tations                                             Description   ----------------------------------------------------- ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------   $p_{K_{\theta}}^{lat}\left( F \middle| d \right)$     Probability density function of the force peak knowing the depth of the nodule *d* for a lateral sweep at stiffness *K*~*θ*~   $p_{K_{\theta}}^{long}\left( F \middle| d \right)$    Probability density function of the force peak knowing the depth of the nodule *d* for a lateral sweep at stiffness *K*~*θ*~   