the8x3_filename: 01940010 full_filename: mote-genie-2016-288-3-10 14859 55 01940010.mlg LOG FILE OPENED Megabytes used on CF file system = 448.281250 Megabytes available on CF file system = 1549.218750 14862 init_gps_input() 14862 behavior surface_10: SUBSTATE 7 ->10 : Waiting for final gps fix 14864 disabling Iridium console... 14876 57 sensor: m_gps_status = 1 enum 14876 sensor: m_gps_ignored_lat = 2716.4333 lat 14876 sensor: m_gps_ignored_lon = -8254.137 lon 14880 58 sensor: m_gps_status = 1 enum 14880 sensor: m_gps_ignored_lat = 2716.431 lat 14881 sensor: m_gps_ignored_lon = -8254.1363 lon 14885 60 sensor: m_gps_status = 1 enum 14885 sensor: m_gps_ignored_lat = 2716.4311 lat 14885 sensor: m_gps_ignored_lon = -8254.1367 lon 14890 60 sensor: m_gps_status = 1 enum 14890 sensor: m_gps_ignored_lat = 2716.4306 lat 14890 sensor: m_gps_ignored_lon = -8254.1368 lon 14895 62 sensor: m_gps_status = 1 enum 14895 sensor: m_gps_ignored_lat = 2716.4307 lat 14895 sensor: m_gps_ignored_lon = -8254.137 lon 14899 62 sensor: m_gps_lat = 2716.4304 lat 14899 sensor: m_gps_lon = -8254.1367 lon 14899 sensor: m_gps_status = 0 enum 14904 64 end_gps_input() 14904 behavior surface_10: SUBSTATE 10 ->12 : All done 14904 behavior surface_10: STATE Active -> UnInited 14909 64 behavior surface_10: Reading b_args from surfac53.ma 14909 behavior surface_10: start_when(enum)=13.000000 14909 behavior surface_10: when_utc_min(min)=0.000000 14909 behavior surface_10: when_utc_hour(hour)=19.000000 14909 behavior surface_10: when_utc_day(day)=-1.000000 14909 behavior surface_10: when_utc_month(month)=-1.000000 14909 behavior surface_10: report_all(bool)=0.000000 14909 behavior surface_10: end_action(enum)=1.000000 14909 behavior surface_10: gps_wait_time(s)=600.000000 14909 behavior surface_10: keystroke_wait_time(sec)=300.000000 14909 behavior surface_10: c_use_pitch(enum)=3.000000 14909 behavior surface_10: c_use_bpump(enum)=2.000000 14909 behavior surface_10: c_bpump_value(X)=1000.000000 14909 behavior surface_10: c_pitch_value(X)=0.452800 14909 behavior surface_10: printout_cycle_time(sec)=30.000000 14909 behavior surface_10: force_iridium_use(nodim)=1.000000 14909 behavior surface_10: STATE UnInited -> Waiting for Activation 14909 behavior surface_10: argument: args_from_file = 53.000000 enum 14909 behavior surface_10: argument: start_when = 13.000000 enum 14909 behavior surface_10: argument: when_secs = 1200.000000 sec 14909 behavior surface_10: argument: when_wpt_dist = 10.000000 m 14909 behavior surface_10: argument: end_action = 1.000000 enum 14909 behavior surface_10: argument: report_all = 0.000000 bool 14909 behavior surface_10: argument: gps_wait_time = 600.000000 sec 14909 behavior surface_10: argument: keystroke_wait_time = 300.000000 sec 14909 behavior surface_10: argument: end_wpt_dist = 0.000000 m 14909 behavior surface_10: argument: c_use_bpump = 2.000000 enum 14909 behavior surface_10: argument: c_bpump_value = 1000.000000 X 14909 behavior surface_10: argument: c_use_pitch = 3.000000 enum 14909 behavior surface_10: argument: c_pitch_value = 0.452800 X 14909 behavior surface_10: argument: c_stop_when_air_pump = 0.000000 bool 14909 behavior surface_10: argument: c_use_thruster = 0.000000 enum 14909 behavior surface_10: argument: c_thruster_value = 0.000000 X 14910 behavior surface_10: argument: printout_cycle_time = 30.000000 sec 14910 behavior surface_10: argument: gps_postfix_wait_time = 60.000000 sec 14910 behavior surface_10: argument: force_iridium_use = 1.000000 nodim 14910 behavior surface_10: argument: min_time_between_gps_fixes = 300.000000 sec 14910 behavior surface_10: argument: sensor_input_wait_time = 10.000000 sec 14910 behavior surface_10: argument: when_utc_min = 0.000000 min 14910 behavior surface_10: argument: when_utc_hour = 19.000000 hour 14910 behavior surface_10: argument: when_utc_day = -1.000000 day 14910 behavior surface_10: argument: when_utc_month = -1.000000 month 14910 behavior surface_10: argument: when_utc_on_surface = 1.000000 bool 14910 behavior surface_10: argument: strobe_on = 0.000000 bool 14910 behavior surface_10: argument: thruster_burst = 0.000000 bool 14914 66 behavior sample_18: SUBSTATE 4 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0626 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0228 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0768 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0569 C_FIN:0.0000 AB: Inflected early at Dive depth 15 [m] 15074 1 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 15074 behavior dive_to_1701: STATE Active -> Complete 15074 behavior climb_to_1702: STATE UnInited -> Active 15074 behavior climb_to_1702: argument: target_depth = 3.000000 m 15074 behavior climb_to_1702: argument: target_altitude = -1.000000 m 15074 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 15074 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 15074 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 15074 behavior climb_to_1702: argument: pitch_value = 0.453800 X 15074 behavior climb_to_1702: argument: start_when = 0.000000 enum 15074 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 15074 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 15074 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 15074 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 15074 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 15074 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 15074 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 15074 behavior climb_to_1702: argument: thruster_value = 0.000000 X 15074 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 15074 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 15074 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 15078 1 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 103, Climb: 113 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Got the timing down! Ratio of Climb/Dive times:1.097. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-175.00, Climb:175.00 15219 32 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 15219 behavior climb_to_1702: STATE Active -> Complete 15219 behavior dive_to_1701: STATE UnInited -> Active 15219 behavior dive_to_1701: argument: target_depth = 60.000000 m 15219 behavior dive_to_1701: argument: target_altitude = 3.000000 m 15219 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 15219 behavior dive_to_1701: argument: bpump_value = 350.000000 X 15219 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 15219 behavior dive_to_1701: argument: pitch_value = -0.452800 X 15219 behavior dive_to_1701: argument: start_when = 0.000000 enum 15219 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 15219 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 15219 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 15219 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 15219 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 15219 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 15219 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 15219 behavior dive_to_1701: argument: thruster_value = 0.000000 X 15219 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 15219 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 15219 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 15219 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 15219 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 15219 behavior dive_to_1701: argument: time_ratio = 1.100000 X 15219 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 15219 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 15219 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 15219 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 15219 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 15219 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 15219 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 15224 33 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 15 [m] 15342 60 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 15342 behavior dive_to_1701: STATE Active -> Complete 15342 behavior climb_to_1702: STATE UnInited -> Active 15342 behavior climb_to_1702: argument: target_depth = 3.000000 m 15342 behavior climb_to_1702: argument: target_altitude = -1.000000 m 15342 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 15342 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 15342 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 15342 behavior climb_to_1702: argument: pitch_value = 0.453800 X 15342 behavior climb_to_1702: argument: start_when = 0.000000 enum 15342 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 15342 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 15342 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 15342 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 15342 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 15342 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 15342 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 15342 behavior climb_to_1702: argument: thruster_value = 0.000000 X 15342 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 15342 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 15342 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 15347 60 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 90, Climb: 111 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.233 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 15482 91 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 15482 behavior climb_to_1702: STATE Active -> Complete 15482 behavior dive_to_1701: STATE UnInited -> Active 15482 behavior dive_to_1701: argument: target_depth = 60.000000 m 15482 behavior dive_to_1701: argument: target_altitude = 3.000000 m 15482 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 15482 behavior dive_to_1701: argument: bpump_value = 350.000000 X 15482 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 15482 behavior dive_to_1701: argument: pitch_value = -0.452800 X 15482 behavior dive_to_1701: argument: start_when = 0.000000 enum 15482 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 15482 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 15482 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 15482 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 15482 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 15482 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 15482 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 15482 behavior dive_to_1701: argument: thruster_value = 0.000000 X 15482 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 15482 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 15482 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 15482 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 15482 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 15482 behavior dive_to_1701: argument: time_ratio = 1.100000 X 15482 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 15482 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 15482 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 15482 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 15482 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 15482 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 