DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 416 * Log results * Raw log file
prev dive * next dive * dive

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  416 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  26 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  23 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  160411,203544,6718.918,-5844.899,0,4124.0,0,-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  0.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  160411,203544,6718.918,-5844.899,0,4124.0,0,-38.9 MHEAD_RNG_PITCHd_Wd  148.1,89417,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1284

Post-dive calculations and measurements:
FREEZE  8.94,-1.767,-1.822,3,17,0 ALTIM_TOP_PING  19.8,16.5
FINISH1  8.9,1.026655,41 _24V_AH  21.7,56.059
FINISH2  7.1 _10V_AH  10.1,28.651
RAFOS_CLK  1025 FG_AHR_24Vo  0.000
RAFOS  1,1302998946,0.166667,0.151667,85,65,60,56,53,52,852,214,166,122,136,192 FG_AHR_10Vo  0.000
RAFOS_FIX  6720.003906,-5842.004883,170411,000012,4,120,0.20 MEM  150564
IRIDIUM_FIX  6625.71,-5714.90,310311,212146 DATA_FILE_SIZE  53280,1387
TT8_MAMPS  0.026215 CAP_FILE_SIZE  185326,0
HUMID  47.63 CFSIZE  260165632,226217984
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  1456.3
XPDR_PINGS  0 GPS  170411,003512,6720.004,-5842.005,0,4120.5,0,-38.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor622330.90 SBE_CT99424517.92
Roll_motor155175592.67 SBE_O2106619439.82
VBD_pump_during_apogee367157012532.37 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
TT8355619715.46
LPSleep122342285.43
TT8_Active4581992.18
TT8_Sampling240139968.19
TT8_CF824445113.20
TT8_Kalman000.00
Analog_circuits174012210.99
GPS_charging000.00
Compass236715358.73
RAFOS4680170.90
Transponder29308.84

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 -6.55 0.000 2 0.000 0.000 2886 3687 3095 0 0 0 0 0 0
27 -0.62 -146.0 10.2 -0.0 1 47 0.62 0.38 -14.77 0.000 4 0.110 0.176 2671 3903 3628 0 0 0 0 0 0
278 -0.56 -146.0 45.9 -15.1 45 285 0.00 2.22 0.00 0.000 6 0.000 0.047 2670 2485 3630 0 0 0 0 0 0
628 -0.46 -146.0 102.0 -16.1 106 630 0.17 0.00 0.00 0.000 6 0.223 0.000 2712 2483 3630 0 0 0 0 0 0
946 -0.49 -146.0 140.1 -10.6 136 947 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2484 3629 0 0 0 0 0 0
1266 -0.52 -146.0 172.7 -10.0 166 1270 0.00 2.33 0.00 0.000 4 0.000 0.075 2712 3899 3628 0 0 0 0 0 0
1299 -0.59 -146.0 176.1 -9.6 168 1306 0.12 2.20 0.00 0.000 6 0.128 0.047 2670 2482 3628 0 0 0 0 0 0
1624 -0.53 -146.0 213.8 -11.3 199 1628 0.00 2.22 0.00 0.000 4 0.000 0.063 2670 1074 3627 0 0 0 0 0 0
1645 -0.48 -146.0 216.7 -13.0 200 1653 0.15 2.28 0.00 0.000 6 0.214 0.062 2704 2489 3627 0 0 0 0 0 0
1971 -0.53 -146.0 247.2 -8.8 231 1975 0.00 2.30 0.00 0.000 4 0.000 0.078 2704 3899 3627 0 0 0 0 0 0
