DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 149 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  141 HD_C  9.9999997e-06 ROLL_MIN  256 ALTIM_TOP_TURN_MARGIN  5
MISSION  15 HEADING  -1 ROLL_MAX  3943 ALTIM_TOP_MIN_OBSTACLE  2
DIVE  149 ESCAPE_HEADING  120 ROLL_DEG  40 ALTIM_PING_DEPTH  300
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2490 ALTIM_PING_DELTA  50
D_SURF  3 FIX_MISSING_TIMEOUT  5 C_ROLL_CLIMB  2275 ALTIM_FREQUENCY  13
D_FLARE  5 TGT_DEFAULT_LAT  6000 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_TGT  990 TGT_DEFAULT_LON  -5500 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  4
D_NO_BLEED  50 SM_CC  559.0387 R_PORT_OVSHOOT  29 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  28 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  2 ROLL_AD_RATE  325 INT_PRESSURE_YINT  0
D_FINISH  9 CALL_NDIVES  1 ROLL_MAXERRORS  0 DEEPGLIDER  0
D_PITCH  1.75 COMM_SEQ  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  500 PROTOCOL  9 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  3 N_NOCOMM  1 VBD_MIN  751 DEVICE1  2
SURFACE_URGENCY  10 N_NOSURFACE  0 VBD_MAX  4040 DEVICE2  20
SURFACE_URGENCY_TRY  5 UPLOAD_DIVES_MAX  5 C_VBD  3030 DEVICE3  -1
SURFACE_URGENCY_FORCE  10 CALL_TRIES  3 VBD_DBAND  2 DEVICE4  -1
T_DIVE  330 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_MISSION  400 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  3 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_BATHY  -3 T_GPS_CHARGE  -27951.119 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  2 T_RSLEEP  2 CF8_MAXERRORS  0 COMPASS2_DEVICE  133
ICE_FREEZE_MARGIN  0.1 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
D_OFFGRID  250 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  32
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  110 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3900 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2864 PHONE_SUPPLY  2 SEABIRD_T_G  0.0042907749
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_YINT  -33.184971 SEABIRD_T_H  0.0006300722
SPEED_FACTOR  1 PITCH_CNV  0.0031256729 PRESSURE_SLOPE  0.0001160265 SEABIRD_T_I  2.4342404e-05
RHO  1.0275 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.663412e-06
MASS  51684 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8752003
NAV_MODE  0 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1299734
FERRY_MAX  45 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.00041852854
KALMAN_USE  2 PITCH_MAXERRORS  2 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00012689357
HD_A  0.003 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  20
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15

Pre-dive calculations and measurements:
