DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 526 * 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  526 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  25 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  -3 T_GPS_CHARGE  -45486.27 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  300411,083512,6704.068,-5821.961,0,4117.2,0,-37.6 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  2.54 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -18.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  300411,083512,6704.068,-5821.961,181,99.0,181,-37.6 MHEAD_RNG_PITCHd_Wd  285.3,98058,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1170

Post-dive calculations and measurements:
FINISH1  179.2,1.027209,14 ALTIM_BOTTOM_PING  180.6,21.6
FINISH2  177.4 _24V_AH  21.3,68.769
RAFOS_CLK  952 _10V_AH  10.0,35.606
RAFOS  0,1304164879,12.033333,12.021944,59,54,52,51,50,49,213,187,145,117,132,226 FG_AHR_24Vo  0.000
RAFOS_FIX  6704.548828,-5826.030273,300411,121256,4,132,0.21 FG_AHR_10Vo  0.000
IRIDIUM_FIX  6636.54,-5647.69,220411,181815 MEM  150516
TT8_MAMPS  0.026215 DATA_FILE_SIZE  43397,1155
HUMID  48.97 CAP_FILE_SIZE  174918,0
INTERNAL_PRESSURE  8.77963 CFSIZE  260165632,219672576
TCM_TEMP  17.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  2 SOUNDSPEED  1459.4
ALTIM_TOP_PING  21.6,21.3 GPS  300411,123856,6704.549,-5826.030,0,4131.5,0,-37.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor17332122.45 SBE_CT82124419.83
Roll_motor19284348.90 SBE_O289019360.19
VBD_pump_during_apogee27315609097.17 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init99103218.16 nil000.00
Iridium_during_connect1716059.24 nil000.00
Iridium_during_xfer000.00 nil000.00
Transponder_ping442035.78 nil000.00
GUMSTIX_24V000.00
GPS1845092.35
TT8297319592.30
LPSleep110972256.35
TT8_Active4901997.77
TT8_Sampling244139974.68
TT8_CF856245258.34
TT8_Kalman000.00
Analog_circuits168112201.83
GPS_charging000.00
Compass210115315.18
RAFOS2520137.80
Transponder27308.33

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 0 175 0.00 0.00 -153.90 0.000 2 0.000 0.000 112 2497 3178 0 0 0 0 0 0
178 -0.62 -146.0 5.6 -6.8 27 209 13.55 2.30 -10.93 0.000 4 0.333 0.078 2654 1079 3625 0 0 0 0 0 0
323 -0.52 -146.0 34.6 -15.7 52 331 0.15 2.33 0.00 0.000 6 0.215 0.067 2690 2488 3627 0 0 0 0 0 0
671 -0.45 -146.0 84.4 -14.1 113 678 0.00 2.38 0.00 0.000 4 0.000 0.084 2690 3898 3627 0 0 0 0 0 0
708 -0.43 -146.0 89.8 -13.5 119 716 0.12 2.25 0.00 0.000 6 0.212 0.054 2719 2481 3628 0 0 0 0 0 0
1046 -0.43 -146.0 126.8 -10.5 158 1050 0.00 2.28 0.00 0.000 4 0.000 0.072 2719 1073 3627 0 0 0 0 0 0
1102 -0.50 -146.0 132.8 -10.0 162 1109 0.00 2.33 0.00 0.000 6 0.000 0.069 2720 2496 3627 0 0 0 0 0 0
1430 -0.54 -146.0 164.0 -9.1 193 1434 0.00 2.38 0.00 0.000 4 0.000 0.085 2720 3902 3626 0 0 0 0 0 0
