DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 201 * 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  201 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  28 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  29 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  -29794.018 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  220311,123138,6700.317,-5910.257,0,6101.0,0,-38.2 TGT_NAME  TARGET_E
_CALLS  3 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  8.81 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  0.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  220311,123138,6700.317,-5910.257,0,6101.0,0,-38.2 MHEAD_RNG_PITCHd_Wd  125.4,102850,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1135

Post-dive calculations and measurements:
FREEZE  8.61,-1.768,-1.791,3,76,0 ALTIM_TOP_PING  19.6,16.5
FINISH1  8.6,1.026214,63 _24V_AH  22.4,29.221
FINISH2  7.0 _10V_AH  10.2,16.102
RAFOS_CLK  1002 FG_AHR_24Vo  0.000
RAFOS  0,1300824065,20.033333,20.018055,59,59,55,55,55,55,198,229,160,180,129,151 FG_AHR_10Vo  0.000
RAFOS_FIX  6702.789551,-5901.401367,220311,202055,5,135,0.27 MEM  150552
IRIDIUM_FIX  6652.93,-5737.74,100311,101013 DATA_FILE_SIZE  53323,1344
TT8_MAMPS  0.026215 CAP_FILE_SIZE  180147,0
HUMID  47.20 CFSIZE  260165632,238297088
INTERNAL_PRESSURE  8.68197 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.40 SOUNDSPEED  1457.3
XPDR_PINGS  1 GPS  220311,203355,6702.790,-5901.401,0,5134.6,0,-38.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor623434.87 SBE_CT96024516.29
Roll_motor15677270.12 SBE_O2103219439.53
VBD_pump_during_apogee412155814412.70 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_ping442037.63 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8335919682.58
LPSleep121642286.63
TT8_Active51119103.91
TT8_Sampling228939932.12
TT8_CF821345100.06
TT8_Kalman000.00
Analog_circuits175512214.81
GPS_charging000.00
Compass225715345.43
RAFOS2520138.56
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
16 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -7.15 0.000 2 0.000 0.000 2894 3683 3016 0 0 0 0 0 0
27 -0.62 -146.0 10.0 -0.0 1 53 0.65 4.18 -16.98 0.000 4 0.105 0.057 2667 1070 3628 0 0 0 0 0 0
82 -0.50 -146.0 16.3 -14.7 10 89 0.12 2.25 0.00 0.000 6 0.233 0.054 2693 2488 3629 0 0 0 0 0 0
428 -0.43 -146.0 68.6 -14.9 71 435 0.12 2.28 0.00 0.000 4 0.234 0.070 2722 3897 3629 0 0 0 0 0 0
616 -0.50 -146.0 88.5 -11.3 104 623 0.00 2.20 0.00 0.000 6 0.000 0.044 2722 2474 3629 0 0 0 0 0 0
954 -0.54 -146.0 122.8 -10.2 145 958 0.00 2.17 0.00 0.000 4 0.000 0.060 2722 1080 3628 0 0 0 0 0 0
976 -0.58 -146.0 125.1 -9.6 146 983 0.15 2.25 0.00 0.000 6 0.124 0.056 2672 2497 3628 0 0 0 0 0 0
1301 -0.51 -146.0 169.5 -13.7 177 1305 0.00 2.28 0.00 0.000 4 0.000 0.073 2672 3902 3627 0 0 0 0 0 0
