DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 410 * 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  410 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  400 R_PORT_OVSHOOT  21 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  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  -38475.41 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  150411,123512,6719.759,-5915.429,0,4119.0,0,-38.9 TGT_NAME  TARGET_E
_CALLS  1 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  9.16 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -2.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  150411,123512,6719.759,-5915.429,0,4119.0,0,-38.9 MHEAD_RNG_PITCHd_Wd  145.2,110897,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1323

Post-dive calculations and measurements:
FREEZE  8.57,-1.774,-1.807,3,11,0 ALTIM_TOP_PING  19.5,17.3
FINISH1  8.6,1.026446,52 _24V_AH  21.7,55.088
FINISH2  6.8 _10V_AH  10.1,28.118
RAFOS_CLK  990 FG_AHR_24Vo  0.000
RAFOS  5,1302885667,16.700001,16.685278,72,62,59,58,53,53,779,193,147,178,204,156 FG_AHR_10Vo  0.000
RAFOS_FIX  6719.066406,-5900.457520,150411,202044,3,131,0.37 MEM  150564
IRIDIUM_FIX  6625.71,-5714.90,310311,212146 DATA_FILE_SIZE  53317,1327
TT8_MAMPS  0.026215 CAP_FILE_SIZE  184805,0
HUMID  46.73 CFSIZE  260165632,226721792
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  1457.3
XPDR_PINGS  0 GPS  150411,204344,6719.066,-5900.458,0,3130.7,0,-38.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor722035.14 SBE_CT94124490.47
Roll_motor16980295.23 SBE_O2103019425.00
VBD_pump_during_apogee422156514350.90 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_ping342034.18 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8334919673.99
LPSleep118812277.20
TT8_Active52319105.25
TT8_Sampling234539945.52
TT8_CF824845115.46
TT8_Kalman000.00
Analog_circuits180112218.29
GPS_charging000.00
Compass231515350.78
RAFOS2880143.63
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 24 0.00 0.00 -6.78 0.000 2 0.000 0.000 2890 852 3070 0 0 0 0 0 0
27 -0.62 -146.0 10.5 -0.0 1 52 0.65 5.05 -15.05 0.000 4 0.125 0.073 2671 3900 3629 0 0 0 0 0 0
300 -0.56 -146.0 48.3 -14.8 49 306 0.00 2.22 0.00 0.000 6 0.000 0.047 2671 2468 3630 0 0 0 0 0 0
649 -0.45 -146.0 104.3 -16.7 109 651 0.17 0.00 0.00 0.000 6 0.220 0.000 2713 2469 3630 0 0 0 0 0 0
967 -0.47 -146.0 141.4 -11.6 139 972 0.00 2.38 0.00 0.000 4 0.000 0.076 2712 3905 3628 0 0 0 0 0 0
979 -0.50 -146.0 143.0 -11.8 139 986 0.00 2.20 0.00 0.000 6 0.000 0.046 2713 2488 3628 0 0 0 0 0 0
1304 -0.55 -146.0 175.1 -9.1 170 1305 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2488 3628 0 0 0 0 0 0
1625 -0.61 -146.0 202.9 -8.7 200 1632 0.15 0.00 0.00 0.000 6 0.125 0.000 2663 2488 3627 0 0 0 0 0 0
1952 -0.56 -146.0 243.1 -12.3 231 1956 0.00 2.22 0.00 0.000 4 0.000 0.064 2664 1086 3626 0 0 0 0 0 0