1463 -0.61 -146.0 167.4 -8.5 195 1470 0.17 2.28 0.00 0.000 6 0.112 0.055 2660 2483 3626 0 0 0 0 0 0
1789 -0.54 -146.0 212.4 -14.3 226 1794 0.12 2.33 0.00 0.000 4 0.211 0.071 2689 1074 3625 0 0 0 0 0 0
1863 -0.57 -146.0 221.2 -10.9 232 1867 0.00 2.33 0.00 0.000 6 0.000 0.068 2688 2497 3626 0 0 0 0 0 0
2188 -0.57 -146.0 256.2 -9.9 262 2192 0.00 2.35 0.00 0.000 4 0.000 0.084 2688 3900 3626 0 0 0 0 0 0
2273 -0.61 -146.0 264.4 -9.1 269 2280 0.00 2.22 0.00 0.000 6 0.000 0.054 2689 2491 3626 0 0 0 0 0 0
2598 -0.61 -146.0 296.1 -9.8 300 2602 0.00 2.30 0.00 0.000 4 0.000 0.070 2688 1076 3626 0 0 0 0 0 0
2654 -0.65 -146.0 301.8 -9.3 304 2661 0.12 2.30 0.00 0.000 6 0.127 0.067 2649 2492 3626 0 0 0 0 0 0
2979 -0.56 -146.0 342.5 -12.7 335 2984 0.12 2.40 0.00 0.000 4 0.210 0.082 2677 3906 3627 0 0 0 0 0 0
3047 -0.59 -146.0 349.7 -9.5 341 3055 0.00 2.25 0.00 0.000 6 0.000 0.053 2677 2480 3627 0 0 0 0 0 0
3380 -0.59 -146.0 382.9 -10.4 372 3384 0.00 2.25 0.00 0.000 4 0.000 0.067 2677 1076 3628 0 0 0 0 0 0
3420 -0.59 -146.0 387.1 -10.1 375 3424 0.00 2.30 0.00 0.000 6 0.000 0.065 2677 2495 3628 0 0 0 0 0 0
3745 -0.59 -146.0 420.2 -10.2 405 3749 0.00 2.35 0.00 0.000 4 0.000 0.082 2677 3905 3628 0 0 0 0 0 0
3773 -0.59 -146.0 423.0 -10.3 407 3777 0.00 2.25 0.00 0.000 6 0.000 0.051 2677 2490 3628 0 0 0 0 0 0
4098 -0.59 -146.0 455.7 -9.6 437 4102 0.00 2.30 0.00 0.000 4 0.000 0.067 2677 1080 3628 0 0 0 0 0 0
4161 -0.62 -146.0 462.0 -10.0 442 4165 0.00 2.30 0.00 0.000 6 0.000 0.064 2677 2490 3628 0 0 0 0 0 0
4487 -0.62 -146.0 492.8 -9.4 472 4491 0.00 2.40 0.00 0.000 4 0.000 0.081 2677 3906 3629 0 0 0 0 0 0
4538 -0.66 -146.0 497.5 -9.1 476 4542 0.00 2.25 0.00 0.000 6 0.000 0.051 2676 2489 3629 0 0 0 0 0 0
4869 -0.66 -146.0 527.9 -9.2 507 4873 0.00 2.25 0.00 0.000 4 0.000 0.067 2677 1081 3629 0 0 0 0 0 0
4910 -0.69 -146.0 531.8 -9.7 510 4915 0.12 2.30 0.00 0.000 6 0.129 0.065 2636 2489 3629 0 0 0 0 0 0
5236 -0.60 -146.0 571.7 -12.2 540 5240 0.12 2.38 0.00 0.000 4 0.206 0.080 2664 3900 3629 0 0 0 0 0 0
5303 -0.60 -146.0 579.3 -10.0 545 5310 0.00 2.22 0.00 0.000 6 0.000 0.051 2664 2490 3629 0 0 0 0 0 0
5636 -0.60 -146.0 612.4 -10.1 569 5640 0.00 2.30 0.00 0.000 4 0.000 0.067 2664 1071 3630 0 0 0 0 0 0
5680 -0.60 -146.0 617.4 -10.6 570 5684 0.00 2.30 0.00 0.000 6 0.000 0.064 2664 2495 3630 0 0 0 0 0 0
6005 -0.60 -146.0 649.8 -10.1 581 6009 0.00 2.35 0.00 0.000 4 0.000 0.081 2664 3906 3630 0 0 0 0 0 0
6055 -0.60 -146.0 655.0 -9.9 582 6059 0.00 2.25 0.00 0.000 6 0.000 0.051 2664 2480 3630 0 0 0 0 0 0
6373 -0.60 -146.0 687.2 -10.4 593 6374 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2480 3630 0 0 0 0 0 0
6680 -0.60 -146.0 718.3 -9.9 603 6684 0.00 2.28 0.00 0.000 4 0.000 0.067 2664 1075 3631 0 0 0 0 0 0
6709 -0.60 -146.0 721.3 -10.3 604 6713 0.00 2.33 0.00 0.000 6 0.000 0.066 2664 2489 3630 0 0 0 0 0 0
