DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 305 * 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  305 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  31 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  25 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  1 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  -35151.645 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  060411,163512,6702.335,-5934.207,0,4125.0,0,-37.5 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  6.45 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  060411,163512,6702.335,-5934.207,181,99.0,181,-37.5 MHEAD_RNG_PITCHd_Wd  265.6,50880,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1053

Post-dive calculations and measurements:
FREEZE  8.81,-1.769,-1.800,3,31,0 ALTIM_TOP_PING  19.5,17.7
FINISH1  8.8,1.026342,57 _24V_AH  22.2,42.249
FINISH2  7.4 _10V_AH  10.1,23.376
RAFOS_CLK  1050 FG_AHR_24Vo  0.000
RAFOS  3,1302121506,20.433332,20.418333,76,65,63,62,55,54,814,200,224,213,170,187 FG_AHR_10Vo  0.000
RAFOS_FIX  6659.770508,-5943.400879,070411,000026,6,132,0.29 MEM  150412
IRIDIUM_FIX  6625.71,-5714.90,310311,212146 DATA_FILE_SIZE  53284,1367
TT8_MAMPS  0.026215 CAP_FILE_SIZE  189871,0
HUMID  47.51 CFSIZE  260165632,231485440
INTERNAL_PRESSURE  8.67221 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.20 SOUNDSPEED  1454.9
XPDR_PINGS  1 GPS  070411,002826,6659.771,-5943.401,0,6131.7,0,-37.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor18318128.76 SBE_CT97924521.62
Roll_motor16286311.18 SBE_O2105419444.94
VBD_pump_during_apogee393155513570.62 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init98103226.03 nil000.00
Iridium_during_connect1716061.84 nil000.00
Iridium_during_xfer000.00 nil000.00
Transponder_ping442037.30 nil000.00
GUMSTIX_24V000.00
GPS1835092.56
TT8341119686.36
LPSleep122202285.11
TT8_Active58419117.63
TT8_Sampling2644391066.39
TT8_CF850145232.65
TT8_Kalman000.00
Analog_circuits187212226.96
GPS_charging000.00
Compass231315350.51
RAFOS3960159.99
Transponder27308.29

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 -6.88 0.000 2 0.000 0.000 107 2474 895 0 0 0 0 0 0
27 -0.62 -146.0 6.4 -0.0 1 172 12.55 2.40 -120.57 0.000 4 0.318 0.086 2654 3890 3627 0 0 0 0 0 0
310 -0.49 -146.0 35.3 -19.1 50 317 0.17 2.22 0.00 0.000 6 0.218 0.047 2696 2485 3629 0 0 0 0 0 0
656 -0.43 -146.0 89.3 -15.5 111 663 0.00 2.25 0.00 0.000 4 0.000 0.064 2697 1081 3629 0 0 0 0 0 0
681 -0.38 -146.0 93.3 -15.2 115 689 0.15 2.28 0.00 0.000 6 0.220 0.060 2733 2497 3629 0 0 0 0 0 0
1012 -0.42 -146.0 127.2 -10.4 151 1016 0.00 2.30 0.00 0.000 4 0.000 0.077 2733 3899 3629 0 0 0 0 0 0
1074 -0.50 -146.0 133.6 -10.3 156 1078 0.00 2.20 0.00 0.000 6 0.000 0.047 2733 2486 3629 0 0 0 0 0 0
1404 -0.57 -146.0 164.8 -9.0 187 1409 0.17 2.25 0.00 0.000 4 0.114 0.066 2673 1083 3629 0 0 0 0 0 0