1330 -0.46 -146.0 173.4 -13.6 179 1335 0.15 2.20 0.00 0.000 6 0.205 0.045 2707 2486 3627 0 0 0 0 0 0
1656 -0.49 -146.0 206.0 -9.9 209 1657 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2486 3627 0 0 0 0 0 0
1977 -0.54 -146.0 236.0 -9.6 239 1981 0.00 2.17 0.00 0.000 4 0.000 0.060 2707 1083 3626 0 0 0 0 0 0
1999 -0.59 -146.0 238.5 -9.7 240 2006 0.12 2.22 0.00 0.000 6 0.136 0.056 2667 2489 3626 0 0 0 0 0 0
2325 -0.55 -146.0 276.9 -11.7 271 2326 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2489 3625 0 0 0 0 0 0
2644 -0.51 -146.0 312.9 -11.3 301 2649 0.12 2.28 0.00 0.000 4 0.217 0.073 2695 3904 3626 0 0 0 0 0 0
2688 -0.58 -146.0 317.4 -8.9 304 2695 0.00 2.17 0.00 0.000 6 0.000 0.043 2695 2485 3626 0 0 0 0 0 0
3015 -0.62 -146.0 344.9 -8.1 335 3019 0.00 2.15 0.00 0.000 4 0.000 0.057 2695 1086 3627 0 0 0 0 0 0
3033 -0.65 -146.0 346.5 -8.3 336 3037 0.12 2.20 0.00 0.000 6 0.132 0.055 2654 2496 3627 0 0 0 0 0 0
3358 -0.59 -146.0 383.0 -11.1 366 3359 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2496 3627 0 0 0 0 0 0
3678 -0.53 -146.0 418.8 -11.2 396 3680 0.15 0.00 0.00 0.000 6 0.209 0.000 2690 2496 3627 0 0 0 0 0 0
3995 -0.56 -146.0 445.5 -8.0 426 3999 0.00 2.22 0.00 0.000 4 0.000 0.071 2690 3898 3628 0 0 0 0 0 0
4028 -0.62 -146.0 448.3 -8.6 428 4035 0.00 2.15 0.00 0.000 6 0.000 0.043 2690 2489 3628 0 0 0 0 0 0
4353 -0.66 -146.0 474.2 -8.3 459 4358 0.12 2.28 0.00 0.000 4 0.129 0.068 2647 3902 3628 0 0 0 0 0 0
4375 -0.66 -146.0 476.4 -9.6 460 4382 0.00 2.17 0.00 0.000 6 0.000 0.042 2647 2481 3628 0 0 0 0 0 0
4700 -0.58 -146.0 513.5 -11.3 491 4704 0.00 2.28 0.00 0.000 4 0.000 0.069 2647 3906 3628 0 0 0 0 0 0
4721 -0.50 -146.0 516.3 -12.1 492 4729 0.20 2.15 0.00 0.000 6 0.200 0.041 2698 2489 3628 0 0 0 0 0 0
5047 -0.56 -146.0 541.1 -7.3 523 5051 0.00 2.17 0.00 0.000 4 0.000 0.055 2698 1085 3628 0 0 0 0 0 0
5069 -0.62 -146.0 543.0 -7.7 524 5076 0.12 2.22 0.00 0.000 6 0.130 0.054 2655 2498 3628 0 0 0 0 0 0
5394 -0.58 -146.0 576.7 -10.8 555 5398 0.00 2.25 0.00 0.000 4 0.000 0.072 2656 3905 3628 0 0 0 0 0 0
5417 -0.53 -146.0 579.2 -10.9 557 5421 0.15 2.15 0.00 0.000 6 0.198 0.042 2692 2487 3628 0 0 0 0 0 0
5760 -0.58 -146.0 607.4 -8.1 583 5764 0.00 2.15 0.00 0.000 4 0.000 0.056 2692 1084 3628 0 0 0 0 0 0
5770 -0.62 -146.0 608.4 -8.1 583 5775 0.00 2.20 0.00 0.000 6 0.000 0.055 2692 2494 3628 0 0 0 0 0 0
6090 -0.68 -146.0 634.0 -8.1 594 6091 0.15 0.00 0.00 0.000 6 0.113 0.000 2639 2494 3629 0 0 0 0 0 0
6395 -0.60 -146.0 669.8 -12.0 604 6397 0.12 0.00 0.00 0.000 6 0.220 0.000 2666 2494 3628 0 0 0 0 0 0
6702 -0.60 -146.0 699.7 -9.4 614 6707 0.00 2.25 0.00 0.000 4 0.000 0.073 2666 3898 3628 0 0 0 0 0 0
6729 -0.60 -146.0 702.5 -10.0 614 6738 0.00 2.17 0.00 0.000 6 0.000 0.043 2666 2493 3628 0 0 0 0 0 0
7042 -0.60 -146.0 731.7 -9.6 625 7046 0.00 2.17 0.00 0.000 4 0.000 0.055 2666 1085 3628 0 0 0 0 0 0
