ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 770 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  221 HD_A  0.0042300001 ROLL_DEG  40 ALTIM_TOP_PING_RANGE  0
MISSION  7 HD_B  0.0085000005 C_ROLL_DIVE  2800 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  770 HD_C  1.6100001e-05 C_ROLL_CLIMB  2550 ALTIM_TOP_TURN_MARGIN  7
N_DIVES  0 HEADING  -1 HEAD_ERRBAND  10 ALTIM_TOP_MIN_OBSTACLE  1.8
STOP_T  0 ESCAPE_HEADING  0 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_TIMEOUT  30 ALTIM_PING_DELTA  6
D_FLARE  3 FIX_MISSING_TIMEOUT  1 R_PORT_OVSHOOT  40 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  22 ALTIM_PULSE  1
D_ABORT  1020 TGT_DEFAULT_LON  -12218 ROLL_AD_RATE  50 ALTIM_SENSITIVITY  4
D_NO_BLEED  500 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  0 XPDR_VALID  3
D_BOOST  110 SM_CC  399.91037 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
T_BOOST  0 N_FILEKB  8 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  280 FILEMGR  2 VBD_MIN  1900 INT_PRESSURE_YINT  0.80000001
D_PITCH  3 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_SAFE  500 COMM_SEQ  0 C_VBD  3492 MOTHERBOARD  4
D_CALL  2 PROTOCOL  9 VBD_DBAND  2 DEVICE1  -1
SURFACE_URGENCY  25 N_NOCOMM  0 VBD_CNV  -0.25119999 DEVICE2  -1
SURFACE_URGENCY_TRY  25 NOCOMM_ACTION  163 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_FORCE  50 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  350 UPLOAD_DIVES_MAX  5 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_MISSION  390 CALL_TRIES  3 VBD_PUMP_AD_RATE_SURFACE  1 DEVICE6  -1
T_ABORT  1440 CALL_WAIT  45 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERS  1
T_TURN  225 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  -5 CAPMAXSIZE  10000 UNCOM_BLEED  200 LOGGERDEVICE2  -1
T_NO_W  120 HEAPDBG  0 VBD_MAXERRORS  5 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS  3 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
T_EPIRB  0 N_GPS  100440 DBDW  0 COMPASS_DEVICE  97
EXEC_P  0 T_RSLEEP  120 LOITER_W_DBAND  1 COMPASS2_DEVICE  149
EXEC_DT  0 STROBE  0 LOITER_DBDW  200 PHONE_DEVICE  49
EXEC_T  0 RAFOS_PEAK_OFFSET  0 LOITER_D_NO_PUMP  500 GPS_DEVICE  64
EXEC_N  0 RAFOS_CORR_THRESH  60 LOITER_N_DIVE  0 RAFOS_DEVICE  32
USE_BATHY  0 RAFOS_HIT_WINDOW  3600 PITCH_W_GAIN  2 XPDR_DEVICE  24
USE_ICE  1 RAFOS_MMODEM  0 PITCH_W_DBAND  0.5 SIM_W  0
ICE_FREEZE_MARGIN  20 PITCH_MIN  200 CF8_MAXERRORS  20 SEABIRD_T_G  0.0044198656
D_OFFGRID  990 PITCH_MAX  3910 AH0_24V  350 SEABIRD_T_H  0.00064431952
T_WATCHDOG  10 C_PITCH  2775 AH0_10V  0 SEABIRD_T_I  2.6320724e-05
RELAUNCH  1 PITCH_DBAND  0.1 MINV_24V  0 SEABIRD_T_J  3.2746798e-06
APOGEE_PITCH  -5 PITCH_CNV  0.0031300001 MINV_10V  0 SEABIRD_C_G  -9.9022408
MAX_BUOY  110 P_OVSHOOT  0.039999999 MAXI_24V  2 SEABIRD_C_H  1.1403944
COURSE_BIAS  0 P_OVSHOOT_WITHG  0 MAXI_10V  2 SEABIRD_C_I  -0.0013212307
GLIDE_SLOPE  45 PITCH_GAIN  22 FG_AHR_10V  0 SEABIRD_C_J  0.00017705678