1989 -0.58 -146.0 248.8 -8.6 232 1993 0.00 2.20 0.00 0.000 6 0.000 0.047 2705 2490 3627 0 0 0 0 0 0
2314 -0.64 -146.0 277.3 -9.1 262 2319 0.15 2.25 0.00 0.000 4 0.122 0.063 2654 1074 3627 0 0 0 0 0 0
2326 -0.68 -146.0 278.4 -9.1 262 2333 0.00 2.30 0.00 0.000 6 0.000 0.061 2653 2498 3627 0 0 0 0 0 0
2651 -0.60 -146.0 322.6 -13.8 293 2655 0.00 2.30 0.00 0.000 4 0.000 0.077 2653 3906 3627 0 0 0 0 0 0
2669 -0.52 -146.0 325.1 -13.7 294 2674 0.15 2.20 0.00 0.000 6 0.204 0.048 2688 2491 3627 0 0 0 0 0 0
2995 -0.55 -146.0 358.4 -9.1 324 2996 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2491 3627 0 0 0 0 0 0
3315 -0.58 -146.0 388.2 -9.4 354 3316 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2491 3627 0 0 0 0 0 0
3633 -0.61 -146.0 416.6 -8.6 384 3637 0.00 2.22 0.00 0.000 4 0.000 0.060 2688 1083 3627 0 0 0 0 0 0
3657 -0.64 -146.0 418.9 -9.5 386 3661 0.00 2.25 0.00 0.000 6 0.000 0.060 2688 2496 3627 0 0 0 0 0 0
3984 -0.68 -146.0 447.6 -8.7 416 3986 0.12 0.00 0.00 0.000 6 0.124 0.000 2645 2496 3628 0 0 0 0 0 0
4301 -0.61 -146.0 485.9 -12.6 446 4305 0.00 2.30 0.00 0.000 4 0.000 0.076 2644 3906 3628 0 0 0 0 0 0
4333 -0.54 -146.0 490.2 -12.4 448 4341 0.17 2.22 0.00 0.000 6 0.199 0.046 2687 2483 3628 0 0 0 0 0 0
4659 -0.58 -146.0 518.2 -8.1 479 4660 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2483 3629 0 0 0 0 0 0
4981 -0.62 -146.0 544.6 -8.2 509 4987 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2483 3629 0 0 0 0 0 0
5308 -0.67 -146.0 570.6 -7.5 540 5310 0.12 0.00 0.00 0.000 6 0.129 0.000 2644 2483 3628 0 0 0 0 0 0
5644 -0.60 -146.0 607.4 -11.2 568 5645 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2483 3628 0 0 0 0 0 0
5950 -0.54 -146.0 641.4 -11.2 578 5952 0.17 0.00 0.00 0.000 6 0.202 0.000 2688 2483 3629 0 0 0 0 0 0
6257 -0.59 -146.0 664.7 -7.4 588 6258 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2483 3629 0 0 0 0 0 0
6563 -0.64 -146.0 686.8 -7.4 598 6565 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2482 3629 0 0 0 0 0 0
6869 -0.69 -146.0 710.7 -7.9 608 6874 0.15 2.25 0.00 0.000 4 0.121 0.060 2638 1081 3629 0 0 0 0 0 0
6885 -0.69 -146.0 712.4 -8.0 608 6889 0.00 2.28 0.00 0.000 6 0.000 0.060 2638 2494 3629 0 0 0 0 0 0
7204 -0.62 -146.0 748.6 -11.4 619 7208 0.00 2.30 0.00 0.000 4 0.000 0.078 2638 3899 3629 0 0 0 0 0 0
7214 -0.54 -146.0 750.0 -11.4 619 7220 0.20 2.20 0.00 0.000 6 0.209 0.046 2686 2478 3629 0 0 0 0 0 0
7540 -0.60 -146.0 774.9 -7.3 630 7541 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2478 3630 0 0 0 0 0 0
7845 -0.65 -146.0 797.7 -7.5 640 7849 0.00 2.20 0.00 0.000 4 0.000 0.061 2687 1081 3630 0 0 0 0 0 0
7856 -0.71 -146.0 798.7 -7.6 640 7861 0.15 2.28 0.00 0.000 6 0.119 0.060 2634 2491 3629 0 0 0 0 0 0
8180 -0.64 -146.0 834.2 -11.3 651 8184 0.00 2.33 0.00 0.000 4 0.000 0.078 2634 3899 3629 0 0 0 0 0 0