1425 -0.57 -146.0 167.3 -10.7 188 1433 0.00 2.30 0.00 0.000 6 0.000 0.062 2672 2488 3628 0 0 0 0 0 0
1751 -0.48 -146.0 213.8 -14.1 219 1756 0.12 2.35 0.00 0.000 4 0.236 0.077 2700 3899 3629 0 0 0 0 0 0
1819 -0.53 -146.0 221.8 -10.7 225 1824 0.00 2.20 0.00 0.000 6 0.000 0.048 2700 2480 3629 0 0 0 0 0 0
2149 -0.53 -146.0 256.0 -10.1 256 2150 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2480 3629 0 0 0 0 0 0
2470 -0.53 -146.0 287.2 -9.8 286 2474 0.00 2.33 0.00 0.000 4 0.000 0.074 2700 3899 3628 0 0 0 0 0 0
2511 -0.59 -146.0 291.2 -9.6 289 2515 0.00 2.20 0.00 0.000 6 0.000 0.047 2700 2485 3628 0 0 0 0 0 0
2837 -0.62 -146.0 321.6 -10.0 319 2842 0.12 2.35 0.00 0.000 4 0.135 0.074 2657 3903 3628 0 0 0 0 0 0
2871 -0.58 -146.0 325.6 -12.4 322 2875 0.00 2.22 0.00 0.000 6 0.000 0.048 2657 2488 3628 0 0 0 0 0 0
3202 -0.50 -146.0 367.0 -12.7 353 3204 0.17 0.00 0.00 0.000 6 0.212 0.000 2699 2488 3628 0 0 0 0 0 0
3520 -0.54 -146.0 395.7 -9.0 383 3521 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2488 3629 0 0 0 0 0 0
3842 -0.59 -146.0 423.7 -8.6 413 3846 0.00 2.33 0.00 0.000 4 0.000 0.074 2699 3907 3629 0 0 0 0 0 0
3882 -0.66 -146.0 427.3 -8.4 416 3887 0.15 2.20 0.00 0.000 6 0.119 0.045 2650 2483 3629 0 0 0 0 0 0
4207 -0.58 -146.0 463.8 -11.5 446 4208 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2482 3629 0 0 0 0 0 0
4527 -0.50 -146.0 502.0 -12.7 476 4529 0.17 0.00 0.00 0.000 6 0.212 0.000 2692 2483 3630 0 0 0 0 0 0
4844 -0.54 -146.0 530.6 -8.4 506 4849 0.00 2.35 0.00 0.000 4 0.000 0.074 2693 3905 3630 0 0 0 0 0 0
4878 -0.61 -146.0 533.6 -8.7 508 4884 0.00 2.22 0.00 0.000 6 0.000 0.046 2693 2477 3630 0 0 0 0 0 0
5203 -0.65 -146.0 559.9 -7.8 539 5205 0.12 0.00 0.00 0.000 6 0.135 0.000 2651 2476 3631 0 0 0 0 0 0
5523 -0.58 -146.0 595.3 -11.2 569 5527 0.00 2.33 0.00 0.000 4 0.000 0.073 2650 3900 3631 0 0 0 0 0 0
5555 -0.52 -146.0 599.5 -11.5 571 5563 0.15 2.20 0.00 0.000 6 0.206 0.045 2686 2490 3631 0 0 0 0 0 0
5880 -0.55 -146.0 626.1 -8.1 583 5884 0.00 2.35 0.00 0.000 4 0.000 0.073 2687 3908 3631 0 0 0 0 0 0
5901 -0.59 -146.0 628.0 -8.1 583 5905 0.00 2.17 0.00 0.000 6 0.000 0.044 2687 2489 3632 0 0 0 0 0 0
6214 -0.62 -146.0 654.3 -8.6 593 6216 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2488 3631 0 0 0 0 0 0
6521 -0.66 -146.0 681.1 -8.9 603 6526 0.10 2.33 0.00 0.000 4 0.146 0.071 2652 3904 3632 0 0 0 0 0 0
6542 -0.66 -146.0 683.6 -10.5 603 6549 0.00 2.20 0.00 0.000 6 0.000 0.044 2652 2488 3632 0 0 0 0 0 0
6856 -0.60 -146.0 718.6 -10.9 614 6857 0.00 0.00 0.00 0.000 6 0.000 0.000 2652 2488 3632 0 0 0 0 0 0
7165 -0.55 -146.0 751.9 -10.9 624 7170 0.12 2.33 0.00 0.000 4 0.210 0.071 2681 3900 3632 0 0 0 0 0 0
7203 -0.59 -146.0 756.0 -9.2 625 7207 0.00 2.17 0.00 0.000 6 0.000 0.044 2681 2487 3632 0 0 0 0 0 0
7527 -0.63 -146.0 781.7 -7.9 636 7531 0.00 2.30 0.00 0.000 4 0.000 0.071 2681 3900 3632 0 0 0 0 0 0
