3844 0.00 2.08 0.00 0.000 4 0.000 0.030 2151 1198 3742 0 0 0 0 0 0
3895 -0.52 -219.0 614.3 -7.2 362 3902 0.00 2.20 0.00 0.000 6 0.000 0.035 2151 2634 3739 0 0 0 0 0 0
4211 -0.52 -219.0 642.2 -10.1 378 4213 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2635 3737 0 0 0 0 0 0
4520 -0.52 -219.0 676.1 -11.2 393 4524 0.00 2.12 0.00 0.000 4 0.000 0.031 2151 1208 3738 0 0 0 0 0 0
4567 -0.52 -219.0 680.9 -10.7 395 4571 0.00 2.15 0.00 0.000 6 0.000 0.035 2151 2611 3738 0 0 0 0 0 0
4900 -0.52 -219.0 714.5 -9.5 411 4901 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2613 3734 0 0 0 0 0 0
5209 -0.52 -219.0 738.2 -7.0 426 5213 0.00 2.10 0.00 0.000 4 0.000 0.032 2151 1209 3732 0 0 0 0 0 0
5237 -0.52 -219.0 740.4 -6.7 427 5240 0.00 2.15 0.00 0.000 6 0.000 0.037 2150 2609 3732 0 0 0 0 0 0
5559 -0.52 -219.0 759.2 -5.7 443 5560 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2610 3729 0 0 0 0 0 0
5868 -0.52 -219.0 775.4 -5.3 458 5870 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2610 3728 0 0 0 0 0 0
6177 -0.52 -219.0 793.7 -6.2 473 6181 0.00 2.12 0.00 0.000 4 0.000 0.033 2150 1199 3726 0 0 0 0 0 0
6210 -0.52 -219.0 796.1 -6.3 474 6214 0.00 2.15 0.00 0.000 6 0.000 0.037 2151 2603 3726 0 0 0 0 0 0
6533 -0.52 -219.0 816.9 -6.8 490 6537 0.00 2.10 0.00 0.000 4 0.000 0.033 2151 1209 3721 0 0 0 0 0 0
6791 -0.52 -219.0 837.2 -8.3 501 6797 0.00 2.08 0.00 0.000 6 0.000 0.035 2151 2565 3723 0 0 0 0 0 0
7107 -0.52 -219.0 862.5 -8.1 517 7111 0.00 2.05 0.00 0.000 4 0.000 0.034 2156 1208 3720 0 0 0 0 0 0
7365 -0.52 -219.0 883.0 -7.7 528 7368 0.00 2.05 0.00 0.000 6 0.000 0.036 2156 2545 3720 0 0 0 0 0 0
7687 -0.52 -219.0 907.4 -7.9 544 7690 0.00 2.03 0.00 0.000 4 0.000 0.033 2160 1200 3719 0 0 0 0 0 0
7944 -0.52 -219.0 926.6 -6.7 555 7948 0.00 2.05 0.00 0.000 6 0.000 0.035 2160 2537 3718 0 0 0 0 0 0
8267 -0.52 -219.0 946.7 -6.2 571 8270 0.00 2.00 0.00 0.000 4 0.000 0.035 2160 1211 3720 0 0 0 0 0 0
8519 -0.52 -219.0 964.5 -7.4 582 8523 0.00 2.08 0.00 0.000 6 0.000 0.037 2160 2527 3716 0 0 0 0 0 0
8843 end dive: TARGET_DEPTH_EXCEEDED
state 8844 begin apogee
8850 -0.13 0.0 990.6 8.8 598 9019 0.30 0.00 163.85 1.102 4 0.063 0.000 2296 2106 2869 0 0 0 0 0 0
9020 end apogee: CONTROL_FINISHED_OK
state 9020 begin climb