7045 -0.60 -146.0 754.2 -9.9 615 7049 0.00 2.38 0.00 0.000 4 0.000 0.082 2664 3902 3631 0 0 0 0 0 0
7110 -0.62 -146.0 760.2 -9.6 617 7114 0.00 2.25 0.00 0.000 6 0.000 0.052 2664 2488 3631 0 0 0 0 0 0
7445 -0.62 -146.0 791.9 -9.4 628 7450 0.00 2.28 0.00 0.000 4 0.000 0.067 2664 1079 3631 0 0 0 0 0 0
7480 -0.62 -146.0 795.2 -9.7 629 7484 0.00 2.33 0.00 0.000 6 0.000 0.066 2664 2495 3631 0 0 0 0 0 0
7815 -0.62 -146.0 825.9 -9.3 640 7820 0.00 2.33 0.00 0.000 4 0.000 0.082 2664 3900 3631 0 0 0 0 0 0
7877 -0.65 -146.0 831.8 -9.6 641 7884 0.00 2.22 0.00 0.000 6 0.000 0.052 2664 2490 3631 0 0 0 0 0 0
8191 -0.65 -146.0 860.0 -9.1 652 8192 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2490 3631 0 0 0 0 0 0
8496 -0.65 -146.0 888.0 -9.3 662 8500 0.00 2.30 0.00 0.000 4 0.000 0.067 2664 1072 3631 0 0 0 0 0 0
8534 -0.65 -146.0 891.8 -9.1 663 8538 0.00 2.30 0.00 0.000 6 0.000 0.067 2664 2488 3631 0 0 0 0 0 0
8859 -0.65 -146.0 921.5 -9.2 674 8863 0.00 2.38 0.00 0.000 4 0.000 0.082 2665 3900 3631 0 0 0 0 0 0
8915 -0.68 -146.0 926.9 -9.0 675 8921 0.00 2.25 0.00 0.000 6 0.000 0.052 2664 2489 3630 0 0 0 0 0 0
9228 -0.68 -146.0 955.3 -9.1 686 9232 0.00 2.28 0.00 0.000 4 0.000 0.067 2664 1076 3631 0 0 0 0 0 0
9263 -0.68 -146.0 958.6 -9.8 687 9267 0.00 2.33 0.00 0.000 6 0.000 0.067 2664 2491 3631 0 0 0 0 0 0
9599 -0.68 -146.0 988.9 -9.1 698 9603 0.00 2.35 0.00 0.000 4 0.000 0.082 2664 3900 3630 0 0 0 0 0 0
9613 end dive: TARGET_DEPTH_EXCEEDED
state 9614 begin apogee
9622 -0.12 0.0 990.3 8.9 698 9761 0.52 0.00 132.57 1.561 6 0.181 0.000 2816 2275 3030 0 0 0 0 0 0
9762 end apogee: CONTROL_FINISHED_OK
state 9762 begin climb
9764 0.62 146.0 995.3 0.0 703 9916 0.80 2.67 141.10 1.508 4 0.130 0.073 3063 868 2432 0 0 0 0 0 0
10002 0.62 146.0 976.6 36588.9 710 10006 0.00 2.47 0.00 0.000 6 0.000 0.060 3063 2279 2427 0 0 0 0 0 0
10321 0.62 146.0 939.4 36588.9 721 10325 0.00 2.40 0.00 0.000 4 0.000 0.078 3063 3687 2424 0 0 0 0 0 0
10398 0.62 146.0 928.7 36588.9 723 10402 0.00 2.33 0.00 0.000 6 0.000 0.061 3073 2276 2424 0 0 0 0 0 0
10723 0.62 146.0 888.0 36588.9 734 10727 0.00 2.38 0.00 0.000 4 0.000 0.075 3073 3695 2423 0 0 0 0 0 0
10756 0.62 146.0 883.2 36588.9 735 10760 0.00 2.33 0.00 0.000 6 0.000 0.061 3083 2272 2422 0 0 0 0 0 0
11086 0.62 146.0 839.2 36588.9 746 11091 0.00 2.35 0.00 0.000 4 0.000 0.075 3083 3691 2422 0 0 0 0 0 0
11120 0.62 146.0 834.1 36588.9 747 11125 0.00 2.30 0.00 0.000 6 0.000 0.060 3093 2275 2422 0 0 0 0 0 0
11450 0.62 146.0 787.5 36588.9 758 11455 0.12 2.35 0.00 0.000 4 0.212 0.075 3064 3691 2422 0 0 0 0 0 0
11501 0.62 146.0 780.5 36588.9 759 11505 0.00 2.30 0.00 0.000 6 0.000 0.060 3073 2273 2422 0 0 0 0 0 0
11814 0.62 146.0 741.7 36588.9 769 11818 0.00 2.35 0.00 0.000 4 0.000 0.075 3073 3694 2421 0 0 0 0 0 0