7549 -0.66 -146.0 783.7 -8.4 636 7555 0.00 2.20 0.00 0.000 6 0.000 0.043 2681 2484 3632 0 0 0 0 0 0
7862 -0.70 -146.0 807.9 -8.1 647 7867 0.12 2.35 0.00 0.000 4 0.130 0.071 2638 3907 3632 0 0 0 0 0 0
7889 -0.66 -146.0 810.8 -11.5 647 7896 0.00 2.20 0.00 0.000 6 0.000 0.044 2638 2489 3633 0 0 0 0 0 0
8202 -0.58 -146.0 846.5 -11.6 658 8204 0.15 0.00 0.00 0.000 6 0.213 0.000 2673 2489 3633 0 0 0 0 0 0
8508 -0.58 -146.0 874.4 -8.9 668 8512 0.00 2.30 0.00 0.000 4 0.000 0.071 2673 3900 3633 0 0 0 0 0 0
8537 -0.58 -146.0 877.0 -9.6 669 8541 0.00 2.20 0.00 0.000 6 0.000 0.044 2673 2481 3633 0 0 0 0 0 0
8878 -0.58 -146.0 907.1 -8.8 680 8882 0.00 2.35 0.00 0.000 4 0.000 0.072 2672 3909 3633 0 0 0 0 0 0
8913 -0.60 -146.0 910.2 -9.0 681 8917 0.00 2.20 0.00 0.000 6 0.000 0.044 2673 2489 3633 0 0 0 0 0 0
9248 -0.60 -146.0 938.4 -8.3 692 9250 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2488 3633 0 0 0 0 0 0
9554 -0.60 -146.0 962.8 -8.2 702 9558 0.00 2.33 0.00 0.000 4 0.000 0.072 2672 3906 3633 0 0 0 0 0 0
9598 -0.65 -146.0 966.4 -7.9 703 9602 0.00 2.17 0.00 0.000 6 0.000 0.044 2672 2490 3633 0 0 0 0 0 0
9914 end dive: TARGET_DEPTH_EXCEEDED
state 9914 begin apogee
9920 -0.12 0.0 992.2 8.0 714 10054 0.50 0.00 128.10 1.555 6 0.184 0.000 2815 2262 3029 0 0 0 0 0 0
10054 end apogee: CONTROL_FINISHED_OK
state 10054 begin climb
10057 0.62 146.0 996.3 0.0 718 10203 0.80 2.58 134.95 1.513 4 0.130 0.067 3066 888 2432 0 0 0 0 0 0
10300 0.53 146.0 974.1 13.1 725 10307 0.12 2.42 0.00 0.000 6 0.191 0.054 3040 2284 2427 0 0 0 0 0 0
10613 0.47 146.0 938.5 11.3 736 10617 0.00 2.35 0.00 0.000 4 0.000 0.070 3040 3685 2424 0 0 0 0 0 0
10674 0.36 146.0 930.4 13.4 737 10682 0.25 2.28 0.00 0.000 6 0.195 0.054 2987 2291 2424 0 0 0 0 0 0
10987 0.46 194.4 905.0 7.8 748 11037 0.00 2.50 42.55 1.440 4 0.000 0.070 2994 862 2236 0 0 0 0 0 0
11067 0.60 228.6 898.7 8.4 750 11108 0.17 2.35 33.30 1.411 6 0.090 0.054 3067 2277 2096 0 0 0 0 0 0
11421 0.52 228.6 844.0 16.1 762 11426 0.12 2.35 0.00 0.000 4 0.184 0.068 3037 3689 2087 0 0 0 0 0 0
11465 0.50 228.6 836.9 14.7 763 11469 0.00 2.30 0.00 0.000 6 0.000 0.054 3045 2274 2087 0 0 0 0 0 0
11783 0.47 228.6 793.0 13.7 774 11787 0.00 2.30 0.00 0.000 4 0.000 0.067 3056 865 2085 0 0 0 0 0 0
11831 0.47 228.6 786.2 12.2 775 11836 0.08 2.30 0.00 0.000 6 0.166 0.054 3019 2278 2083 0 0 0 0 0 0
12151 0.51 228.6 751.4 10.7 786 12155 0.00 2.30 0.00 0.000 4 0.000 0.067 3019 3688 2083 0 0 0 0 0 0
12184 0.51 228.6 747.3 11.8 787 12188 0.00 2.28 0.00 0.000 6 0.000 0.052 3027 2266 2083 0 0 0 0 0 0
12519 0.51 228.6 709.7 11.3 798 12523 0.00 2.25 0.00 0.000 4 0.000 0.067 3037 870 2083 0 0 0 0 0 0
12558 0.55 228.6 705.2 11.2 799 12562 0.00 2.22 0.00 0.000 6 0.000 0.053 3036 2279 2081 0 0 0 0 0 0
12892 0.55 228.6 663.8 12.6 810 12893 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2279 2081 0 0 0 0 0 0