SPEED_FACTOR  1 PITCH_TIMEOUT  40 FG_AHR_24V  0 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_AD_RATE  20 PHONE_SUPPLY  -2 SC_PROFILE  3.0
MASS  53510 PITCH_MAXERRORS  1 PRESSURE_YINT  -160.68855 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  0.000108275 SC_NDIVE  1.0
NAV_MODE  0 PITCH_ADJ_DBAND  0 AD7714Ch0Gain  1
FERRY_MAX  45 ROLL_MIN  230 COMPASS_USE  4
KALMAN_USE  2 ROLL_MAX  3910 ALTIM_PING_FIT  883

Pre-dive calculations and measurements:
GPS1  010119,181424,-7422.9873,-11231.9268,0,4133.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS  0.094,0.239
_CALLS  1 TGT_NAME  insideC0
_XMS_NAKs  0 TGT_LATLONG  -7430.000,-11230.000
_XMS_TOUTs  0 TGT_RADIUS  1000.000
_SM_DEPTHo  360.90 MHEAD_RNG_PITCHd_Wd  122.3,13022,-19.3,-9.429,-21.50,1737
_SM_ANGLEo  5.1 D_GRID  990
GPS2  010119,181424,-7422.9873,-11231.9268,0,4133.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:
FINISH1  304.9,1.027374,6 _24V_AH  11.00,242.029
FINISH2  303.3 _10V_AH  11.44,0.000
RAFOS_CLK  567 FG_AHR_24Vo  0.000
RAFOS  0,1546376465,21.032354,21.018055,114,64,59,57,57,56,596,205,194,169,146,215 FG_AHR_10Vo  0.000
RAFOS_FIX  -7424.471680,-11231.721680,010119,212144,3,110,0.25 MEM  279756
IRIDIUM_FIX  -7410.06,-11230.52,311218,020608 DATA_FILE_SIZE  36642,1051
TT8_MAMPS  0.038199,0.468874 CAP_FILE_SIZE  129722,0
HUMID  51.89 CFSIZE  1024409600,928612352
INTERNAL_PRESSURE  7.92918 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  13.10 SOUNDSPEED  1455.1
XPDR_PINGS  0 GPS  010119,211544,-7424.472,-11231.722,0,4110.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING  312.5,14.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor426814.40 nil000.00
Roll_motor658964.81 nil000.00
VBD_pump_during_apogee28430979699.54 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1390991503.22
Iridium_during_xfer000.00 nil000.00
Transponder_ping47420218.29 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8000.00
LPSleep110932293.17
TT8_Active3671045.69
TT8_Sampling222430772.21
TT8_CF833251195.02
TT8_Kalman000.00
Analog_circuits111010128.28
GPS_charging000.00
Compass15046116.04
RAFOS720112.36
Transponder33730115.85

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R
386.5 31.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
597.6 13.80 9000.00 0.0 0.00 0.00 13.80 0.0 -0.08 1.00
383.2 89.50 9000.00 0.0 -0.22 0.48 89.50 0.0 -0.35 1.00
370.1 77.60 9000.00 0.0 -0.31 0.96 77.60 292.5 0.91 1.00
363.0 70.80 70.90 292.1 0.92 1.00 70.80 292.2 0.96 1.00
338.6 45.20 45.20 293.4 1.04 1.00 45.20 293.4 1.05 1.00
318.9 22.00 22.50 296.4 1.11 1.00 22.00 296.9 1.18 1.00
312.5 14.60 14.50 298.0 1.17 1.00 14.60 297.9 1.16 1.00

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
6 end surface: CONTROL_FINISHED_OK
state 6 begin dive
10 -1.01 -107.1 2784 2797 3521 3521 0.0 0.0 0 13 0.00 0.00 -1.77 0.051 16390 0.000 0.000 2783 2796 3935 3929 3942 0 0 0 0 0 0 14.73 12.66 14.64