GPS1  130311,083928,6706.515,-5817.594,0,4113.2,0,-38.2 TGT_NAME  midTARGET
_CALLS  3 TGT_LATLONG  6656.000,-5813.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  8.02 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -2.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  130311,083928,6706.515,-5817.594,0,4113.2,0,-38.2 MHEAD_RNG_PITCHd_Wd  208.5,19756,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1145

Post-dive calculations and measurements:
FREEZE  8.56,-1.783,-1.821,3,24,0 ALTIM_TOP_PING  19.7,17.5
FINISH1  8.6,1.026645,42 _24V_AH  22.4,21.755
FINISH2  6.8 _10V_AH  10.2,12.026
RAFOS_CLK  1007 FG_AHR_24Vo  0.000
RAFOS  0,1300017663,12.033333,12.017500,60,57,56,50,49,49,130,144,187,162,197,211 FG_AHR_10Vo  0.000
RAFOS_FIX  6705.239746,-5816.819824,130311,121244,4,110,0.17 MEM  150552
IRIDIUM_FIX  6652.93,-5737.74,100311,101013 DATA_FILE_SIZE  53280,1339
TT8_MAMPS  0.029211 CAP_FILE_SIZE  182285,0
HUMID  46.45 CFSIZE  260165632,242167808
INTERNAL_PRESSURE  8.68197 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.30 SOUNDSPEED  1456.6
XPDR_PINGS  0 GPS  130311,123544,6705.240,-5816.820,0,4109.5,0,-38.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor622734.34 SBE_CT95824515.11
Roll_motor15582287.09 SBE_O2103419440.47
VBD_pump_during_apogee384155213362.20 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer000.00 nil000.00
Transponder_ping342035.28 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8338819688.51
LPSleep121762286.90
TT8_Active49719101.07
TT8_Sampling231439942.34
TT8_CF821945102.85
TT8_Kalman000.00
Analog_circuits173912212.95
GPS_charging000.00
Compass228915350.24
RAFOS3960160.59
Transponder27308.37

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
15 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -7.30 0.000 2 0.000 0.000 2890 2265 3098 0 0 0 0 0 0
27 -0.62 -146.0 9.3 -0.0 1 52 0.62 2.67 -15.15 0.000 4 0.112 0.083 2670 3890 3629 0 0 0 0 0 0
87 -0.55 -146.0 16.9 -15.4 11 94 0.00 2.17 0.00 0.000 6 0.000 0.043 2670 2477 3630 0 0 0 0 0 0
432 -0.44 -146.0 75.8 -17.3 72 439 0.20 2.28 0.00 0.000 4 0.224 0.067 2718 3895 3630 0 0 0 0 0 0
454 -0.36 -146.0 79.1 -16.3 75 461 0.00 2.15 0.00 0.000 6 0.000 0.043 2719 2487 3630 0 0 0 0 0 0
789 -0.38 -146.0 121.2 -11.6 120 793 0.00 2.20 0.00 0.000 4 0.000 0.063 2719 1080 3629 0 0 0 0 0 0
800 -0.42 -146.0 122.7 -11.4 120 807 0.00 2.22 0.00 0.000 6 0.000 0.054 2719 2490 3629 0 0 0 0 0 0
1125 -0.45 -146.0 157.2 -10.5 151 1129 0.00 2.28 0.00 0.000 4 0.000 0.074 2719 3897 3629 0 0 0 0 0 0
1154 -0.51 -146.0 160.1 -10.3 153 1158 0.00 2.15 0.00 0.000 6 0.000 0.044 2719 2490 3629 0 0 0 0 0 0
1480 -0.56 -146.0 191.6 -9.1 183 1485 0.12 2.30 0.00 0.000 4 0.129 0.070 2677 3898 3627 0 0 0 0 0 0
1536 -0.53 -146.0 197.8 -11.3 187 1543 0.00 2.15 0.00 0.000 6 0.000 0.044 2677 2489 3627 0 0 0 0 0 0
