DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 701 * 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  701 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  20 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  -50844.75 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  270511,202930,6659.437,-5913.525,0,6117.3,0,-37.6 TGT_NAME  TARGET_E
_CALLS  3 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.67 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  11.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  270511,202930,6659.437,-5913.525,0,6117.3,0,-37.6 MHEAD_RNG_PITCHd_Wd  124.0,105298,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1118

Post-dive calculations and measurements:
FREEZE  5.63,-1.668,-1.768,2,64,0 ALTIM_TOP_PING  19.2,999.0
FINISH1  5.6,1.025915,78 _24V_AH  20.5,94.171
FINISH2  5.4 _10V_AH  9.8,48.563
RAFOS_CLK  992 FG_AHR_24Vo  0.000
RAFOS  0,1306540862,0.033333,0.017222,58,56,56,54,51,50,168,147,222,136,824,158 FG_AHR_10Vo  0.000
RAFOS_FIX  6700.800293,-5911.266602,280511,000017,6,111,0.21 MEM  150560
IRIDIUM_FIX  6636.54,-5659.96,160511,171709 DATA_FILE_SIZE  53341,1332
TT8_MAMPS  0.026964 CAP_FILE_SIZE  186949,0
HUMID  48.50 CFSIZE  260165632,207360000
INTERNAL_PRESSURE  8.67221 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.30 SOUNDSPEED  1456.4
XPDR_PINGS  6 GPS  280511,003117,6700.800,-5911.267,0,6110.7,0,-37.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor621830.72 SBE_CT94924467.08
Roll_motor178106388.29 SBE_O2102819400.69
VBD_pump_during_apogee460156114738.08 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_ping542045.20 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8336319656.55
LPSleep114982260.31
TT8_Active60819118.77
TT8_Sampling240439940.64
TT8_CF835645160.43
TT8_Kalman000.00
Analog_circuits194012228.15
GPS_charging000.00
Compass237615349.31
RAFOS2520137.04
Transponder30308.90

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
12 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.62 -146.0 0.0 0.0 0 108 0.00 0.00 -89.05 0.000 2 0.000 0.000 2901 2283 3247 0 0 0 0 0 0
111 -0.62 -146.0 5.1 -4.6 16 136 0.65 2.80 -16.38 0.000 4 0.097 0.106 2669 3898 3627 0 0 0 0 0 0
370 -0.51 -146.0 51.7 -19.7 61 377 0.12 2.30 0.00 0.000 6 0.217 0.061 2695 2485 3628 0 0 0 0 0 0
714 -0.43 -146.0 106.5 -15.2 118 718 0.00 2.42 0.00 0.000 4 0.000 0.091 2695 3900 3627 0 0 0 0 0 0
788 -0.43 -146.0 116.4 -12.4 124 792 0.00 2.33 0.00 0.000 6 0.000 0.063 2696 2484 3628 0 0 0 0 0 0
1114 -0.38 -146.0 159.0 -13.4 154 1119 0.15 2.35 0.00 0.000 4 0.219 0.080 2732 1079 3627 0 0 0 0 0 0
1164 -0.47 -146.0 164.4 -9.3 158 1171 0.00 2.38 0.00 0.000 6 0.000 0.078 2732 2493 3627 0 0 0 0 0 0
1491 -0.54 -146.0 192.0 -8.1 189 1495 0.12 2.45 0.00 0.000 4 0.125 0.096 2687 3905 3626 0 0 0 0 0 0