16 -1.01 -107.1 2784 2797 3936 3953 0.0 0.0 0 23 1.10 2.40 0.00 0.000 4612 0.147 0.047 2451 1386 3946 3939 3953 0 0 0 0 0 0 14.09 14.28 14.23
99 -1.01 -107.1 2452 1386 3951 3959 366.5 -7.7 16 104 0.00 2.55 0.00 0.000 1030 0.000 0.064 2451 2812 3953 3948 3958 0 0 0 0 0 0 14.40 14.27 14.45
411 -1.01 -107.1 2451 2813 3953 3962 393.4 -8.7 48 416 0.00 2.00 0.00 0.000 260 0.000 0.087 2447 3915 3957 3953 3961 0 0 0 0 0 0 14.66 14.19 14.66
462 -1.01 -107.1 2447 3916 3953 3962 398.0 -9.5 58 466 0.00 1.92 0.00 0.000 1030 0.000 0.047 2447 2783 3957 3953 3961 0 0 0 0 0 0 14.45 14.38 14.48
773 -1.01 -107.1 2447 2783 3954 3963 424.9 -8.3 90 773 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2784 3958 3953 3963 0 0 0 0 0 0 14.76 14.76 14.76
1072 -1.01 -107.1 2448 2784 3955 3963 449.1 -7.4 120 1073 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2784 3958 3954 3963 0 0 0 0 0 0 14.76 14.76 14.76
1373 -1.01 -107.1 2448 2784 3955 3963 472.9 -7.8 150 1378 0.00 2.42 0.00 0.000 516 0.000 0.048 2447 1387 3958 3954 3963 0 0 0 0 0 0 14.76 14.22 14.76
1414 -1.01 -107.1 2447 1388 3954 3964 476.2 -8.0 158 1419 0.00 2.55 0.00 0.000 1030 0.000 0.065 2445 2803 3958 3954 3963 0 0 0 0 0 0 14.35 14.21 14.40
1725 -1.01 -107.1 2445 2803 3956 3964 501.1 -7.9 190 1726 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2803 3958 3954 3963 0 0 0 0 0 0 14.79 14.79 14.79
2025 -1.01 -107.1 2445 2804 3955 3964 525.2 -8.2 220 2025 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 2802 3959 3955 3963 0 0 0 0 0 0 14.79 14.79 14.79
2325 -1.01 -107.1 2445 2804 3955 3965 548.8 -7.7 250 2326 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2803 3959 3955 3963 0 0 0 0 0 0 14.79 14.79 14.79
2626 -1.01 -107.1 2445 2803 3956 3964 572.4 -8.0 280 2626 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2803 3959 3955 3963 0 0 0 0 0 0 14.60 14.60 14.60
2925 -1.01 -107.1 2445 2803 3956 3963 595.5 -7.5 310 2926 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 2803 3959 3955 3964 0 0 0 0 0 0 14.78 14.78 14.78
3225 -1.01 -107.1 2445 2804 3955 3965 617.9 -7.3 340 3226 0.00 0.00 0.00 0.000 38 0.000 0.000 2445 2803 3959 3955 3963 0 0 0 0 0 0 14.78 14.78 14.78
3525 -1.01 -107.1 2445 2803 3956 3963 639.9 -7.3 370 3530 0.00 2.50 0.00 0.000 548 0.000 0.047 2445 1388 3959 3955 3964 0 0 0 0 0 0 14.78 14.21 14.78
3576 -1.01 -107.1 2445 1389 3956 3965 643.7 -7.3 380 3581 0.00 2.58 0.00 0.000 1062 0.000 0.065 2444 2814 3959 3956 3963 0 0 0 0 0 0 14.31 14.16 14.35
3888 -1.01 -107.1 2443 2814 3956 3962 666.4 -7.4 412 3888 0.00 0.00 0.00 0.000 38 0.000 0.000 2443 2813 3959 3955 3964 0 0 0 0 0 0 14.80 14.80 14.80
4188 -1.01 -107.1 2443 2814 3957 3964 688.8 -7.5 442 4193 0.00 2.53 0.00 0.000 516 0.000 0.047 2443 1383 3959 3955 3964 0 0 0 0 0 0 14.59 14.19 14.60
4224 -1.01 -107.1 2443 1382 3957 3964 691.7 -7.7 449 4231 0.00 2.60 0.00 0.000 1030 0.000 0.065 2442 2817 3960 3956 3964 0 0 0 0 0 0 14.29 14.15 14.33