9023 0.52 219.0 1001.9 0.0 606 9207 0.52 2.25 175.93 1.074 4 0.050 0.039 2501 732 1976 0 0 0 0 0 0
9218 0.56 249.1 993.6 10.0 614 9252 0.00 2.33 26.55 1.008 6 0.000 0.034 2500 2124 1852 0 0 0 0 0 0
9563 0.56 249.1 952.2 12.6 631 9567 0.00 2.25 0.00 0.000 4 0.000 0.045 2501 3540 1854 0 0 0 0 0 0
9625 0.56 249.1 943.4 14.1 634 9629 0.00 2.15 0.00 0.000 6 0.000 0.027 2510 2140 1854 0 0 0 0 0 0
9952 0.56 249.1 898.4 14.2 650 9956 0.00 2.17 0.00 0.000 4 0.000 0.036 2521 713 1853 0 0 0 0 0 0
9992 0.56 249.1 892.9 13.7 652 9996 0.00 2.22 0.00 0.000 6 0.000 0.034 2521 2147 1853 0 0 0 0 0 0
10319 0.56 249.1 843.1 15.6 668 10323 0.00 2.15 0.00 0.000 4 0.000 0.045 2521 3536 1852 0 0 0 0 0 0
10359 0.56 249.1 836.1 17.6 670 10363 0.00 2.12 0.00 0.000 6 0.000 0.028 2530 2132 1851 0 0 0 0 0 0
10686 0.56 249.1 782.9 16.2 686 10690 0.00 2.12 0.00 0.000 4 0.000 0.035 2541 719 1851 0 0 0 0 0 0
10764 0.56 249.1 770.9 14.6 689 10771 0.15 2.17 0.00 0.000 6 0.174 0.034 2503 2137 1849 0 0 0 0 0 0
11080 0.56 249.1 733.9 11.0 705 11084 0.00 2.17 0.00 0.000 4 0.000 0.045 2502 3541 1853 0 0 0 0 0 0
11142 0.56 249.1 725.9 13.2 708 11147 0.00 2.12 0.00 0.000 6 0.000 0.028 2506 2129 1850 0 0 0 0 0 0
11470 0.56 249.1 685.5 12.5 724 11474 0.00 2.12 0.00 0.000 4 0.000 0.037 2522 717 1850 0 0 0 0 0 0
11555 0.56 249.1 674.8 12.6 728 11559 0.00 2.17 0.00 0.000 6 0.000 0.034 2522 2136 1849 0 0 0 0 0 0
11882 0.56 249.1 632.5 13.1 744 11886 0.00 2.15 0.00 0.000 4 0.000 0.044 2522 3533 1851 0 0 0 0 0 0
11908 0.56 249.1 628.3 14.7 745 11912 0.00 2.12 0.00 0.000 6 0.000 0.028 2531 2117 1849 0 0 0 0 0 0
12231 0.56 249.1 574.9 17.6 761 12235 0.00 2.10 0.00 0.000 4 0.000 0.037 2542 719 1849 0 0 0 0 0 0
12302 0.56 249.1 562.1 17.3 764 12307 0.15 2.15 0.00 0.000 6 0.168 0.033 2502 2128 1850 0 0 0 0 0 0
12624 0.56 249.1 516.8 13.3 780 12628 0.00 2.15 0.00 0.000 4 0.000 0.037 2511 714 1849 0 0 0 0 0 0
12656 0.56 249.1 512.2 12.8 781 12663 0.00 2.15 0.00 0.000 6 0.000 0.034 2511 2122 1850 0 0 0 0 0 0
12980 0.56 249.1 471.1 12.1 807 12984 0.00 2.17 0.00 0.000 4 0.000 0.044 2511 3538 1850 0 0 0 0 0 0
13066 0.56 249.1 459.7 13.2 814 13070 0.00 2.12 0.00 0.000 6 0.000 0.028 2520 2123 1850 0 0 0 0 0 0
13391 0.56 249.1 417.4 13.3 844 13395 0.00 2.12 0.00 0.000 4 0.000 0.038 2531 720 1850 0 0 0 0 0 0
13446 0.56 249.1 409.5 13.6 848 13453 0.00 2.15 0.00 0.000 6 0.000 0.034 2531 2120 1851 0 0 0 0 0 0