1862 -0.49 -146.0 232.8 -10.3 218 1863 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2489 3627 0 0 0 0 0 0
2182 -0.45 -146.0 264.3 -8.9 248 2187 0.15 2.20 0.00 0.000 4 0.222 0.061 2712 1088 3627 0 0 0 0 0 0
2215 -0.50 -146.0 267.1 -7.4 250 2221 0.00 2.22 0.00 0.000 6 0.000 0.056 2713 2497 3627 0 0 0 0 0 0
2540 -0.56 -146.0 288.8 -7.0 281 2544 0.00 2.25 0.00 0.000 4 0.000 0.073 2712 3905 3628 0 0 0 0 0 0
2569 -0.63 -146.0 290.7 -6.9 283 2574 0.15 2.17 0.00 0.000 6 0.121 0.043 2663 2477 3628 0 0 0 0 0 0
2894 -0.57 -146.0 327.0 -11.7 313 2895 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2477 3627 0 0 0 0 0 0
3213 -0.52 -146.0 364.5 -11.7 343 3218 0.12 2.33 0.00 0.000 4 0.228 0.070 2690 3904 3627 0 0 0 0 0 0
3257 -0.57 -146.0 369.3 -9.5 346 3264 0.00 2.17 0.00 0.000 6 0.000 0.043 2690 2487 3628 0 0 0 0 0 0
3584 -0.59 -146.0 399.2 -9.3 377 3585 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2487 3627 0 0 0 0 0 0
3901 -0.61 -146.0 427.5 -9.0 407 3902 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2487 3628 0 0 0 0 0 0
4219 -0.63 -146.0 456.4 -9.1 437 4223 0.00 2.25 0.00 0.000 4 0.000 0.070 2690 3897 3628 0 0 0 0 0 0
4237 -0.66 -146.0 458.1 -9.3 438 4241 0.12 2.17 0.00 0.000 6 0.129 0.042 2648 2480 3628 0 0 0 0 0 0
4562 -0.59 -146.0 497.9 -11.9 468 4563 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2479 3628 0 0 0 0 0 0
4881 -0.52 -146.0 535.2 -11.7 498 4882 0.17 0.00 0.00 0.000 6 0.216 0.000 2690 2479 3629 0 0 0 0 0 0
5201 -0.55 -146.0 562.3 -8.4 528 5202 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2478 3629 0 0 0 0 0 0
5517 -0.58 -146.0 588.2 -8.2 558 5521 0.00 2.30 0.00 0.000 4 0.000 0.070 2690 3905 3629 0 0 0 0 0 0
5540 -0.61 -146.0 590.0 -8.0 559 5546 0.00 2.15 0.00 0.000 6 0.000 0.041 2691 2486 3629 0 0 0 0 0 0
5859 -0.65 -146.0 615.2 -8.0 578 5861 0.12 0.00 0.00 0.000 6 0.130 0.000 2648 2485 3629 0 0 0 0 0 0
6163 -0.59 -146.0 649.1 -11.2 588 6167 0.00 2.28 0.00 0.000 4 0.000 0.070 2648 3906 3628 0 0 0 0 0 0
6191 -0.52 -146.0 652.5 -12.1 588 6198 0.17 2.17 0.00 0.000 6 0.205 0.042 2691 2489 3629 0 0 0 0 0 0
6504 -0.56 -146.0 678.9 -8.8 599 6506 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2489 3629 0 0 0 0 0 0
6810 -0.61 -146.0 705.6 -8.7 609 6814 0.00 2.28 0.00 0.000 4 0.000 0.069 2691 3903 3629 0 0 0 0 0 0
6861 -0.68 -146.0 710.0 -8.6 610 6865 0.15 2.15 0.00 0.000 6 0.118 0.042 2638 2485 3629 0 0 0 0 0 0
7173 -0.61 -146.0 747.8 -12.3 620 7177 0.00 2.28 0.00 0.000 4 0.000 0.069 2638 3900 3629 0 0 0 0 0 0
7229 -0.55 -146.0 754.9 -12.2 621 7237 0.17 2.17 0.00 0.000 6 0.208 0.044 2681 2487 3629 0 0 0 0 0 0
7543 -0.58 -146.0 782.4 -8.6 632 7544 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2487 3630 0 0 0 0 0 0
