DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 164 * 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  164 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  26 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  24 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  -2 T_GPS_CHARGE  -28319.699 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  160311,123138,6702.846,-5917.685,0,6113.0,0,-38.2 TGT_NAME  TARGET_W2
_CALLS  3 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  10.73 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -4.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  160311,123138,6702.846,-5917.685,0,6113.0,0,-38.2 MHEAD_RNG_PITCHd_Wd  273.3,60958,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1163

Post-dive calculations and measurements:
FREEZE  8.39,-1.765,-1.781,3,39,0 ALTIM_TOP_PING  19.7,999.0
FINISH1  8.4,1.026079,70 _24V_AH  22.4,24.085
FINISH2  6.6 _10V_AH  10.2,13.323
RAFOS_CLK  998 FG_AHR_24Vo  0.000
RAFOS  0,1300291271,16.033333,16.019722,63,61,59,56,55,53,182,205,191,171,222,146 FG_AHR_10Vo  0.000
RAFOS_FIX  6659.619141,-5928.727051,160311,202031,5,116,0.35 MEM  150560
IRIDIUM_FIX  6652.93,-5737.74,100311,101013 DATA_FILE_SIZE  53374,1339
TT8_MAMPS  0.026215 CAP_FILE_SIZE  178026,0
HUMID  46.53 CFSIZE  260165632,240934912
INTERNAL_PRESSURE  8.67221 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP  16.20 SOUNDSPEED  1455.9
XPDR_PINGS  0 GPS  160311,202731,6659.619,-5928.727,0,5116.2,0,-38.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor522926.99 SBE_CT96024516.48
Roll_motor154150521.98 SBE_O2103119439.09
VBD_pump_during_apogee404155314072.68 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
TT8337819686.44
LPSleep120452283.82
TT8_Active4901999.67
TT8_Sampling230339938.01
TT8_CF823345109.41
TT8_Kalman000.00
Analog_circuits174612213.77
GPS_charging000.00
Compass227715348.39
RAFOS4680171.60
Transponder27308.43

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 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -7.22 0.000 2 0.000 0.000 2892 861 3054 0 0 0 0 0 0
27 -0.62 -146.0 12.0 -0.0 1 47 0.65 0.35 -14.23 0.000 4 0.109 0.151 2665 1097 3629 0 0 0 0 0 0
261 -0.55 -146.0 49.6 -16.4 42 268 0.00 2.22 0.00 0.000 6 0.000 0.062 2665 2488 3631 0 0 0 0 0 0
603 -0.44 -146.0 109.3 -17.0 98 608 0.20 2.33 0.00 0.000 4 0.230 0.073 2713 3908 3631 0 0 0 0 0 0
654 -0.49 -146.0 115.8 -11.0 102 659 0.00 2.22 0.00 0.000 6 0.000 0.047 2713 2477 3631 0 0 0 0 0 0
985 -0.49 -146.0 151.2 -10.3 133 986 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2476 3630 0 0 0 0 0 0
1307 -0.51 -146.0 183.5 -10.1 163 1310 0.00 2.17 0.00 0.000 4 0.000 0.063 2713 1084 3630 0 0 0 0 0 0
1336 -0.54 -146.0 186.8 -10.7 165 1340 0.00 2.25 0.00 0.000 6 0.000 0.060 2713 2501 3630 0 0 0 0 0 0
