DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 665 * 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  665 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  21 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  18 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  -49370.453 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  210511,162725,6705.388,-5912.990,0,7110.1,0,-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  9.28 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -4.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  210511,162725,6705.388,-5912.990,0,7110.1,0,-37.6 MHEAD_RNG_PITCHd_Wd  271.0,66497,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1232

Post-dive calculations and measurements:
FREEZE  8.98,-1.722,-1.777,2,28,0 ALTIM_TOP_PING  19.5,16.6
FINISH1  9.0,1.026016,73 _24V_AH  20.6,88.260
FINISH2  7.1 _10V_AH  9.9,45.694
RAFOS_CLK  1017 FG_AHR_24Vo  0.000
RAFOS  1,1306008545,20.166666,20.151388,127,68,64,56,54,50,688,205,216,117,166,138 FG_AHR_10Vo  0.000
RAFOS_FIX  6704.466309,-5920.071289,220511,000017,6,120,0.19 MEM  150560
IRIDIUM_FIX  6636.54,-5659.96,160511,171709 DATA_FILE_SIZE  53322,1361
TT8_MAMPS  0.026215 CAP_FILE_SIZE  180405,0
HUMID  48.22 CFSIZE  260165632,210100224
INTERNAL_PRESSURE  8.67221 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.10 SOUNDSPEED  1456.4
XPDR_PINGS  11 GPS  220511,003117,6704.466,-5920.071,0,6120.3,0,-37.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor623129.01 SBE_CT97424481.59
Roll_motor16399334.39 SBE_O2104619409.50
VBD_pump_during_apogee439156914190.04 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_ping642056.24 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8341119672.78
LPSleep121092276.92
TT8_Active54219106.91
TT8_Sampling233339922.36
TT8_CF833345151.80
TT8_Kalman000.00
Analog_circuits181112215.17
GPS_charging000.00
Compass230315342.02
RAFOS4320164.15
Transponder27308.13

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
17 -0.62 -146.0 0.0 0.0 0 25 0.00 0.00 -6.30 0.000 2 0.000 0.000 2900 2275 2963 0 0 0 0 0 0
28 -0.62 -146.0 10.6 -0.0 1 55 0.65 2.80 -18.40 0.000 4 0.096 0.099 2668 3897 3628 0 0 0 0 0 0
158 -0.50 -146.0 31.6 -19.8 23 166 0.12 2.30 0.00 0.000 6 0.217 0.063 2694 2493 3629 0 0 0 0 0 0
506 -0.43 -146.0 89.5 -15.5 84 513 0.10 0.00 0.00 0.000 6 0.232 0.000 2716 2493 3629 0 0 0 0 0 0
837 -0.43 -146.0 131.8 -11.9 121 838 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2493 3629 0 0 0 0 0 0
1159 -0.46 -146.0 165.0 -10.1 151 1165 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2493 3628 0 0 0 0 0 0
1485 -0.51 -146.0 198.0 -9.1 182 1489 0.00 2.33 0.00 0.000 4 0.000 0.077 2717 1077 3627 0 0 0 0 0 0
1527 -0.59 -146.0 201.9 -9.4 185 1532 0.15 2.35 0.00 0.000 6 0.113 0.075 2664 2489 3627 0 0 0 0 0 0