4551 -1.01 -107.1 2442 2818 3957 3965 715.7 -7.4 468 4551 0.00 0.00 0.00 0.000 38 0.000 0.000 2442 2818 3960 3956 3965 0 0 0 0 0 0 14.59 14.59 14.59
4910 -1.01 -107.1 2442 2819 3957 3966 741.7 -7.2 480 4915 0.00 2.53 0.00 0.000 548 0.000 0.047 2442 1387 3960 3956 3965 0 0 0 0 0 0 14.57 14.15 14.57
4956 -1.01 -107.1 2442 1387 3957 3966 745.1 -7.3 489 4962 0.00 2.58 0.00 0.000 1062 0.000 0.065 2442 2806 3960 3955 3965 0 0 0 0 0 0 14.17 14.07 14.21
5336 -1.01 -107.1 2442 2807 3958 3963 771.6 -7.0 504 5337 0.00 0.00 0.00 0.000 38 0.000 0.000 2442 2806 3961 3956 3966 0 0 0 0 0 0 14.71 14.71 14.71
5693 -1.01 -107.1 2442 2806 3957 3967 795.8 -6.8 516 5694 0.00 0.00 0.00 0.000 38 0.000 0.000 2441 2806 3961 3957 3966 0 0 0 0 0 0 14.73 14.77 14.73
6054 -1.01 -107.1 2442 2807 3957 3969 820.3 -6.9 528 6054 0.00 0.00 0.00 0.000 38 0.000 0.000 2441 2806 3962 3957 3967 0 0 0 0 0 0 14.73 14.73 14.73
6413 -1.01 -107.1 2441 2807 3958 3969 845.5 -7.0 540 6414 0.00 0.00 0.00 0.000 38 0.000 0.000 2442 2806 3961 3956 3967 0 0 0 0 0 0 14.73 14.73 14.73
6773 -1.01 -107.1 2441 2807 3959 3969 869.9 -6.6 552 6778 0.00 2.50 0.00 0.000 548 0.000 0.047 2440 1388 3963 3958 3968 0 0 0 0 0 0 14.73 14.12 14.73
6819 -1.01 -107.1 2442 1387 3960 3968 873.0 -5.0 561 6825 0.00 2.58 0.00 0.000 1062 0.000 0.065 2441 2802 3963 3959 3968 0 0 0 0 0 0 14.23 14.09 14.27
7201 -1.01 -107.1 2441 2803 3959 3970 898.4 -6.6 576 7206 0.00 2.05 0.00 0.000 292 0.000 0.089 2440 3912 3964 3959 3969 0 0 0 0 0 0 14.55 14.00 14.57
7247 -1.01 -107.1 2440 3913 3961 3970 901.5 -7.1 585 7252 0.00 1.92 0.00 0.000 1062 0.000 0.048 2440 2792 3964 3959 3969 0 0 0 0 0 0 14.31 14.24 14.34
7627 -1.01 -107.1 2441 2792 3961 3970 927.3 -6.7 600 7628 0.00 0.00 0.00 0.000 38 0.000 0.000 2440 2792 3965 3960 3970 0 0 0 0 0 0 14.57 14.57 14.57
7984 -1.01 -107.1 2440 2792 3962 3971 951.3 -6.6 612 7989 0.00 2.45 0.00 0.000 548 0.000 0.047 2440 1392 3965 3960 3970 0 0 0 0 0 0 14.55 14.11 14.55
8030 -1.01 -107.1 2440 1392 3962 3971 954.3 -8.2 621 8036 0.00 2.58 0.00 0.000 1030 0.000 0.066 2439 2805 3965 3960 3971 0 0 0 0 0 0 14.22 14.08 14.26
8410 -1.01 -107.1 2440 2805 3962 3974 978.8 -6.5 636 8411 0.00 0.00 0.00 0.000 38 0.000 0.000 2439 2805 3966 3960 3972 0 0 0 0 0 0 14.76 14.76 14.75
8584 end dive: TARGET_DEPTH_EXCEEDED
state 8584 begin apogee
8592 -0.23 0.0 2441 2539 3962 3972 990.5 -6.5 642 8738 0.98 0.00 140.52 3.097 10246 0.210 0.000 2697 2538 3494 3501 3487 0 0 0 0 0 0 13.77 12.84 11.61
8739 end apogee: CONTROL_FINISHED_OK
state 8739 begin climb
8742 1.01 107.1 2698 2538 3501 3486 992.1 0.0 647 8890 1.42 0.00 144.15 3.097 10246 0.111 0.000 3100 2538 3065 3080 3050 0 0 0 0 0 0 12.83 12.23 11.00
9250 1.01 107.1 3101 2538 3071 3039 925.3 14.7 664 9255 0.00 2.75 0.00 0.000 260 0.000 0.087 3101 3910 3054 3069 3039 0 0 0 0 0 0 13.52 13.18 13.52