1666 -0.59 -146.0 218.6 -9.0 196 1671 0.12 2.30 0.00 0.000 4 0.132 0.078 2670 3905 3629 0 0 0 0 0 0
1712 -0.55 -146.0 223.8 -12.1 200 1716 0.00 2.20 0.00 0.000 6 0.000 0.049 2671 2484 3629 0 0 0 0 0 0
2037 -0.50 -146.0 264.0 -11.8 230 2042 0.12 2.22 0.00 0.000 4 0.224 0.065 2699 1079 3628 0 0 0 0 0 0
2077 -0.53 -146.0 268.4 -9.9 233 2081 0.00 2.25 0.00 0.000 6 0.000 0.060 2699 2500 3629 0 0 0 0 0 0
2403 -0.56 -146.0 298.4 -9.2 263 2407 0.00 2.28 0.00 0.000 4 0.000 0.078 2699 3906 3629 0 0 0 0 0 0
2425 -0.59 -146.0 300.4 -8.7 264 2432 0.00 2.22 0.00 0.000 6 0.000 0.049 2699 2483 3629 0 0 0 0 0 0
2751 -0.62 -146.0 329.1 -9.1 295 2755 0.12 2.22 0.00 0.000 4 0.136 0.064 2658 1082 3629 0 0 0 0 0 0
2784 -0.57 -146.0 333.0 -11.9 297 2790 0.00 2.25 0.00 0.000 6 0.000 0.061 2658 2490 3629 0 0 0 0 0 0
3109 -0.51 -146.0 372.1 -12.1 328 3114 0.15 2.30 0.00 0.000 4 0.223 0.076 2692 3899 3629 0 0 0 0 0 0
3149 -0.55 -146.0 376.3 -10.1 331 3153 0.00 2.20 0.00 0.000 6 0.000 0.048 2693 2489 3629 0 0 0 0 0 0
3475 -0.58 -146.0 405.9 -8.8 361 3479 0.00 2.22 0.00 0.000 4 0.000 0.062 2693 1074 3629 0 0 0 0 0 0
3496 -0.60 -146.0 408.1 -9.4 362 3505 0.00 2.25 0.00 0.000 6 0.000 0.060 2693 2494 3629 0 0 0 0 0 0
3822 -0.63 -146.0 436.9 -8.6 393 3826 0.00 2.28 0.00 0.000 4 0.000 0.077 2693 3903 3629 0 0 0 0 0 0
3862 -0.68 -146.0 440.3 -8.5 396 3869 0.15 2.20 0.00 0.000 6 0.119 0.048 2641 2490 3629 0 0 0 0 0 0
4187 -0.59 -146.0 480.9 -13.1 427 4192 0.12 2.22 0.00 0.000 4 0.222 0.061 2668 1073 3629 0 0 0 0 0 0
4230 -0.59 -146.0 486.1 -11.0 430 4237 0.00 2.25 0.00 0.000 6 0.000 0.059 2668 2490 3629 0 0 0 0 0 0
4556 -0.57 -146.0 520.2 -10.7 461 4560 0.00 2.30 0.00 0.000 4 0.000 0.076 2668 3905 3630 0 0 0 0 0 0
4619 -0.57 -146.0 526.7 -10.3 466 4623 0.00 2.20 0.00 0.000 6 0.000 0.048 2668 2490 3630 0 0 0 0 0 0
4944 -0.55 -146.0 559.5 -10.0 496 4948 0.00 2.25 0.00 0.000 4 0.000 0.062 2668 1073 3630 0 0 0 0 0 0
4974 -0.55 -146.0 562.5 -10.5 498 4978 0.00 2.25 0.00 0.000 6 0.000 0.059 2668 2500 3630 0 0 0 0 0 0
5298 -0.55 -146.0 595.8 -10.1 528 5302 0.00 2.25 0.00 0.000 4 0.000 0.077 2668 3899 3630 0 0 0 0 0 0
5341 -0.55 -146.0 600.6 -10.2 531 5346 0.00 2.20 0.00 0.000 6 0.000 0.048 2668 2498 3630 0 0 0 0 0 0
5665 -0.55 -146.0 632.5 -9.8 542 5666 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2498 3630 0 0 0 0 0 0
5972 -0.55 -146.0 662.7 -9.8 552 5976 0.00 2.22 0.00 0.000 4 0.000 0.062 2668 1072 3631 0 0 0 0 0 0
5999 -0.55 -146.0 665.6 -10.6 552 6006 0.00 2.25 0.00 0.000 6 0.000 0.060 2668 2490 3631 0 0 0 0 0 0
6312 -0.55 -146.0 695.4 -9.5 563 6316 0.00 2.30 0.00 0.000 4 0.000 0.077 2668 3902 3631 0 0 0 0 0 0
6346 -0.55 -146.0 698.7 -10.0 564 6350 0.00 2.20 0.00 0.000 6 0.000 0.048 2668 2487 3631 0 0 0 0 0 0
6681 -0.55 -146.0 729.4 -9.1 575 6682 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2486 3631 0 0 0 0 0 0