1970 -0.50 -146.0 245.6 -12.4 232 1975 0.15 2.28 0.00 0.000 6 0.220 0.063 2698 2493 3627 0 0 0 0 0 0
2296 -0.55 -146.0 274.8 -8.9 262 2300 0.00 2.30 0.00 0.000 4 0.000 0.077 2698 3898 3626 0 0 0 0 0 0
2337 -0.62 -146.0 278.4 -9.1 265 2343 0.00 2.17 0.00 0.000 6 0.000 0.047 2698 2492 3626 0 0 0 0 0 0
2663 -0.66 -146.0 306.8 -8.7 296 2665 0.15 0.00 0.00 0.000 6 0.125 0.000 2649 2491 3627 0 0 0 0 0 0
2980 -0.59 -146.0 346.0 -12.4 326 2984 0.00 2.22 0.00 0.000 4 0.000 0.061 2649 1084 3627 0 0 0 0 0 0
2991 -0.51 -146.0 347.6 -12.5 326 2998 0.20 2.28 0.00 0.000 6 0.212 0.060 2696 2501 3626 0 0 0 0 0 0
3317 -0.56 -146.0 376.6 -8.6 357 3321 0.00 2.28 0.00 0.000 4 0.000 0.076 2696 3903 3627 0 0 0 0 0 0
3357 -0.64 -146.0 380.0 -8.3 360 3362 0.12 2.20 0.00 0.000 6 0.128 0.046 2654 2490 3627 0 0 0 0 0 0
3683 -0.59 -146.0 416.3 -11.5 390 3687 0.00 2.20 0.00 0.000 4 0.000 0.060 2655 1084 3627 0 0 0 0 0 0
3704 -0.53 -146.0 419.0 -11.8 391 3712 0.12 2.25 0.00 0.000 6 0.203 0.060 2684 2492 3627 0 0 0 0 0 0
4030 -0.56 -146.0 448.3 -8.8 422 4034 0.00 2.30 0.00 0.000 4 0.000 0.076 2684 3905 3628 0 0 0 0 0 0
4060 -0.61 -146.0 450.9 -9.1 424 4064 0.00 2.20 0.00 0.000 6 0.000 0.047 2685 2483 3628 0 0 0 0 0 0
4387 -0.64 -146.0 479.8 -9.2 454 4388 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2483 3628 0 0 0 0 0 0
4705 -0.68 -146.0 509.1 -9.4 484 4707 0.12 0.00 0.00 0.000 6 0.133 0.000 2643 2483 3628 0 0 0 0 0 0
5022 -0.61 -146.0 547.9 -12.3 514 5026 0.00 2.22 0.00 0.000 4 0.000 0.062 2642 1081 3628 0 0 0 0 0 0
5034 -0.53 -146.0 549.3 -11.8 514 5043 0.17 2.28 0.00 0.000 6 0.208 0.061 2685 2488 3628 0 0 0 0 0 0
5360 -0.58 -146.0 577.9 -8.3 545 5364 0.00 2.30 0.00 0.000 4 0.000 0.076 2685 3899 3628 0 0 0 0 0 0
5401 -0.64 -146.0 581.4 -8.5 548 5405 0.00 2.20 0.00 0.000 6 0.000 0.047 2685 2489 3628 0 0 0 0 0 0
5744 -0.69 -146.0 610.6 -8.6 572 5746 0.12 0.00 0.00 0.000 6 0.131 0.000 2642 2488 3628 0 0 0 0 0 0
6049 -0.62 -146.0 645.0 -11.2 582 6050 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2489 3629 0 0 0 0 0 0
6356 -0.56 -146.0 678.3 -10.9 592 6358 0.15 0.00 0.00 0.000 6 0.202 0.000 2678 2488 3629 0 0 0 0 0 0
6661 -0.59 -146.0 703.2 -8.1 602 6663 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2489 3629 0 0 0 0 0 0
6968 -0.63 -146.0 728.4 -8.1 612 6972 0.00 2.33 0.00 0.000 4 0.000 0.072 2678 3907 3629 0 0 0 0 0 0
6985 -0.67 -146.0 729.9 -8.0 612 6989 0.00 2.20 0.00 0.000 6 0.000 0.045 2678 2484 3629 0 0 0 0 0 0
7299 -0.71 -146.0 754.6 -8.0 622 7304 0.12 2.22 0.00 0.000 4 0.125 0.061 2635 1083 3629 0 0 0 0 0 0
7315 -0.71 -146.0 756.3 -8.2 622 7319 0.00 2.28 0.00 0.000 6 0.000 0.061 2633 2494 3629 0 0 0 0 0 0
7634 -0.63 -146.0 792.6 -11.7 633 7635 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2494 3628 0 0 0 0 0 0