7848 -0.61 -146.0 808.7 -8.6 642 7852 0.00 2.17 0.00 0.000 4 0.000 0.060 2682 1082 3629 0 0 0 0 0 0
7859 -0.63 -146.0 809.8 -8.5 642 7863 0.00 2.22 0.00 0.000 6 0.000 0.055 2682 2497 3629 0 0 0 0 0 0
8183 -0.67 -146.0 836.8 -8.4 653 8184 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2497 3630 0 0 0 0 0 0
8489 -0.70 -146.0 863.1 -8.7 663 8491 0.15 0.00 0.00 0.000 6 0.118 0.000 2630 2498 3629 0 0 0 0 0 0
8796 -0.61 -146.0 901.8 -12.9 673 8801 0.12 2.28 0.00 0.000 4 0.228 0.074 2657 3897 3629 0 0 0 0 0 0
8817 -0.56 -146.0 904.8 -11.8 673 8824 0.00 2.17 0.00 0.000 6 0.000 0.044 2657 2484 3629 0 0 0 0 0 0
9131 -0.53 -146.0 937.2 -10.3 684 9132 0.12 0.00 0.00 0.000 6 0.213 0.000 2686 2484 3629 0 0 0 0 0 0
9438 -0.58 -146.0 962.0 -8.1 694 9442 0.00 2.28 0.00 0.000 4 0.000 0.072 2687 3903 3629 0 0 0 0 0 0
9454 -0.63 -146.0 963.4 -7.5 694 9458 0.00 2.17 0.00 0.000 6 0.000 0.044 2686 2488 3629 0 0 0 0 0 0
9768 -0.68 -146.0 988.1 -7.8 704 9769 0.12 0.00 0.00 0.000 6 0.129 0.000 2642 2488 3629 0 0 0 0 0 0
9795 end dive: TARGET_DEPTH_EXCEEDED
state 9795 begin apogee
9800 -0.12 0.0 990.8 8.0 705 9931 0.60 0.00 125.32 1.553 6 0.203 0.000 2813 2257 3030 0 0 0 0 0 0
9932 end apogee: CONTROL_FINISHED_OK
state 9932 begin climb
9934 0.62 146.0 994.4 0.0 709 10074 0.77 2.53 131.50 1.509 4 0.132 0.067 3061 883 2434 0 0 0 0 0 0
10159 0.53 146.0 972.9 12.8 715 10163 0.00 2.38 0.00 0.000 6 0.000 0.050 3061 2272 2427 0 0 0 0 0 0
10477 0.40 146.0 927.8 14.5 726 10482 0.25 2.35 0.00 0.000 4 0.191 0.064 2992 3687 2424 0 0 0 0 0 0
10573 0.38 146.0 916.3 11.4 729 10577 0.00 2.30 0.00 0.000 6 0.000 0.051 2999 2281 2424 0 0 0 0 0 0
10908 0.39 153.7 883.3 9.6 740 10916 0.00 0.00 6.38 1.113 6 0.000 0.000 3000 2281 2403 0 0 0 0 0 0
11214 0.40 161.0 853.5 9.7 750 11229 0.00 2.38 8.10 1.209 4 0.000 0.066 2999 3687 2373 0 0 0 0 0 0
11302 0.37 161.0 843.5 11.6 752 11306 0.00 2.28 0.00 0.000 6 0.000 0.049 3009 2272 2372 0 0 0 0 0 0
11614 0.37 161.0 811.2 10.3 762 11615 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2272 2371 0 0 0 0 0 0
11921 0.37 162.0 780.4 10.0 772 11925 0.00 2.30 0.00 0.000 4 0.000 0.063 3009 3690 2371 0 0 0 0 0 0
12004 0.33 162.0 770.7 11.3 774 12009 0.17 2.25 0.00 0.000 6 0.187 0.049 2976 2269 2371 0 0 0 0 0 0
12329 0.47 224.0 746.9 7.1 785 12390 0.12 0.00 58.00 1.384 6 0.105 0.000 3029 2269 2116 0 0 0 0 0 0
12695 0.47 224.0 705.2 11.6 797 12696 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2269 2107 0 0 0 0 0 0
13000 0.47 224.0 668.6 12.2 807 13004 0.00 2.30 0.00 0.000 4 0.000 0.063 3029 3690 2106 0 0 0 0 0 0
13039 0.45 224.0 663.4 12.5 808 13044 0.12 2.30 0.00 0.000 6 0.188 0.050 3010 2269 2105 0 0 0 0 0 0
13374 0.49 224.0 628.6 10.2 819 13378 0.00 2.25 0.00 0.000 4 0.000 0.065 3015 861 2104 0 0 0 0 0 0