8196 -0.56 -146.0 836.3 -11.5 651 8200 0.17 2.20 0.00 0.000 6 0.201 0.047 2676 2487 3629 0 0 0 0 0 0
8514 -0.60 -146.0 863.1 -8.3 662 8515 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2487 3630 0 0 0 0 0 0
8821 -0.63 -146.0 889.3 -8.6 672 8822 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2487 3629 0 0 0 0 0 0
9127 -0.68 -146.0 915.1 -8.3 682 9128 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2487 3629 0 0 0 0 0 0
9434 -0.72 -146.0 940.2 -8.1 692 9436 0.12 0.00 0.00 0.000 6 0.125 0.000 2632 2487 3630 0 0 0 0 0 0
9739 -0.65 -146.0 974.3 -11.5 702 9740 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2487 3629 0 0 0 0 0 0
9889 end dive: TARGET_DEPTH_EXCEEDED
state 9889 begin apogee
9895 -0.12 0.0 991.5 11.2 707 10030 0.65 0.00 129.32 1.571 6 0.199 0.000 2811 2264 3029 0 0 0 0 0 0
10031 end apogee: CONTROL_FINISHED_OK
state 10031 begin climb
10033 0.62 146.0 995.8 0.0 711 10180 0.82 2.55 137.75 1.516 4 0.132 0.067 3066 884 2432 0 0 0 0 0 0
10251 0.53 146.0 977.5 12.0 718 10256 0.12 2.45 0.00 0.000 6 0.194 0.055 3039 2283 2427 0 0 0 0 0 0
10586 0.48 146.0 940.8 10.6 729 10590 0.00 2.35 0.00 0.000 4 0.000 0.072 3039 3687 2424 0 0 0 0 0 0
10683 0.38 146.0 928.8 12.4 732 10688 0.22 2.30 0.00 0.000 6 0.197 0.057 2992 2288 2423 0 0 0 0 0 0
11020 0.49 196.5 902.0 7.7 743 11071 0.00 2.42 45.30 1.443 4 0.000 0.071 3001 863 2227 0 0 0 0 0 0
11111 0.62 227.4 894.6 8.6 745 11151 0.17 2.33 30.42 1.406 6 0.089 0.057 3075 2277 2101 0 0 0 0 0 0
11457 0.52 227.4 842.4 15.7 757 11462 0.15 2.33 0.00 0.000 4 0.184 0.071 3038 3691 2093 0 0 0 0 0 0
11529 0.50 227.4 831.7 13.4 759 11533 0.00 2.28 0.00 0.000 6 0.000 0.056 3046 2277 2092 0 0 0 0 0 0
11860 0.48 227.4 790.1 12.6 770 11864 0.00 2.30 0.00 0.000 4 0.000 0.069 3056 856 2090 0 0 0 0 0 0
11914 0.48 227.4 782.8 12.4 771 11922 0.10 2.30 0.00 0.000 6 0.174 0.056 3018 2271 2090 0 0 0 0 0 0
12228 0.53 231.1 751.6 9.8 782 12232 0.00 2.33 0.00 0.000 4 0.000 0.071 3018 3701 2089 0 0 0 0 0 0
12278 0.55 231.1 745.9 11.3 783 12282 0.00 2.30 0.00 0.000 6 0.000 0.055 3026 2264 2089 0 0 0 0 0 0
12596 0.57 231.1 711.8 10.7 794 12600 0.00 2.25 0.00 0.000 4 0.000 0.069 3037 857 2089 0 0 0 0 0 0
12660 0.62 232.2 705.1 9.9 796 12664 0.00 2.28 0.00 0.000 6 0.000 0.056 3037 2293 2087 0 0 0 0 0 0
12995 0.62 232.2 665.9 11.7 807 12999 0.00 2.25 0.00 0.000 4 0.000 0.070 3037 3686 2087 0 0 0 0 0 0
13049 0.62 232.2 658.5 12.7 808 13053 0.00 2.28 0.00 0.000 6 0.000 0.055 3047 2273 2087 0 0 0 0 0 0
13369 0.58 232.2 617.5 13.3 819 13373 0.00 2.25 0.00 0.000 4 0.000 0.068 3058 861 2087 0 0 0 0 0 0
13432 0.58 232.2 609.6 11.6 821 13436 0.00 2.22 0.00 0.000 6 0.000 0.054 3058 2276 2086 0 0 0 0 0 0
13758 0.53 232.2 564.4 13.8 846 13762 0.00 2.28 0.00 0.000 4 0.000 0.070 3057 3687 2086 0 0 0 0 0 0