7052 -0.60 -146.0 732.8 -9.6 625 7056 0.00 2.20 0.00 0.000 6 0.000 0.056 2666 2497 3628 0 0 0 0 0 0
7371 -0.60 -146.0 763.4 -9.4 636 7372 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2497 3628 0 0 0 0 0 0
7677 -0.60 -146.0 792.4 -9.4 646 7681 0.00 2.25 0.00 0.000 4 0.000 0.073 2666 3897 3629 0 0 0 0 0 0
7695 -0.60 -146.0 794.0 -9.4 646 7699 0.00 2.17 0.00 0.000 6 0.000 0.044 2666 2481 3629 0 0 0 0 0 0
8008 -0.60 -146.0 823.3 -9.1 656 8009 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2481 3629 0 0 0 0 0 0
8315 -0.60 -146.0 850.5 -8.8 666 8319 0.00 2.15 0.00 0.000 4 0.000 0.057 2666 1078 3629 0 0 0 0 0 0
8344 -0.60 -146.0 853.3 -9.5 667 8348 0.00 2.22 0.00 0.000 6 0.000 0.057 2666 2489 3629 0 0 0 0 0 0
8680 -0.60 -146.0 882.3 -8.7 678 8681 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2489 3628 0 0 0 0 0 0
8985 -0.60 -146.0 908.7 -8.6 688 8989 0.00 2.25 0.00 0.000 4 0.000 0.073 2666 3897 3628 0 0 0 0 0 0
9020 -0.62 -146.0 911.7 -9.0 689 9024 0.00 2.17 0.00 0.000 6 0.000 0.044 2666 2480 3628 0 0 0 0 0 0
9355 -0.62 -146.0 940.9 -8.8 700 9356 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2480 3629 0 0 0 0 0 0
9661 -0.62 -146.0 966.8 -8.4 710 9665 0.00 2.15 0.00 0.000 4 0.000 0.056 2666 1075 3629 0 0 0 0 0 0
9705 -0.65 -146.0 970.8 -9.0 711 9709 0.00 2.22 0.00 0.000 6 0.000 0.057 2666 2489 3629 0 0 0 0 0 0
9959 end dive: TARGET_DEPTH_EXCEEDED
state 9959 begin apogee
9964 -0.12 0.0 992.0 8.4 720 10095 0.50 0.00 126.18 1.558 6 0.184 0.000 2815 2254 3030 0 0 0 0 0 0
10096 end apogee: CONTROL_FINISHED_OK
state 10096 begin climb
10098 0.62 146.0 995.3 0.0 724 10238 0.77 2.45 132.32 1.519 4 0.125 0.062 3064 886 2433 0 0 0 0 0 0
10294 0.50 146.0 976.9 14.1 729 10299 0.15 2.42 0.00 0.000 6 0.197 0.051 3032 2297 2428 0 0 0 0 0 0
10612 0.41 146.0 936.1 12.8 740 10617 0.12 2.35 0.00 0.000 4 0.224 0.067 3004 3697 2424 0 0 0 0 0 0
10684 0.35 146.0 926.9 11.8 742 10689 0.15 2.30 0.00 0.000 6 0.199 0.050 2978 2289 2423 0 0 0 0 0 0
11009 0.42 176.0 898.4 8.6 753 11041 0.00 0.00 26.17 1.414 6 0.000 0.000 2978 2287 2311 0 0 0 0 0 0
11348 0.50 201.2 868.4 8.8 764 11377 0.15 0.00 23.70 1.395 6 0.096 0.000 3039 2288 2208 0 0 0 0 0 0
11683 0.41 201.2 820.2 14.7 775 11685 0.15 0.00 0.00 0.000 6 0.193 0.000 3004 2288 2204 0 0 0 0 0 0
11989 0.41 201.2 785.5 11.1 785 11993 0.00 2.28 0.00 0.000 4 0.000 0.067 3004 3690 2202 0 0 0 0 0 0
12038 0.41 201.2 779.3 12.1 786 12042 0.00 2.22 0.00 0.000 6 0.000 0.050 3012 2275 2202 0 0 0 0 0 0
12362 0.41 201.2 740.2 12.0 797 12364 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2275 2201 0 0 0 0 0 0
12668 0.41 201.2 704.7 11.7 807 12672 0.00 2.28 0.00 0.000 4 0.000 0.064 3012 3694 2201 0 0 0 0 0 0
12707 0.38 201.2 699.7 12.9 808 12712 0.08 2.25 0.00 0.000 6 0.177 0.048 2991 2277 2200 0 0 0 0 0 0
13042 0.43 207.5 666.5 9.7 819 13053 0.00 2.22 5.68 1.022 4 0.000 0.060 2999 866 2183 0 0 0 0 0 0