1853 -0.53 -146.0 244.9 -13.4 215 1857 0.00 2.42 0.00 0.000 4 0.000 0.092 2665 3910 3626 0 0 0 0 0 0
1888 -0.48 -146.0 249.6 -13.2 218 1893 0.15 2.33 0.00 0.000 6 0.206 0.063 2699 2488 3626 0 0 0 0 0 0
2215 -0.51 -146.0 281.3 -9.6 248 2219 0.00 2.35 0.00 0.000 4 0.000 0.076 2699 1070 3626 0 0 0 0 0 0
2278 -0.57 -146.0 287.4 -9.8 253 2282 0.00 2.40 0.00 0.000 6 0.000 0.075 2699 2497 3626 0 0 0 0 0 0
2610 -0.61 -146.0 317.8 -9.7 284 2611 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2497 3626 0 0 0 0 0 0
2929 -0.66 -146.0 348.2 -9.4 314 2934 0.15 2.40 0.00 0.000 4 0.119 0.089 2648 3900 3626 0 0 0 0 0 0
2980 -0.60 -146.0 354.4 -12.7 318 2986 0.00 2.30 0.00 0.000 6 0.000 0.060 2648 2487 3626 0 0 0 0 0 0
3307 -0.51 -146.0 396.3 -13.0 349 3309 0.17 0.00 0.00 0.000 6 0.206 0.000 2690 2487 3627 0 0 0 0 0 0
3625 -0.54 -146.0 425.1 -8.7 379 3629 0.00 2.30 0.00 0.000 4 0.000 0.073 2691 1076 3627 0 0 0 0 0 0
3658 -0.58 -146.0 428.3 -9.2 381 3665 0.00 2.40 0.00 0.000 6 0.000 0.071 2691 2500 3627 0 0 0 0 0 0
3984 -0.61 -146.0 454.8 -8.2 412 3986 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2500 3627 0 0 0 0 0 0
4306 -0.64 -146.0 480.3 -8.0 442 4312 0.10 0.00 0.00 0.000 6 0.141 0.000 2655 2500 3628 0 0 0 0 0 0
4631 -0.59 -146.0 514.5 -10.5 473 4635 0.00 2.40 0.00 0.000 4 0.000 0.087 2655 3909 3628 0 0 0 0 0 0
4653 -0.53 -146.0 517.0 -10.4 474 4661 0.15 2.30 0.00 0.000 6 0.192 0.059 2690 2489 3628 0 0 0 0 0 0
4979 -0.57 -146.0 542.1 -7.6 505 4984 0.00 2.30 0.00 0.000 4 0.000 0.072 2691 1074 3629 0 0 0 0 0 0
5009 -0.61 -146.0 544.5 -8.1 507 5014 0.00 2.35 0.00 0.000 6 0.000 0.070 2691 2498 3628 0 0 0 0 0 0
5336 -0.65 -146.0 570.6 -8.2 537 5341 0.12 2.42 0.00 0.000 4 0.124 0.086 2645 3910 3628 0 0 0 0 0 0
5370 -0.61 -146.0 574.1 -10.8 539 5376 0.00 2.30 0.00 0.000 6 0.000 0.059 2645 2489 3628 0 0 0 0 0 0
5713 -0.53 -146.0 615.2 -12.2 564 5718 0.17 2.33 0.00 0.000 4 0.202 0.072 2689 1079 3628 0 0 0 0 0 0
5758 -0.60 -146.0 620.0 -9.0 565 5762 0.00 2.33 0.00 0.000 6 0.000 0.070 2688 2492 3628 0 0 0 0 0 0
6078 -0.64 -146.0 646.4 -8.5 576 6082 0.00 2.40 0.00 0.000 4 0.000 0.087 2689 3906 3628 0 0 0 0 0 0
6125 -0.72 -146.0 650.5 -8.4 577 6130 0.17 2.30 0.00 0.000 6 0.106 0.058 2628 2488 3628 0 0 0 0 0 0
6451 -0.61 -146.0 691.6 -12.7 588 6455 0.15 2.33 0.00 0.000 4 0.210 0.073 2664 1080 3628 0 0 0 0 0 0
6494 -0.61 -146.0 697.0 -10.4 589 6499 0.00 2.33 0.00 0.000 6 0.000 0.071 2663 2489 3628 0 0 0 0 0 0
6814 -0.61 -146.0 728.9 -10.1 600 6818 0.00 2.40 0.00 0.000 4 0.000 0.087 2664 3910 3628 0 0 0 0 0 0
6835 -0.61 -146.0 731.4 -10.6 600 6842 0.00 2.30 0.00 0.000 6 0.000 0.059 2664 2490 3628 0 0 0 0 0 0
7149 -0.61 -146.0 762.6 -9.8 611 7153 0.00 2.35 0.00 0.000 4 0.000 0.073 2663 1072 3628 0 0 0 0 0 0
7170 -0.61 -146.0 765.0 -10.1 611 7174 0.00 2.35 0.00 0.000 6 0.000 0.072 2664 2490 3628 0 0 0 0 0 0