9287 1.01 107.1 3102 3910 3070 3044 918.8 20.9 671 9292 0.00 2.53 0.00 0.000 1030 0.000 0.048 3112 2553 3054 3070 3039 0 0 0 0 0 0 13.44 13.39 13.47
9673 1.01 107.1 3112 2555 3069 3038 860.4 15.0 688 9674 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2553 3052 3068 3037 0 0 0 0 0 0 14.52 14.52 14.54
10036 1.01 107.1 3112 2554 3068 3037 806.4 14.7 700 10037 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2553 3051 3067 3036 0 0 0 0 0 0 14.72 14.72 14.72
10396 1.01 107.1 3112 2554 3068 3036 753.4 14.6 712 10401 0.00 2.53 0.00 0.000 260 0.000 0.090 3110 3920 3051 3067 3036 0 0 0 0 0 0 14.77 14.31 14.77
10417 1.01 107.1 3112 3920 3068 3035 749.8 15.3 716 10422 0.00 2.38 0.00 0.000 1030 0.000 0.050 3123 2536 3051 3067 3035 0 0 0 0 0 0 14.53 14.44 14.57
10788 1.01 107.1 3123 2536 3068 3035 694.4 15.2 732 10793 0.00 2.45 0.00 0.000 516 0.000 0.061 3133 1150 3048 3067 3030 0 0 0 0 0 0 14.78 14.31 14.78
10809 1.01 107.1 3133 1151 3067 3035 691.4 13.4 736 10815 0.15 2.50 0.00 0.000 5126 0.269 0.064 3099 2559 3051 3067 3035 0 0 0 0 0 0 14.06 14.35 14.40
11121 1.01 107.1 3100 2561 3068 3036 648.4 13.6 768 11122 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2560 3050 3066 3035 0 0 0 0 0 0 14.81 14.81 14.81
11421 1.01 107.1 3099 2561 3066 3036 608.2 13.3 798 11422 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2559 3050 3066 3034 0 0 0 0 0 0 14.81 14.81 14.81
11721 1.01 107.1 3100 2560 3068 3035 569.0 13.0 828 11722 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2559 3050 3066 3035 0 0 0 0 0 0 14.81 14.81 14.82
12021 1.01 107.1 3100 2561 3067 3036 530.0 12.8 858 12022 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2559 3050 3066 3034 0 0 0 0 0 0 14.81 14.81 14.81
12321 1.01 107.1 3100 2560 3068 3035 491.2 12.6 888 12322 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2560 3050 3066 3034 0 0 0 0 0 0 14.81 14.81 14.81
12621 1.01 107.1 3098 2557 3066 3036 453.6 12.7 918 12622 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2559 3050 3066 3034 0 0 0 0 0 0 14.81 14.81 14.81
12921 1.01 107.1 3099 2561 3067 3035 416.8 11.7 948 12922 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2560 3050 3066 3034 0 0 0 0 0 0 14.81 14.81 14.81
13221 1.01 107.1 3100 2559 3067 3028 382.0 11.7 978 13222 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2559 3050 3066 3034 0 0 0 0 0 0 14.81 14.81 14.81
13521 1.01 107.1 3100 2559 3067 3035 345.9 12.1 1008 13522 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2559 3050 3066 3034 0 0 0 0 0 0 14.81 14.81 14.81
13821 1.01 107.1 3100 2560 3067 3035 311.3 11.0 1038 13826 0.00 2.50 0.00 0.000 516 0.000 0.058 3110 1148 3050 3066 3034 0 0 0 0 0 0 14.80 14.20 14.81
13879 end climb: SURFACE_OBSTACLE_DETECTED
state 13879 begin subsurface finish
13889 0.01 6.4 3111 2556 3067 3035 304.9 10.8 1050 13895 1.23 0.00 -2.00 0.056 20998 0.240 0.000 2785 2555 3488 3490 3486 0 0 0 0 0 0 13.93 12.66 14.16
13895 end subsurface finish: CONTROL_FINISHED_OK
state 13895 begin surface