13086 0.51 214.7 662.0 9.7 820 13104 0.00 2.22 8.70 1.165 6 0.000 0.050 2999 2281 2153 0 0 0 0 0 0
13410 0.57 224.1 631.1 9.6 831 13425 0.15 2.25 9.90 1.184 4 0.098 0.064 3062 3683 2115 0 0 0 0 0 0
13520 0.46 224.1 613.3 17.3 834 13525 0.22 2.22 0.00 0.000 6 0.202 0.049 3015 2270 2114 0 0 0 0 0 0
13843 0.46 224.1 576.8 10.8 856 13849 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2270 2113 0 0 0 0 0 0
14169 0.46 224.1 541.4 10.6 887 14170 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2270 2112 0 0 0 0 0 0
14488 0.46 224.1 506.2 11.4 917 14489 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2270 2112 0 0 0 0 0 0
14807 0.46 224.1 470.5 11.0 947 14811 0.00 2.28 0.00 0.000 4 0.000 0.062 3016 3695 2111 0 0 0 0 0 0
14835 0.46 224.1 466.9 12.2 949 14839 0.00 2.22 0.00 0.000 6 0.000 0.050 3023 2264 2111 0 0 0 0 0 0
15160 0.46 224.1 427.5 11.5 979 15161 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2264 2111 0 0 0 0 0 0
15481 0.46 224.1 391.8 10.2 1009 15485 0.00 2.28 0.00 0.000 4 0.000 0.061 3023 3694 2112 0 0 0 0 0 0
15533 0.42 224.1 385.3 12.6 1013 15537 0.12 2.22 0.00 0.000 6 0.198 0.048 3004 2271 2111 0 0 0 0 0 0
15858 0.52 253.0 356.1 8.7 1043 15892 0.00 2.25 26.73 1.131 4 0.000 0.060 3011 862 1996 0 0 0 0 0 0
15920 0.66 288.4 350.5 8.4 1048 15961 0.17 2.25 33.58 1.119 6 0.097 0.047 3084 2279 1854 0 0 0 0 0 0
16277 0.56 288.4 288.5 17.9 1082 16282 0.15 2.25 0.00 0.000 4 0.183 0.063 3046 3683 1845 0 0 0 0 0 0
16367 0.56 288.4 274.5 14.1 1090 16371 0.00 2.22 0.00 0.000 6 0.000 0.048 3054 2270 1844 0 0 0 0 0 0
16692 0.52 288.4 227.0 15.7 1120 16696 0.00 2.25 0.00 0.000 4 0.000 0.060 3065 858 1842 0 0 0 0 0 0
16720 0.52 288.4 222.7 14.5 1122 16725 0.12 2.22 0.00 0.000 6 0.179 0.049 3034 2273 1841 0 0 0 0 0 0
17046 0.56 288.4 186.1 10.4 1152 17050 0.00 2.22 0.00 0.000 4 0.000 0.062 3033 3688 1841 0 0 0 0 0 0
17089 0.60 288.4 180.9 12.6 1155 17096 0.00 2.20 0.00 0.000 6 0.000 0.048 3042 2276 1841 0 0 0 0 0 0
17416 0.65 288.4 145.4 10.4 1186 17420 0.00 2.22 0.00 0.000 4 0.000 0.062 3042 857 1841 0 0 0 0 0 0
17483 0.78 311.6 138.8 8.9 1191 17512 0.20 2.20 19.95 0.990 6 0.092 0.046 3124 2281 1759 0 0 0 0 0 0
17837 0.68 311.6 78.9 16.3 1235 17844 0.15 2.25 0.00 0.000 4 0.190 0.063 3086 3692 1755 0 0 0 0 0 0
17885 0.68 311.6 71.7 13.1 1243 17891 0.00 2.25 0.00 0.000 6 0.000 0.047 3094 2264 1754 0 0 0 0 0 0
18230 0.71 311.6 30.9 10.7 1304 18236 0.00 2.20 0.00 0.000 4 0.000 0.061 3104 862 1753 0 0 0 0 0 0
18271 0.75 311.6 25.9 11.0 1311 18278 0.00 2.22 0.00 0.000 6 0.000 0.047 3104 2286 1752 0 0 0 0 0 0
18413 end climb: FINISH_DEPTH_REACHED
state 18413 begin subsurface finish
18419 0.08 63.0 8.6 -13.2 1336 18466 0.68 2.22 -38.35 0.000 4 0.155 0.077 2893 3689 2776 0 0 0 0 0 0
18467 end subsurface finish: CONTROL_FINISHED_OK
state 18467 begin surface