7940 -0.55 -146.0 828.1 -11.5 643 7945 0.20 2.33 0.00 0.000 4 0.208 0.076 2682 3903 3629 0 0 0 0 0 0
7969 -0.55 -146.0 831.0 -9.3 644 7973 0.00 2.20 0.00 0.000 6 0.000 0.047 2682 2483 3629 0 0 0 0 0 0
8304 -0.61 -146.0 857.0 -7.7 655 8305 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2483 3628 0 0 0 0 0 0
8611 -0.66 -146.0 880.8 -7.8 665 8615 0.00 2.22 0.00 0.000 4 0.000 0.062 2682 1071 3629 0 0 0 0 0 0
8633 -0.72 -146.0 882.7 -8.2 665 8640 0.15 2.28 0.00 0.000 6 0.118 0.060 2629 2490 3628 0 0 0 0 0 0
8946 -0.64 -146.0 918.0 -11.7 676 8950 0.00 2.33 0.00 0.000 4 0.000 0.077 2629 3899 3628 0 0 0 0 0 0
8978 -0.56 -146.0 922.2 -12.1 677 8983 0.20 2.22 0.00 0.000 6 0.198 0.048 2678 2486 3628 0 0 0 0 0 0
9314 -0.61 -146.0 949.3 -7.8 688 9315 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2485 3628 0 0 0 0 0 0
9620 -0.66 -146.0 972.7 -7.5 698 9625 0.00 2.22 0.00 0.000 4 0.000 0.063 2678 1077 3628 0 0 0 0 0 0
9650 -0.72 -146.0 975.2 -8.2 699 9655 0.15 2.28 0.00 0.000 6 0.114 0.061 2624 2498 3628 0 0 0 0 0 0
9800 end dive: TARGET_DEPTH_EXCEEDED
state 9800 begin apogee
9806 -0.12 0.0 991.2 10.9 704 9940 0.70 0.00 128.48 1.565 6 0.200 0.000 2815 2257 3030 0 0 0 0 0 0
9941 end apogee: CONTROL_FINISHED_OK
state 9941 begin climb
9943 0.62 146.0 994.9 0.0 708 10090 0.80 2.55 137.30 1.513 4 0.129 0.070 3065 881 2432 0 0 0 0 0 0
10170 0.53 146.0 974.2 12.7 715 10174 0.00 2.42 0.00 0.000 6 0.000 0.055 3064 2281 2427 0 0 0 0 0 0
10494 0.44 146.0 933.3 12.3 726 10499 0.20 2.38 0.00 0.000 4 0.184 0.071 3013 3696 2425 0 0 0 0 0 0
10582 0.40 146.0 922.7 11.6 728 10590 0.00 2.30 0.00 0.000 6 0.000 0.057 3020 2285 2424 0 0 0 0 0 0
10896 0.41 155.4 892.2 9.6 739 10906 0.00 0.00 7.93 1.205 6 0.000 0.000 3020 2285 2396 0 0 0 0 0 0
11230 0.41 159.2 859.5 9.8 750 11240 0.00 2.33 5.40 1.055 4 0.000 0.071 3031 859 2379 0 0 0 0 0 0
11268 0.42 164.3 855.6 9.8 751 11280 0.12 2.30 6.12 1.118 6 0.194 0.059 3002 2276 2360 0 0 0 0 0 0
11595 0.49 190.5 827.2 8.8 762 11627 0.00 2.35 24.92 1.397 4 0.000 0.074 3002 3686 2253 0 0 0 0 0 0
11697 0.49 192.0 817.0 9.9 765 11701 0.00 2.30 0.00 0.000 6 0.000 0.057 3010 2276 2251 0 0 0 0 0 0
12033 0.54 207.7 785.5 9.3 776 12057 0.00 2.33 16.55 1.335 4 0.000 0.070 3019 865 2183 0 0 0 0 0 0
12115 0.60 213.3 777.9 9.7 778 12132 0.12 2.30 6.88 1.134 6 0.109 0.057 3074 2277 2160 0 0 0 0 0 0
12439 0.52 213.3 731.9 14.5 789 12443 0.15 2.30 0.00 0.000 4 0.184 0.072 3036 3684 2157 0 0 0 0 0 0
12516 0.49 213.3 721.1 13.2 791 12520 0.00 2.28 0.00 0.000 6 0.000 0.057 3044 2279 2156 0 0 0 0 0 0
12841 0.49 213.3 683.3 11.8 802 12845 0.00 2.28 0.00 0.000 4 0.000 0.069 3054 859 2155 0 0 0 0 0 0
12884 0.49 213.3 677.8 11.6 803 12889 0.08 2.30 0.00 0.000 6 0.167 0.056 3032 2278 2154 0 0 0 0 0 0
13208 0.49 213.3 643.4 10.6 814 13213 0.00 2.28 0.00 0.000 4 0.000 0.073 3031 3693 2155 0 0 0 0 0 0