1546 -0.54 -146.0 198.4 -11.6 193 1553 0.00 2.33 0.00 0.000 6 0.000 0.064 2687 2488 3626 0 0 0 0 0 0
1872 -0.50 -146.0 238.5 -11.9 224 1876 0.00 2.35 0.00 0.000 4 0.000 0.080 2687 1078 3626 0 0 0 0 0 0
1894 -0.46 -146.0 241.4 -12.4 225 1900 0.00 2.40 0.00 0.000 6 0.000 0.079 2687 2491 3626 0 0 0 0 0 0
2220 -0.42 -146.0 276.5 -10.8 256 2225 0.15 2.45 0.00 0.000 4 0.218 0.096 2721 3900 3626 0 0 0 0 0 0
2249 -0.47 -146.0 279.3 -9.0 258 2253 0.00 2.33 0.00 0.000 6 0.000 0.063 2721 2486 3626 0 0 0 0 0 0
2576 -0.55 -146.0 304.4 -7.9 288 2577 0.12 0.00 0.00 0.000 6 0.133 0.000 2679 2486 3626 0 0 0 0 0 0
2894 -0.51 -146.0 340.5 -11.6 318 2895 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2486 3626 0 0 0 0 0 0
3214 -0.48 -146.0 373.9 -10.1 348 3220 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2486 3626 0 0 0 0 0 0
3542 -0.45 -146.0 407.9 -10.5 379 3547 0.15 2.38 0.00 0.000 4 0.212 0.076 2715 1074 3626 0 0 0 0 0 0
3560 -0.45 -146.0 409.9 -9.9 380 3565 0.00 2.38 0.00 0.000 6 0.000 0.075 2715 2492 3626 0 0 0 0 0 0
3892 -0.53 -146.0 434.6 -7.4 411 3896 0.00 2.40 0.00 0.000 4 0.000 0.092 2714 3899 3626 0 0 0 0 0 0
3923 -0.62 -146.0 436.9 -8.0 413 3927 0.15 2.30 0.00 0.000 6 0.113 0.060 2664 2489 3627 0 0 0 0 0 0
4248 -0.57 -146.0 474.8 -12.0 443 4253 0.00 2.33 0.00 0.000 4 0.000 0.075 2664 1073 3626 0 0 0 0 0 0
4271 -0.51 -146.0 477.7 -12.0 444 4278 0.12 2.40 0.00 0.000 6 0.219 0.075 2691 2495 3627 0 0 0 0 0 0
4597 -0.51 -146.0 508.5 -9.5 475 4601 0.00 2.40 0.00 0.000 4 0.000 0.091 2690 3899 3627 0 0 0 0 0 0
4632 -0.55 -146.0 511.9 -9.6 478 4637 0.00 2.30 0.00 0.000 6 0.000 0.060 2691 2480 3627 0 0 0 0 0 0
4964 -0.58 -146.0 542.9 -9.2 509 4965 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2480 3627 0 0 0 0 0 0
5283 -0.60 -146.0 571.3 -8.8 539 5284 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2480 3628 0 0 0 0 0 0
5604 -0.63 -146.0 599.2 -8.9 569 5614 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2480 3628 0 0 0 0 0 0
5918 -0.67 -146.0 627.5 -8.9 580 5920 0.12 0.00 0.00 0.000 6 0.131 0.000 2649 2480 3629 0 0 0 0 0 0
6228 -0.58 -146.0 665.3 -12.3 590 6229 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2480 3628 0 0 0 0 0 0
6531 -0.50 -146.0 702.6 -12.1 600 6536 0.17 2.45 0.00 0.000 4 0.200 0.086 2692 3900 3628 0 0 0 0 0 0
6554 -0.48 -146.0 705.4 -10.9 600 6561 0.00 2.30 0.00 0.000 6 0.000 0.059 2692 2489 3629 0 0 0 0 0 0
6868 -0.53 -146.0 731.6 -8.4 611 6869 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2489 3628 0 0 0 0 0 0
7177 -0.57 -146.0 758.1 -8.6 621 7181 0.00 2.33 0.00 0.000 4 0.000 0.074 2692 1069 3629 0 0 0 0 0 0
7189 -0.62 -146.0 759.4 -8.5 621 7193 0.00 2.40 0.00 0.000 6 0.000 0.073 2692 2496 3628 0 0 0 0 0 0
7507 -0.67 -146.0 786.0 -8.3 632 7512 0.12 2.42 0.00 0.000 4 0.119 0.090 2645 3910 3629 0 0 0 0 0 0