6987 -0.55 -146.0 757.5 -9.3 585 6988 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2486 3632 0 0 0 0 0 0
7293 -0.55 -146.0 786.4 -9.3 595 7294 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2486 3631 0 0 0 0 0 0
7599 -0.55 -146.0 815.2 -9.2 605 7601 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2487 3631 0 0 0 0 0 0
7905 -0.55 -146.0 843.0 -9.1 615 7906 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2486 3632 0 0 0 0 0 0
8212 -0.55 -146.0 870.4 -8.8 625 8213 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2486 3632 0 0 0 0 0 0
8518 -0.55 -146.0 898.2 -9.2 635 8519 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2486 3632 0 0 0 0 0 0
8824 -0.55 -146.0 926.6 -9.2 645 8828 0.00 2.28 0.00 0.000 4 0.000 0.074 2668 3899 3631 0 0 0 0 0 0
8854 -0.55 -146.0 929.2 -9.4 646 8858 0.00 2.20 0.00 0.000 6 0.000 0.049 2668 2485 3631 0 0 0 0 0 0
9189 -0.55 -146.0 959.5 -8.8 657 9190 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2485 3632 0 0 0 0 0 0
9495 -0.55 -146.0 986.3 -8.7 667 9496 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2485 3632 0 0 0 0 0 0
9554 end dive: TARGET_DEPTH_EXCEEDED
state 9554 begin apogee
9559 -0.12 0.0 991.6 8.8 669 9694 0.50 0.00 126.05 1.554 6 0.188 0.000 2816 2264 3030 0 0 0 0 0 0
9694 end apogee: CONTROL_FINISHED_OK
state 9694 begin climb
9696 0.62 146.0 995.1 0.0 673 9836 0.77 2.55 131.82 1.511 4 0.134 0.069 3063 881 2432 0 0 0 0 0 0
9898 0.52 146.0 976.9 12.7 678 9905 0.00 2.42 0.00 0.000 6 0.000 0.054 3062 2273 2428 0 0 0 0 0 0
10211 0.42 146.0 936.6 12.9 689 10216 0.22 2.40 0.00 0.000 4 0.185 0.068 3003 3692 2424 0 0 0 0 0 0
10294 0.38 146.0 926.6 11.9 691 10298 0.00 2.33 0.00 0.000 6 0.000 0.054 3012 2284 2424 0 0 0 0 0 0
10613 0.36 146.0 894.3 10.2 702 10615 0.12 0.00 0.00 0.000 6 0.197 0.000 2983 2284 2423 0 0 0 0 0 0
10920 0.43 168.4 867.4 9.0 712 10941 0.00 0.00 19.23 1.375 6 0.000 0.000 2983 2284 2343 0 0 0 0 0 0
11226 0.52 196.5 840.3 8.7 722 11258 0.15 0.00 26.52 1.398 6 0.097 0.000 3044 2284 2227 0 0 0 0 0 0
11565 0.47 196.5 798.0 12.5 733 11569 0.00 2.33 0.00 0.000 4 0.000 0.070 3044 3698 2222 0 0 0 0 0 0
11614 0.40 196.5 790.6 14.5 734 11619 0.22 2.28 0.00 0.000 6 0.191 0.054 2997 2276 2221 0 0 0 0 0 0
11933 0.47 215.2 760.8 9.1 745 11956 0.00 2.40 16.95 1.318 4 0.000 0.069 3004 860 2152 0 0 0 0 0 0
11974 0.56 242.9 757.0 8.7 746 12009 0.12 2.33 27.27 1.347 6 0.112 0.054 3057 2284 2038 0 0 0 0 0 0
12334 0.51 242.9 705.1 14.8 758 12338 0.00 2.30 0.00 0.000 4 0.000 0.069 3057 3697 2031 0 0 0 0 0 0
12399 0.46 242.9 694.2 15.5 760 12404 0.15 2.33 0.00 0.000 6 0.168 0.054 3012 2274 2030 0 0 0 0 0 0
12734 0.51 242.9 658.0 10.7 771 12738 0.00 2.30 0.00 0.000 4 0.000 0.067 3019 858 2029 0 0 0 0 0 0
12767 0.58 242.9 654.2 10.3 772 12772 0.00 2.28 0.00 0.000 6 0.000 0.054 3019 2277 2027 0 0 0 0 0 0
13097 0.62 242.9 617.4 11.1 783 13102 0.12 2.28 0.00 0.000 4 0.107 0.068 3073 3694 2027 0 0 0 0 0 0