7485 -0.61 -146.0 793.9 -9.1 621 7489 0.00 2.42 0.00 0.000 4 0.000 0.088 2663 3905 3628 0 0 0 0 0 0
7535 -0.61 -146.0 798.9 -9.7 622 7539 0.00 2.28 0.00 0.000 6 0.000 0.059 2664 2483 3628 0 0 0 0 0 0
7854 -0.61 -146.0 828.8 -9.6 633 7855 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2484 3629 0 0 0 0 0 0
8159 -0.61 -146.0 858.3 -9.6 643 8163 0.00 2.42 0.00 0.000 4 0.000 0.084 2663 3902 3629 0 0 0 0 0 0
8181 -0.61 -146.0 860.6 -9.7 643 8188 0.00 2.30 0.00 0.000 6 0.000 0.059 2664 2487 3629 0 0 0 0 0 0
8495 -0.61 -146.0 890.9 -9.8 654 8496 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2487 3628 0 0 0 0 0 0
8802 -0.61 -146.0 921.2 -9.9 664 8803 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2488 3628 0 0 0 0 0 0
9110 -0.61 -146.0 951.4 -9.8 674 9111 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2487 3629 0 0 0 0 0 0
9413 -0.61 -146.0 981.1 -9.6 684 9414 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2488 3629 0 0 0 0 0 0
9502 end dive: TARGET_DEPTH_EXCEEDED
state 9502 begin apogee
9510 -0.12 0.0 990.0 9.8 687 9648 0.52 0.00 133.38 1.569 6 0.187 0.000 2814 2264 3030 0 0 0 0 0 0
9648 end apogee: CONTROL_FINISHED_OK
state 9648 begin climb
9652 0.62 146.0 995.1 0.0 691 9807 0.82 2.72 145.12 1.514 4 0.131 0.079 3066 874 2432 0 0 0 0 0 0
9888 0.56 146.0 977.4 11.4 698 9895 0.00 2.53 0.00 0.000 6 0.000 0.066 3066 2279 2427 0 0 0 0 0 0
10201 0.48 146.0 941.3 11.4 709 10206 0.17 2.40 0.00 0.000 4 0.179 0.082 3021 3696 2425 0 0 0 0 0 0
10268 0.44 146.0 933.9 11.1 711 10273 0.00 2.33 0.00 0.000 6 0.000 0.067 3029 2282 2424 0 0 0 0 0 0
10599 0.45 156.7 902.8 9.5 722 10610 0.00 0.00 9.23 1.265 6 0.000 0.000 3029 2282 2391 0 0 0 0 0 0
10904 0.45 156.7 872.1 10.1 732 10905 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2282 2390 0 0 0 0 0 0
11210 0.45 156.7 841.3 10.2 742 11212 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2282 2389 0 0 0 0 0 0
11518 0.45 157.5 810.5 10.0 752 11522 0.00 2.38 0.00 0.000 4 0.000 0.082 3029 3694 2389 0 0 0 0 0 0
11545 0.42 157.5 807.1 11.1 752 11554 0.15 2.33 0.00 0.000 6 0.192 0.067 3004 2267 2388 0 0 0 0 0 0
11859 0.51 194.2 780.5 8.3 763 11896 0.00 0.00 35.50 1.403 6 0.000 0.000 3003 2267 2238 0 0 0 0 0 0
12196 0.61 214.9 750.7 9.0 774 12222 0.17 2.38 20.33 1.345 4 0.090 0.083 3090 858 2152 0 0 0 0 0 0
12245 0.54 214.9 744.2 14.6 774 12250 0.17 2.38 0.00 0.000 6 0.187 0.069 3046 2280 2150 0 0 0 0 0 0
12559 0.54 214.9 706.2 12.0 784 12563 0.00 2.33 0.00 0.000 4 0.000 0.082 3046 3687 2148 0 0 0 0 0 0
12592 0.52 214.9 701.5 13.0 785 12596 0.00 2.30 0.00 0.000 6 0.000 0.067 3054 2277 2148 0 0 0 0 0 0
12922 0.50 214.9 660.2 12.5 796 12926 0.00 2.33 0.00 0.000 4 0.000 0.081 3065 863 2147 0 0 0 0 0 0
12966 0.50 214.9 654.4 11.4 797 12971 0.15 2.33 0.00 0.000 6 0.179 0.068 3027 2275 2146 0 0 0 0 0 0