13198 0.55 228.6 626.5 12.0 820 13200 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2279 2081 0 0 0 0 0 0
13508 0.55 228.6 588.8 12.2 834 13509 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2279 2081 0 0 0 0 0 0
13829 0.55 228.6 550.5 11.6 864 13835 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2279 2081 0 0 0 0 0 0
14155 0.55 228.6 511.5 11.9 895 14159 0.00 2.25 0.00 0.000 4 0.000 0.067 3037 3686 2080 0 0 0 0 0 0
14184 0.55 228.6 507.6 12.8 897 14188 0.00 2.22 0.00 0.000 6 0.000 0.052 3047 2268 2080 0 0 0 0 0 0
14509 0.55 228.6 466.5 12.5 927 14513 0.00 2.25 0.00 0.000 4 0.000 0.065 3057 865 2080 0 0 0 0 0 0
14563 0.55 228.6 459.6 12.4 931 14571 0.00 2.25 0.00 0.000 6 0.000 0.052 3057 2271 2079 0 0 0 0 0 0
14889 0.52 228.6 416.2 13.0 962 14893 0.00 2.25 0.00 0.000 4 0.000 0.066 3058 3688 2079 0 0 0 0 0 0
14918 0.48 228.6 411.9 14.9 964 14923 0.17 2.25 0.00 0.000 6 0.188 0.052 3023 2270 2081 0 0 0 0 0 0
15244 0.53 228.6 376.8 10.3 994 15248 0.00 2.22 0.00 0.000 4 0.000 0.065 3028 865 2080 0 0 0 0 0 0
15294 0.61 228.6 371.5 10.3 998 15299 0.00 2.25 0.00 0.000 6 0.000 0.052 3029 2285 2080 0 0 0 0 0 0
15620 0.67 239.6 337.6 9.5 1028 15634 0.15 2.30 8.02 0.990 4 0.096 0.067 3093 3691 2053 0 0 0 0 0 0
15653 0.59 239.6 333.2 14.3 1031 15658 0.20 2.22 0.00 0.000 6 0.197 0.051 3053 2274 2052 0 0 0 0 0 0
15977 0.59 239.6 294.8 11.4 1061 15982 0.00 2.25 0.00 0.000 4 0.000 0.063 3061 856 2051 0 0 0 0 0 0
16029 0.59 239.6 289.2 11.5 1065 16033 0.00 2.22 0.00 0.000 6 0.000 0.051 3061 2277 2050 0 0 0 0 0 0
16353 0.59 239.6 251.0 11.4 1095 16357 0.00 2.28 0.00 0.000 4 0.000 0.067 3061 3691 2050 0 0 0 0 0 0
16399 0.57 239.6 245.2 12.6 1099 16403 0.00 2.25 0.00 0.000 6 0.000 0.051 3072 2271 2051 0 0 0 0 0 0
16724 0.57 239.6 207.2 11.8 1129 16728 0.00 2.22 0.00 0.000 4 0.000 0.061 3082 858 2051 0 0 0 0 0 0
16763 0.57 239.6 202.7 12.2 1132 16768 0.12 2.22 0.00 0.000 6 0.186 0.051 3051 2279 2051 0 0 0 0 0 0
17089 0.64 263.5 170.6 8.9 1162 17119 0.00 0.00 22.90 1.032 6 0.000 0.000 3051 2279 1954 0 0 0 0 0 0
17437 0.75 287.6 140.0 8.9 1195 17468 0.15 0.00 23.23 1.008 6 0.097 0.000 3113 2279 1856 0 0 0 0 0 0
17787 0.75 287.6 96.9 11.1 1230 17793 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2279 1851 0 0 0 0 0 0
18133 0.75 287.6 58.4 10.1 1291 18139 0.00 2.30 0.00 0.000 4 0.000 0.067 3113 3692 1849 0 0 0 0 0 0
18169 0.71 287.6 53.7 13.7 1297 18176 0.00 2.28 0.00 0.000 6 0.000 0.051 3124 2266 1849 0 0 0 0 0 0
18514 0.67 287.6 10.9 11.7 1358 18522 0.15 2.25 0.00 0.000 4 0.194 0.065 3093 861 1849 0 0 0 0 0 0
18528 end climb: FINISH_DEPTH_REACHED
state 18528 begin subsurface finish
18537 0.07 56.7 8.8 -12.9 1360 18580 0.65 2.38 -36.03 0.000 4 0.155 0.076 2892 862 2800 0 0 0 0 0 0
18581 end subsurface finish: CONTROL_FINISHED_OK
state 18581 begin surface