13832 0.48 232.2 552.9 15.5 852 13837 0.17 2.25 0.00 0.000 6 0.189 0.055 3023 2266 2086 0 0 0 0 0 0
14163 0.52 232.2 516.4 10.8 883 14167 0.00 2.22 0.00 0.000 4 0.000 0.067 3031 865 2086 0 0 0 0 0 0
14229 0.58 232.2 509.4 10.4 888 14236 0.00 2.25 0.00 0.000 6 0.000 0.054 3030 2280 2086 0 0 0 0 0 0
14556 0.60 232.2 473.4 11.0 919 14560 0.00 2.28 0.00 0.000 4 0.000 0.068 3031 3694 2085 0 0 0 0 0 0
14610 0.60 232.2 466.3 12.0 923 14617 0.00 2.28 0.00 0.000 6 0.000 0.053 3041 2276 2085 0 0 0 0 0 0
14936 0.60 232.2 428.2 12.0 954 14940 0.00 2.28 0.00 0.000 4 0.000 0.067 3051 858 2085 0 0 0 0 0 0
14998 0.62 232.2 420.8 11.7 959 15002 0.00 2.22 0.00 0.000 6 0.000 0.054 3051 2274 2085 0 0 0 0 0 0
15324 0.62 232.2 380.7 11.7 989 15328 0.00 2.30 0.00 0.000 4 0.000 0.069 3051 3692 2085 0 0 0 0 0 0
15385 0.59 232.2 372.3 13.0 994 15392 0.00 2.25 0.00 0.000 6 0.000 0.052 3062 2265 2085 0 0 0 0 0 0
15712 0.56 232.2 331.3 12.9 1025 15716 0.00 2.22 0.00 0.000 4 0.000 0.064 3072 860 2085 0 0 0 0 0 0
15764 0.56 232.2 324.7 12.3 1029 15768 0.00 2.22 0.00 0.000 6 0.000 0.053 3073 2279 2085 0 0 0 0 0 0
16089 0.52 232.2 284.8 12.1 1059 16094 0.15 2.28 0.00 0.000 4 0.184 0.068 3033 3695 2085 0 0 0 0 0 0
16155 0.52 232.2 277.3 10.8 1064 16162 0.00 2.25 0.00 0.000 6 0.000 0.051 3041 2268 2085 0 0 0 0 0 0
16481 0.56 238.3 246.5 9.7 1095 16494 0.00 2.30 7.85 0.951 4 0.000 0.066 3047 866 2058 0 0 0 0 0 0
16539 0.62 238.3 240.7 10.2 1100 16544 0.00 2.22 0.00 0.000 6 0.000 0.051 3047 2281 2057 0 0 0 0 0 0
16870 0.66 238.3 207.1 10.2 1131 16874 0.00 2.25 0.00 0.000 4 0.000 0.067 3047 3694 2057 0 0 0 0 0 0
16925 0.66 238.3 200.6 11.7 1135 16933 0.00 2.22 0.00 0.000 6 0.000 0.050 3058 2267 2056 0 0 0 0 0 0
17251 0.69 243.7 167.0 9.7 1166 17264 0.00 2.30 6.70 0.877 4 0.000 0.063 3067 862 2036 0 0 0 0 0 0
17322 0.73 243.7 160.1 11.1 1172 17326 0.00 2.22 0.00 0.000 6 0.000 0.050 3067 2275 2034 0 0 0 0 0 0
17647 0.76 243.7 125.5 10.5 1202 17652 0.12 2.28 0.00 0.000 4 0.102 0.067 3124 3692 2034 0 0 0 0 0 0
17703 0.64 243.7 117.1 15.2 1206 17711 0.22 2.25 0.00 0.000 6 0.200 0.050 3077 2270 2034 0 0 0 0 0 0
18039 0.66 253.3 81.9 9.6 1253 18058 0.00 2.28 10.38 0.936 4 0.000 0.064 3085 872 1996 0 0 0 0 0 0
18121 0.69 253.3 73.3 11.7 1267 18128 0.00 2.20 0.00 0.000 6 0.000 0.051 3085 2275 1995 0 0 0 0 0 0
18467 0.69 255.6 39.3 9.9 1328 18474 0.00 2.28 0.00 0.000 4 0.000 0.067 3085 3685 1994 0 0 0 0 0 0
18531 0.67 255.6 32.6 10.2 1339 18538 0.00 2.25 0.00 0.000 6 0.000 0.052 3095 2266 1994 0 0 0 0 0 0
18769 end climb: FINISH_DEPTH_REACHED
state 18769 begin subsurface finish
18775 0.05 41.4 8.9 -10.4 1381 18813 0.68 2.33 -31.27 0.000 4 0.164 0.078 2890 862 2865 0 0 0 0 0 0
18814 end subsurface finish: CONTROL_FINISHED_OK
state 18814 begin surface