13274 0.49 213.3 634.9 12.8 816 13279 0.00 2.30 0.00 0.000 6 0.000 0.056 3040 2271 2154 0 0 0 0 0 0
13613 0.49 213.3 596.8 11.2 827 13617 0.00 2.25 0.00 0.000 4 0.000 0.069 3051 862 2154 0 0 0 0 0 0
13657 0.49 213.3 591.3 11.4 830 13664 0.00 2.28 0.00 0.000 6 0.000 0.056 3050 2286 2153 0 0 0 0 0 0
13983 0.49 213.3 552.1 11.7 861 13987 0.00 2.25 0.00 0.000 4 0.000 0.071 3050 3689 2153 0 0 0 0 0 0
14062 0.44 213.3 541.2 14.1 868 14067 0.20 2.25 0.00 0.000 6 0.191 0.056 3009 2265 2153 0 0 0 0 0 0
14388 0.55 244.8 511.4 8.5 898 14423 0.00 2.38 29.08 1.229 4 0.000 0.070 3015 856 2031 0 0 0 0 0 0
14482 0.71 284.4 503.4 8.2 906 14527 0.22 2.30 38.25 1.218 6 0.083 0.056 3109 2276 1869 0 0 0 0 0 0
14844 0.60 284.4 438.0 18.6 940 14849 0.17 2.30 0.00 0.000 4 0.196 0.070 3063 3687 1862 0 0 0 0 0 0
14906 0.60 284.4 427.9 14.3 945 14910 0.00 2.28 0.00 0.000 6 0.000 0.057 3072 2278 1860 0 0 0 0 0 0
15236 0.58 284.4 379.2 15.0 976 15240 0.00 2.30 0.00 0.000 4 0.000 0.069 3082 862 1859 0 0 0 0 0 0
15314 0.58 284.4 368.0 13.0 982 15322 0.08 2.30 0.00 0.000 6 0.164 0.055 3045 2279 1857 0 0 0 0 0 0
15640 0.62 284.4 329.0 12.6 1013 15644 0.00 2.28 0.00 0.000 4 0.000 0.070 3044 3692 1857 0 0 0 0 0 0
15697 0.66 284.4 321.7 12.5 1018 15702 0.00 2.28 0.00 0.000 6 0.000 0.054 3052 2268 1856 0 0 0 0 0 0
16023 0.69 284.4 280.8 12.4 1048 16027 0.10 2.25 0.00 0.000 4 0.119 0.068 3110 862 1856 0 0 0 0 0 0
16097 0.65 284.4 269.7 16.5 1054 16102 0.15 2.25 0.00 0.000 6 0.201 0.054 3074 2276 1855 0 0 0 0 0 0
16422 0.65 284.4 224.0 13.6 1084 16426 0.00 2.25 0.00 0.000 4 0.000 0.070 3074 3686 1855 0 0 0 0 0 0
16477 0.65 284.4 215.7 16.5 1088 16484 0.00 2.25 0.00 0.000 6 0.000 0.055 3081 2275 1854 0 0 0 0 0 0
16802 0.65 284.4 168.6 13.4 1119 16806 0.00 2.25 0.00 0.000 4 0.000 0.067 3092 859 1854 0 0 0 0 0 0
16891 0.65 284.4 156.7 13.0 1126 16897 0.00 2.25 0.00 0.000 6 0.000 0.053 3092 2281 1854 0 0 0 0 0 0
17217 0.65 284.4 118.1 11.1 1157 17221 0.00 2.25 0.00 0.000 4 0.000 0.070 3092 3686 1854 0 0 0 0 0 0
17272 0.65 284.4 110.6 15.3 1161 17279 0.00 2.25 0.00 0.000 6 0.000 0.054 3102 2268 1854 0 0 0 0 0 0
17610 0.65 284.4 70.9 11.3 1214 17617 0.00 2.25 0.00 0.000 4 0.000 0.068 3111 858 1854 0 0 0 0 0 0
17686 0.65 284.4 62.0 12.6 1227 17693 0.15 2.28 0.00 0.000 6 0.187 0.055 3074 2284 1854 0 0 0 0 0 0
18033 0.75 305.8 29.6 9.0 1288 18052 0.00 2.33 10.40 0.988 4 0.000 0.072 3073 3691 1783 0 0 0 0 0 0
18093 0.85 326.4 23.8 9.0 1298 18113 0.15 2.28 11.23 0.947 6 0.099 0.054 3139 2265 1698 0 0 0 0 0 0
18209 end climb: FINISH_DEPTH_REACHED
state 18209 begin subsurface finish
18215 0.06 51.7 8.6 -13.6 1318 18269 0.82 2.33 -43.20 0.000 4 0.173 0.080 2896 861 2823 0 0 0 0 0 0
18270 end subsurface finish: CONTROL_FINISHED_OK
state 18270 begin surface