13418 0.55 224.0 623.9 10.5 820 13422 0.00 2.22 0.00 0.000 6 0.000 0.049 3015 2280 2102 0 0 0 0 0 0
13736 0.58 224.0 589.8 10.8 836 13741 0.10 2.22 0.00 0.000 4 0.119 0.063 3062 3685 2103 0 0 0 0 0 0
13844 0.51 224.0 573.4 16.1 845 13848 0.15 2.25 0.00 0.000 6 0.185 0.050 3034 2264 2102 0 0 0 0 0 0
14168 0.51 224.0 533.4 12.0 875 14172 0.00 2.20 0.00 0.000 4 0.000 0.063 3042 866 2102 0 0 0 0 0 0
14212 0.51 224.0 528.0 12.1 878 14219 0.00 2.25 0.00 0.000 6 0.000 0.050 3042 2276 2101 0 0 0 0 0 0
14539 0.51 224.0 487.4 13.1 909 14543 0.00 2.22 0.00 0.000 4 0.000 0.064 3042 3688 2101 0 0 0 0 0 0
14624 0.48 224.0 475.1 14.2 916 14628 0.12 2.22 0.00 0.000 6 0.191 0.049 3021 2270 2101 0 0 0 0 0 0
14949 0.50 224.0 437.1 11.6 946 14953 0.00 2.22 0.00 0.000 4 0.000 0.063 3028 868 2101 0 0 0 0 0 0
15011 0.55 224.0 429.9 11.2 951 15016 0.00 2.20 0.00 0.000 6 0.000 0.050 3029 2283 2100 0 0 0 0 0 0
15336 0.55 224.0 390.6 11.8 981 15340 0.00 2.20 0.00 0.000 4 0.000 0.063 3029 3686 2100 0 0 0 0 0 0
15420 0.55 224.0 379.0 14.7 988 15424 0.00 2.22 0.00 0.000 6 0.000 0.049 3039 2266 2100 0 0 0 0 0 0
15746 0.55 224.0 336.9 13.2 1018 15750 0.00 2.22 0.00 0.000 4 0.000 0.063 3047 861 2100 0 0 0 0 0 0
15801 0.55 224.0 329.3 12.6 1022 15809 0.00 2.22 0.00 0.000 6 0.000 0.048 3047 2276 2099 0 0 0 0 0 0
16128 0.55 224.0 286.3 13.4 1053 16132 0.00 2.20 0.00 0.000 4 0.000 0.063 3047 3685 2100 0 0 0 0 0 0
16195 0.52 224.0 276.1 15.0 1058 16202 0.00 2.20 0.00 0.000 6 0.000 0.049 3056 2277 2099 0 0 0 0 0 0
16521 0.52 224.0 232.7 12.8 1089 16525 0.00 2.22 0.00 0.000 4 0.000 0.060 3067 861 2099 0 0 0 0 0 0
16587 0.52 224.0 224.2 12.2 1094 16596 0.10 2.22 0.00 0.000 6 0.163 0.047 3036 2274 2099 0 0 0 0 0 0
16914 0.57 243.6 191.5 9.1 1125 16937 0.00 2.22 15.95 1.009 4 0.000 0.060 3035 3686 2036 0 0 0 0 0 0
17006 0.57 243.6 182.0 10.9 1133 17010 0.00 2.22 0.00 0.000 6 0.000 0.047 3042 2273 2035 0 0 0 0 0 0
17331 0.63 244.7 151.4 9.9 1163 17335 0.00 2.22 0.00 0.000 4 0.000 0.063 3043 862 2033 0 0 0 0 0 0
17371 0.73 252.9 147.7 9.6 1166 17387 0.15 2.22 9.52 0.939 6 0.108 0.047 3105 2283 1998 0 0 0 0 0 0
17712 0.67 252.9 99.7 13.6 1198 17719 0.00 2.22 0.00 0.000 4 0.000 0.063 3105 3685 1997 0 0 0 0 0 0
17822 0.59 252.9 83.2 16.6 1217 17830 0.22 2.22 0.00 0.000 6 0.188 0.049 3055 2273 1996 0 0 0 0 0 0
18169 0.66 252.9 48.0 10.1 1278 18176 0.00 2.22 0.00 0.000 4 0.000 0.064 3055 861 1996 0 0 0 0 0 0
18267 0.79 284.4 39.1 8.5 1295 18303 0.17 2.20 29.35 0.963 6 0.103 0.047 3124 2283 1869 0 0 0 0 0 0
18471 end climb: FINISH_DEPTH_REACHED
state 18471 begin subsurface finish
18477 0.05 41.9 8.6 -17.2 1331 18525 0.82 2.25 -39.00 0.000 4 0.178 0.076 2884 3687 2862 0 0 0 0 0 0
18525 end subsurface finish: CONTROL_FINISHED_OK
state 18525 begin surface