13772 0.56 249.1 359.3 14.7 879 13776 0.00 2.17 0.00 0.000 4 0.000 0.045 2531 3535 1851 0 0 0 0 0 0
13895 0.56 249.1 340.2 15.8 889 13902 0.15 2.10 0.00 0.000 6 0.170 0.028 2501 2134 1851 0 0 0 0 0 0
14220 0.56 249.1 296.1 13.8 920 14224 0.00 2.12 0.00 0.000 4 0.000 0.038 2515 720 1851 0 0 0 0 0 0
14353 0.56 249.1 278.7 11.7 931 14360 0.00 2.12 0.00 0.000 6 0.000 0.034 2508 2117 1852 0 0 0 0 0 0
14679 0.60 280.6 247.2 9.9 962 14708 0.00 2.20 24.05 0.633 4 0.000 0.042 2511 3536 1723 0 0 0 0 0 0
14819 0.60 280.6 227.7 15.0 974 14823 0.00 2.15 0.00 0.000 6 0.000 0.027 2519 2126 1722 0 0 0 0 0 0
15144 0.61 291.9 189.1 10.6 1014 15161 0.00 2.22 10.20 0.582 4 0.000 0.037 2530 708 1678 0 0 0 0 0 0
15257 0.61 291.9 177.0 11.3 1034 15265 0.00 2.22 0.00 0.000 6 0.000 0.032 2530 2135 1677 0 0 0 0 0 0
15393 0.69 357.6 163.1 8.8 1059 15447 0.00 2.28 47.65 0.558 4 0.000 0.041 2530 3538 1410 0 0 0 0 0 0
15486 0.80 445.9 155.3 8.0 1073 15561 0.08 2.20 64.78 0.529 6 0.063 0.027 2583 2131 1049 0 0 0 0 0 0
15689 0.80 445.9 127.9 15.9 1107 15696 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2131 1051 0 0 0 0 0 0
15822 0.81 453.4 109.1 10.7 1132 15839 0.00 2.25 7.53 0.506 4 0.000 0.040 2583 3528 1021 0 0 0 0 0 0
15883 0.91 533.2 104.0 8.3 1142 15950 0.00 2.17 58.58 0.499 6 0.000 0.027 2592 2132 694 0 0 0 0 0 0
16079 1.02 620.1 91.7 8.1 1175 16132 0.15 2.28 46.92 0.483 4 0.073 0.036 2675 720 440 0 0 0 0 0 0
16167 1.02 620.1 80.0 14.4 1188 16176 0.00 2.22 2.62 0.238 6 0.000 0.031 2675 2119 440 0 0 0 0 0 0
16304 1.02 620.1 62.1 11.5 1213 16313 0.00 2.25 0.08 0.204 4 0.000 0.041 2675 3531 443 0 0 0 0 0 0
16383 1.02 620.1 53.0 12.3 1227 16393 0.10 2.12 0.62 0.079 6 0.103 0.027 2645 2159 442 0 0 0 0 0 0
16522 1.11 697.0 40.3 8.4 1252 16530 0.00 2.20 1.33 0.080 4 0.000 0.034 2656 720 442 0 0 0 0 0 0
16580 1.26 817.1 36.2 6.9 1262 16591 0.15 2.20 2.55 0.215 6 0.041 0.028 2744 2149 440 0 0 0 0 0 0
16718 1.26 817.1 17.7 15.3 1287 16727 0.00 2.15 0.40 0.097 4 0.000 0.038 2744 3524 441 0 0 0 0 0 0
16783 1.26 817.1 7.8 15.7 1298 16792 0.00 2.08 0.50 0.078 6 0.000 0.026 2754 2162 441 0 0 0 0 0 0
16813 end climb: SURFACE_DEPTH_REACHED
state 16813 begin surface coast
16831 end surface coast: CONTROL_FINISHED_OK
state 16831 begin surface