7529 -0.67 -146.0 788.4 -9.9 632 7536 0.00 2.33 0.00 0.000 6 0.000 0.060 2645 2485 3628 0 0 0 0 0 0
7843 -0.59 -146.0 825.6 -12.2 643 7845 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2485 3629 0 0 0 0 0 0
8149 -0.51 -146.0 861.4 -11.7 653 8151 0.20 0.00 0.00 0.000 6 0.203 0.000 2695 2483 3629 0 0 0 0 0 0
8456 -0.56 -146.0 884.8 -7.4 663 8460 0.00 2.30 0.00 0.000 4 0.000 0.074 2695 1079 3629 0 0 0 0 0 0
8479 -0.62 -146.0 886.8 -8.1 663 8486 0.00 2.38 0.00 0.000 6 0.000 0.073 2695 2492 3629 0 0 0 0 0 0
8793 -0.69 -146.0 909.9 -7.7 674 8798 0.15 2.42 0.00 0.000 4 0.114 0.090 2640 3900 3629 0 0 0 0 0 0
8834 -0.64 -146.0 913.9 -11.4 675 8838 0.00 2.30 0.00 0.000 6 0.000 0.060 2640 2490 3629 0 0 0 0 0 0
9166 -0.55 -146.0 951.2 -11.5 686 9171 0.17 2.35 0.00 0.000 4 0.202 0.075 2684 1079 3629 0 0 0 0 0 0
9198 -0.55 -146.0 954.7 -10.7 687 9202 0.00 2.38 0.00 0.000 6 0.000 0.073 2684 2489 3629 0 0 0 0 0 0
9533 -0.59 -146.0 982.2 -8.1 698 9538 0.00 2.40 0.00 0.000 4 0.000 0.089 2684 3899 3629 0 0 0 0 0 0
9584 -0.65 -146.0 986.6 -8.3 699 9588 0.00 2.33 0.00 0.000 6 0.000 0.061 2684 2480 3629 0 0 0 0 0 0
9625 end dive: TARGET_DEPTH_EXCEEDED
state 9625 begin apogee
9632 -0.12 0.0 990.0 8.3 701 9771 0.45 0.00 133.88 1.561 6 0.181 0.000 2812 2261 3030 0 0 0 0 0 0
9772 end apogee: CONTROL_FINISHED_OK
state 9772 begin climb
9774 0.62 146.0 994.8 0.0 705 9929 0.82 2.85 146.35 1.506 4 0.134 0.078 3052 3691 2434 0 0 0 0 0 0
10110 0.52 146.0 963.0 13.3 715 10117 0.12 2.47 0.00 0.000 6 0.188 0.066 3035 2280 2428 0 0 0 0 0 0
10423 0.52 146.0 931.1 10.0 726 10427 0.00 2.40 0.00 0.000 4 0.000 0.080 3035 3696 2426 0 0 0 0 0 0
10546 0.45 146.0 916.8 11.9 729 10551 0.12 2.38 0.00 0.000 6 0.208 0.067 3016 2263 2425 0 0 0 0 0 0
10860 0.51 176.1 889.5 8.6 739 10893 0.00 2.45 27.33 1.418 4 0.000 0.085 3024 863 2311 0 0 0 0 0 0
10934 0.62 223.6 883.3 7.8 741 10986 0.12 2.35 45.62 1.426 6 0.109 0.069 3083 2282 2118 0 0 0 0 0 0
11293 0.53 223.6 831.7 15.1 752 11298 0.17 2.35 0.00 0.000 4 0.181 0.083 3037 3689 2110 0 0 0 0 0 0
11362 0.53 223.6 822.7 12.1 754 11367 0.00 2.35 0.00 0.000 6 0.000 0.069 3044 2265 2108 0 0 0 0 0 0
11697 0.53 223.6 785.0 11.0 765 11702 0.00 2.33 0.00 0.000 4 0.000 0.083 3055 865 2107 0 0 0 0 0 0
11760 0.53 223.6 777.9 10.6 767 11765 0.00 2.33 0.00 0.000 6 0.000 0.069 3055 2284 2105 0 0 0 0 0 0
12102 0.53 223.6 737.1 12.0 778 12106 0.00 2.33 0.00 0.000 4 0.000 0.083 3055 3689 2105 0 0 0 0 0 0
12175 0.50 223.6 726.9 13.2 780 12180 0.15 2.33 0.00 0.000 6 0.186 0.068 3028 2264 2104 0 0 0 0 0 0
12501 0.57 233.7 695.1 9.5 791 12515 0.00 2.40 8.20 1.167 4 0.000 0.084 3036 862 2077 0 0 0 0 0 0
12555 0.65 240.1 689.6 9.7 792 12568 0.10 2.33 8.02 1.157 6 0.124 0.068 3083 2282 2051 0 0 0 0 0 0
12874 0.59 240.1 645.3 14.5 803 12878 0.00 2.35 0.00 0.000 4 0.000 0.083 3083 3694 2049 0 0 0 0 0 0