13285 0.55 219.4 623.5 9.8 808 13295 0.00 2.35 4.40 0.883 4 0.000 0.083 3027 3690 2135 0 0 0 0 0 0
13324 0.58 219.4 619.3 10.7 809 13328 0.00 2.33 0.00 0.000 6 0.000 0.067 3035 2274 2135 0 0 0 0 0 0
13651 0.62 225.4 586.1 9.7 827 13664 0.00 2.40 7.47 1.102 4 0.000 0.081 3045 864 2110 0 0 0 0 0 0
13714 0.68 225.4 580.0 10.5 832 13719 0.12 2.30 0.00 0.000 6 0.110 0.068 3101 2275 2109 0 0 0 0 0 0
14039 0.57 225.4 529.8 15.9 862 14044 0.17 2.38 0.00 0.000 4 0.183 0.082 3054 3687 2109 0 0 0 0 0 0
14096 0.55 225.4 521.8 13.8 866 14103 0.00 2.33 0.00 0.000 6 0.000 0.067 3063 2273 2108 0 0 0 0 0 0
14423 0.52 225.4 482.0 11.7 897 14427 0.12 2.38 0.00 0.000 4 0.184 0.080 3040 857 2109 0 0 0 0 0 0
14456 0.59 239.0 478.3 9.4 899 14477 0.00 2.35 13.98 1.167 6 0.000 0.068 3040 2281 2055 0 0 0 0 0 0
14805 0.64 239.0 443.9 10.0 932 14809 0.00 2.33 0.00 0.000 4 0.000 0.082 3040 3688 2053 0 0 0 0 0 0
14838 0.66 239.0 439.8 11.8 934 14845 0.00 2.33 0.00 0.000 6 0.000 0.067 3050 2272 2052 0 0 0 0 0 0
15163 0.66 239.0 402.2 11.8 965 15167 0.00 2.33 0.00 0.000 4 0.000 0.080 3060 861 2052 0 0 0 0 0 0
15230 0.71 239.0 394.6 10.5 970 15237 0.00 2.33 0.00 0.000 6 0.000 0.067 3060 2276 2051 0 0 0 0 0 0
15555 0.71 239.0 356.1 11.9 1001 15559 0.00 2.35 0.00 0.000 4 0.000 0.082 3060 3693 2051 0 0 0 0 0 0
15590 0.71 239.0 351.6 13.8 1004 15594 0.00 2.33 0.00 0.000 6 0.000 0.067 3070 2268 2051 0 0 0 0 0 0
15921 0.71 239.0 309.3 12.3 1035 15925 0.00 2.33 0.00 0.000 4 0.000 0.080 3081 857 2051 0 0 0 0 0 0
15983 0.71 239.0 301.4 11.9 1040 15987 0.00 2.35 0.00 0.000 6 0.000 0.068 3081 2284 2050 0 0 0 0 0 0
16315 0.71 239.0 260.3 12.1 1071 16319 0.00 2.35 0.00 0.000 4 0.000 0.080 3081 3697 2050 0 0 0 0 0 0
16370 0.65 239.0 252.8 13.8 1075 16376 0.00 2.35 0.00 0.000 6 0.000 0.066 3091 2264 2049 0 0 0 0 0 0
16697 0.65 239.0 210.1 12.3 1106 16704 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2263 2050 0 0 0 0 0 0
17023 0.65 239.0 171.5 11.8 1137 17027 0.00 2.33 0.00 0.000 4 0.000 0.080 3102 864 2050 0 0 0 0 0 0
17055 0.65 239.0 167.6 10.3 1139 17062 0.00 2.33 0.00 0.000 6 0.000 0.067 3102 2280 2050 0 0 0 0 0 0
17381 0.65 239.0 131.1 10.8 1170 17385 0.00 2.35 0.00 0.000 4 0.000 0.082 3102 3687 2050 0 0 0 0 0 0
17472 0.61 239.0 119.5 13.3 1177 17479 0.17 2.33 0.00 0.000 6 0.189 0.076 3067 2275 2049 0 0 0 0 0 0
17803 0.78 314.5 93.1 6.5 1217 17880 0.15 0.00 69.62 1.012 6 0.098 0.000 3129 2275 1746 0 0 0 0 0 0
18220 0.78 314.5 46.9 10.0 1290 18226 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2275 1738 0 0 0 0 0 0
18566 0.81 314.5 10.5 11.1 1351 18573 0.00 2.35 0.00 0.000 4 0.000 0.083 3138 857 1735 0 0 0 0 0 0
18579 end climb: FINISH_DEPTH_REACHED
state 18579 begin subsurface finish
18589 0.09 72.7 9.0 -10.5 1353 18637 0.77 2.40 -39.33 0.000 4 0.159 0.093 2903 863 2735 0 0 0 0 0 0
18638 end subsurface finish: CONTROL_FINISHED_OK
state 18638 begin surface