13164 0.53 242.9 606.6 17.7 785 13169 0.17 2.25 0.00 0.000 6 0.192 0.055 3037 2275 2026 0 0 0 0 0 0
13493 0.53 242.9 563.4 13.0 813 13497 0.00 2.25 0.00 0.000 4 0.000 0.067 3045 864 2027 0 0 0 0 0 0
13521 0.53 242.9 559.7 12.0 815 13525 0.00 2.22 0.00 0.000 6 0.000 0.054 3046 2276 2026 0 0 0 0 0 0
13846 0.53 242.9 515.8 13.4 845 13850 0.00 2.28 0.00 0.000 4 0.000 0.068 3046 3692 2026 0 0 0 0 0 0
13908 0.50 242.9 506.8 14.3 850 13912 0.00 2.25 0.00 0.000 6 0.000 0.054 3055 2265 2025 0 0 0 0 0 0
14233 0.46 242.9 459.3 14.4 880 14238 0.15 2.25 0.00 0.000 4 0.195 0.067 3026 862 2025 0 0 0 0 0 0
14266 0.51 242.9 454.9 11.3 882 14273 0.00 2.25 0.00 0.000 6 0.000 0.054 3026 2283 2024 0 0 0 0 0 0
14593 0.54 242.9 420.1 10.7 913 14597 0.00 2.25 0.00 0.000 4 0.000 0.068 3026 3687 2024 0 0 0 0 0 0
14632 0.54 242.9 415.3 11.2 916 14637 0.00 2.22 0.00 0.000 6 0.000 0.054 3035 2270 2024 0 0 0 0 0 0
14958 0.57 242.9 378.9 10.5 946 14962 0.00 2.25 0.00 0.000 4 0.000 0.067 3042 861 2024 0 0 0 0 0 0
14986 0.60 242.9 375.7 10.8 948 14991 0.00 2.25 0.00 0.000 6 0.000 0.053 3042 2284 2024 0 0 0 0 0 0
15311 0.60 242.9 338.3 11.2 978 15315 0.00 2.22 0.00 0.000 4 0.000 0.067 3042 3687 2024 0 0 0 0 0 0
15371 0.60 242.9 330.4 13.6 983 15379 0.00 2.25 0.00 0.000 6 0.000 0.054 3052 2279 2024 0 0 0 0 0 0
15698 0.60 242.9 291.2 12.1 1014 15699 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 2279 2024 0 0 0 0 0 0
16015 0.60 242.9 253.0 12.2 1044 16019 0.00 2.28 0.00 0.000 4 0.000 0.064 3052 3692 2024 0 0 0 0 0 0
16036 0.60 242.9 250.3 12.2 1045 16043 0.00 2.28 0.00 0.000 6 0.000 0.053 3061 2268 2024 0 0 0 0 0 0
16362 0.60 242.9 211.3 11.5 1076 16363 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2268 2024 0 0 0 0 0 0
16681 0.60 242.9 175.1 11.4 1106 16682 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2267 2024 0 0 0 0 0 0
16998 0.60 242.9 141.2 10.1 1136 17002 0.00 2.22 0.00 0.000 4 0.000 0.067 3071 857 2024 0 0 0 0 0 0
17055 0.64 242.9 135.3 10.9 1141 17060 0.00 2.22 0.00 0.000 6 0.000 0.054 3071 2282 2024 0 0 0 0 0 0
17380 0.64 248.5 101.1 9.7 1171 17385 0.00 2.22 0.00 0.000 4 0.000 0.069 3071 3692 2024 0 0 0 0 0 0
17420 0.64 248.5 96.8 11.3 1176 17428 0.00 2.25 0.00 0.000 6 0.000 0.053 3081 2263 2024 0 0 0 0 0 0
17766 0.66 259.0 62.3 9.5 1237 17797 0.00 2.25 17.30 0.807 4 0.000 0.067 3089 867 1973 0 0 0 0 1 0
17839 0.75 288.0 55.5 8.7 1249 17880 0.00 2.25 31.85 0.910 6 0.000 0.053 3089 2287 1854 0 0 0 0 0 0
18218 0.81 302.4 19.2 9.3 1316 18231 0.10 0.00 7.35 0.923 6 0.120 0.000 3130 2287 1796 0 0 0 0 0 0
18305 end climb: FINISH_DEPTH_REACHED
state 18307 begin subsurface finish
18312 0.09 69.6 8.4 -12.0 1331 18361 0.77 2.30 -38.92 0.000 4 0.164 0.085 2898 3687 2749 0 0 0 0 0 0
18362 end subsurface finish: CONTROL_FINISHED_OK
state 18362 begin surface