11830 0.62 146.0 739.5 36588.9 769 11834 0.00 2.28 0.00 0.000 6 0.000 0.059 3083 2275 2422 0 0 0 0 0 0
12149 0.62 146.0 699.9 36588.9 780 12153 0.00 2.35 0.00 0.000 4 0.000 0.075 3083 3697 2422 0 0 0 0 0 0
12194 0.62 146.0 693.5 36588.9 781 12199 0.00 2.30 0.00 0.000 6 0.000 0.060 3093 2276 2421 0 0 0 0 0 0
12519 0.62 146.0 652.0 36588.9 792 12523 0.00 2.35 0.00 0.000 4 0.000 0.074 3093 3693 2421 0 0 0 0 0 0
12558 0.62 146.0 646.6 36588.9 793 12563 0.15 2.28 0.00 0.000 6 0.209 0.059 3068 2271 2422 0 0 0 0 0 0
12882 0.62 146.0 610.0 36588.9 804 12886 0.00 2.35 0.00 0.000 4 0.000 0.074 3067 3691 2421 0 0 0 0 0 0
12913 0.62 146.0 606.5 36588.9 805 12917 0.00 2.30 0.00 0.000 6 0.000 0.060 3076 2268 2421 0 0 0 0 0 0
13238 0.62 146.0 566.5 36588.9 832 13242 0.00 2.35 0.00 0.000 4 0.000 0.074 3076 3698 2421 0 0 0 0 0 0
13260 0.62 146.0 563.5 36588.9 833 13268 0.00 2.30 0.00 0.000 6 0.000 0.060 3086 2276 2421 0 0 0 0 0 0
13585 0.62 146.0 522.5 36588.9 864 13589 0.00 2.33 0.00 0.000 4 0.000 0.074 3085 3691 2422 0 0 0 0 0 0
13615 0.62 146.0 518.4 36588.9 866 13619 0.12 2.30 0.00 0.000 6 0.213 0.060 3068 2271 2421 0 0 0 0 0 0
13940 0.62 146.0 481.9 36588.9 896 13944 0.00 2.35 0.00 0.000 4 0.000 0.075 3067 3693 2421 0 0 0 0 0 0
13974 0.62 146.0 477.9 36588.9 899 13979 0.00 2.30 0.00 0.000 6 0.000 0.061 3077 2272 2421 0 0 0 0 0 0
14306 0.62 146.0 440.3 36588.9 930 14307 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2272 2422 0 0 0 0 0 0
14626 0.62 146.0 405.8 36588.9 960 14632 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2272 2422 0 0 0 0 0 0
14955 0.62 146.0 370.3 36588.9 991 14959 0.00 2.35 0.00 0.000 4 0.000 0.074 3076 3693 2422 0 0 0 0 0 0
14999 0.62 146.0 364.5 36588.9 994 15006 0.00 2.30 0.00 0.000 6 0.000 0.060 3086 2275 2421 0 0 0 0 0 0
15325 0.62 146.0 327.8 36588.9 1025 15326 0.00 0.00 0.00 0.000 6 0.000 0.000 3086 2275 2421 0 0 0 0 0 0
15647 0.62 146.0 291.9 36588.9 1055 15651 0.00 2.35 0.00 0.000 4 0.000 0.074 3086 3691 2421 0 0 0 0 0 0
15669 0.62 146.0 288.5 36588.9 1056 15677 0.12 2.30 0.00 0.000 6 0.210 0.059 3068 2267 2422 0 0 0 0 0 0
15995 0.62 146.0 255.5 36588.9 1087 15999 0.00 2.38 0.00 0.000 4 0.000 0.073 3067 3700 2421 0 0 0 0 0 0
16016 0.62 146.0 253.1 36588.9 1088 16023 0.00 2.30 0.00 0.000 6 0.000 0.058 3076 2264 2422 0 0 0 0 0 0
16341 0.62 146.0 219.8 36588.9 1119 16346 0.00 2.30 0.00 0.000 4 0.000 0.073 3086 863 2421 0 0 0 0 0 0
16371 0.62 146.0 216.9 36588.9 1121 16375 0.00 2.30 0.00 0.000 6 0.000 0.063 3086 2284 2421 0 0 0 0 0 0
16696 0.62 146.0 183.7 36588.9 1151 16700 0.00 2.30 0.00 0.000 4 0.000 0.076 3086 3691 2421 0 0 0 0 0 0
16734 end climb: SURFACE_OBSTACLE_DETECTED
state 16735 begin subsurface finish
16744 0.02 14.2 179.2 -36588.9 1154 16757 0.80 2.42 -2.72 0.000 4 0.198 0.085 2877 3692 2987 0 0 0 0 0 0
16758 end subsurface finish: CONTROL_FINISHED_OK
state 16758 begin surface