12943 0.52 240.1 634.4 15.6 805 12948 0.22 2.35 0.00 0.000 6 0.192 0.068 3035 2269 2049 0 0 0 0 0 0
13279 0.57 240.1 598.9 10.2 816 13283 0.00 2.35 0.00 0.000 4 0.000 0.083 3043 854 2049 0 0 0 0 0 0
13336 0.67 249.5 593.1 9.6 820 13355 0.10 2.35 10.05 1.165 6 0.122 0.068 3090 2278 2012 0 0 0 0 0 0
13674 0.60 249.5 542.7 14.9 852 13679 0.12 2.35 0.00 0.000 4 0.184 0.082 3059 3687 2010 0 0 0 0 0 0
13742 0.60 249.5 533.2 12.8 858 13747 0.00 2.33 0.00 0.000 6 0.000 0.067 3067 2262 2010 0 0 0 0 0 0
14068 0.60 249.5 491.6 12.6 888 14072 0.00 2.33 0.00 0.000 4 0.000 0.083 3078 858 2009 0 0 0 0 0 0
14130 0.60 249.5 483.6 12.0 893 14134 0.00 2.33 0.00 0.000 6 0.000 0.068 3078 2280 2008 0 0 0 0 0 0
14457 0.56 249.5 439.4 13.2 923 14461 0.12 2.35 0.00 0.000 4 0.184 0.082 3046 3686 2008 0 0 0 0 0 0
14512 0.60 249.5 432.3 11.3 927 14519 0.00 2.30 0.00 0.000 6 0.000 0.067 3054 2274 2008 0 0 0 0 0 0
14838 0.60 249.5 395.8 11.2 958 14842 0.00 2.35 0.00 0.000 4 0.000 0.082 3065 856 2008 0 0 0 0 0 0
14915 0.64 249.5 386.8 11.1 964 14922 0.00 2.33 0.00 0.000 6 0.000 0.068 3065 2278 2007 0 0 0 0 0 0
15241 0.64 249.5 347.2 12.0 995 15245 0.00 2.35 0.00 0.000 4 0.000 0.082 3065 3687 2007 0 0 0 0 0 0
15298 0.64 249.5 339.8 12.6 1000 15302 0.00 2.33 0.00 0.000 6 0.000 0.066 3075 2273 2007 0 0 0 0 0 0
15624 0.64 249.5 299.5 12.2 1030 15628 0.00 2.35 0.00 0.000 4 0.000 0.082 3085 864 2007 0 0 0 0 0 0
15681 0.64 249.5 292.8 10.7 1035 15685 0.00 2.33 0.00 0.000 6 0.000 0.067 3085 2284 2006 0 0 0 0 0 0
16008 0.61 249.5 251.2 12.7 1065 16012 0.00 2.35 0.00 0.000 4 0.000 0.082 3085 3694 2006 0 0 0 0 0 0
16069 0.56 249.5 242.3 13.9 1070 16076 0.17 2.35 0.00 0.000 6 0.187 0.066 3051 2269 2006 0 0 0 0 0 0
16396 0.64 259.6 210.5 9.5 1101 16411 0.00 2.38 10.23 0.969 4 0.000 0.082 3058 861 1971 0 0 0 0 0 0
16464 0.78 292.8 204.2 8.5 1107 16503 0.17 2.30 32.70 1.043 6 0.092 0.066 3131 2276 1836 0 0 0 0 0 0
16822 0.71 292.8 148.3 15.7 1140 16827 0.15 2.35 0.00 0.000 4 0.184 0.081 3092 3687 1830 0 0 0 0 0 0
16885 0.71 292.8 139.7 11.9 1145 16889 0.00 2.33 0.00 0.000 6 0.000 0.067 3100 2271 1829 0 0 0 0 0 0
17216 0.76 304.5 105.3 9.5 1176 17232 0.00 2.35 11.02 0.929 4 0.000 0.080 3111 855 1787 0 0 0 0 0 0
17299 0.82 309.3 97.2 9.8 1184 17312 0.00 2.35 5.70 0.795 6 0.000 0.068 3111 2278 1769 0 0 0 0 0 0
17654 0.90 330.8 61.8 9.0 1246 17679 0.12 0.00 21.35 0.961 6 0.105 0.000 3164 2278 1680 0 0 0 0 0 0
18020 0.86 330.8 12.5 13.9 1310 18026 0.00 2.40 0.00 0.000 4 0.000 0.084 3174 864 1675 0 0 0 0 0 0
18077 0.88 330.8 5.8 10.3 1320 18084 0.00 2.35 0.00 0.000 6 0.000 0.073 3174 2272 1673 0 0 0 0 0 0
18090 end climb: FINISH_DEPTH_REACHED
state 18090 begin subsurface finish
18098 0.10 77.7 5.6 -3.5 1322 18158 0.88 2.42 -48.70 0.000 4 0.150 0.093 2902 869 2716 0 0 0 0 0 0
18158 end subsurface finish: CONTROL_FINISHED_OK
state 18159 begin surface