15482 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 15486 92 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 15 [m] 15618 21 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 15618 behavior dive_to_1701: STATE Active -> Complete 15618 behavior climb_to_1702: STATE UnInited -> Active 15618 behavior climb_to_1702: argument: target_depth = 3.000000 m 15618 behavior climb_to_1702: argument: target_altitude = -1.000000 m 15618 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 15618 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 15618 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 15618 behavior climb_to_1702: argument: pitch_value = 0.453800 X 15618 behavior climb_to_1702: argument: start_when = 0.000000 enum 15618 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 15618 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 15618 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 15618 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 15619 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 15619 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 15619 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 15619 behavior climb_to_1702: argument: thruster_value = 0.000000 X 15619 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 15619 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 15619 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 15623 21 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 103, Climb: 112 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.087. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 15753 51 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 15753 behavior climb_to_1702: STATE Active -> Complete 15753 behavior dive_to_1701: STATE UnInited -> Active 15753 behavior dive_to_1701: argument: target_depth = 60.000000 m 15753 behavior dive_to_1701: argument: target_altitude = 3.000000 m 15753 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 15753 behavior dive_to_1701: argument: bpump_value = 350.000000 X 15753 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 15753 behavior dive_to_1701: argument: pitch_value = -0.452800 X 15753 behavior dive_to_1701: argument: start_when = 0.000000 enum 15753 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 15753 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 15753 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 15753 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 15753 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 15753 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 15753 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 15753 behavior dive_to_1701: argument: thruster_value = 0.000000 X 15753 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 15753 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 15753 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 15753 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 15753 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 15753 behavior dive_to_1701: argument: time_ratio = 1.100000 X 15753 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 15753 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 15753 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 15754 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 15754 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 15754 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 15754 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 15758 51 behavior sample_18: SUBSTATE 3 ->1 : Diving 15877 76 DRIVER_ODDITY:digifin:9049:xxx_ctrl() ran too long AB: Inflected early at Dive depth 15 [m] 15901 82 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 15901 behavior dive_to_1701: STATE Active -> Complete 15901 behavior climb_to_1702: STATE UnInited -> Active 15902 behavior climb_to_1702: argument: target_depth = 3.000000 m 15902 behavior climb_to_1702: argument: target_altitude = -1.000000 m 15902 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 15902 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 15902 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 15902 behavior climb_to_1702: argument: pitch_value = 0.453800 X 15902 behavior climb_to_1702: argument: start_when = 0.000000 enum 15902 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 15902 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 15902 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 15902 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 15902 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 15902 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 15902 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 15902 behavior climb_to_1702: argument: thruster_value = 0.000000 X 15902 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 15902 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 15902 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 15906 82 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 110, Climb: 85 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 1.294118 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 16014 7 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 16014 behavior climb_to_1702: STATE Active -> Complete 16014 behavior dive_to_1701: STATE UnInited -> Active 16015 behavior dive_to_1701: argument: target_depth = 60.000000 m 16015 behavior dive_to_1701: argument: target_altitude = 3.000000 m 16015 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 16015 behavior dive_to_1701: argument: bpump_value = 350.000000 X 16015 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 16015 behavior dive_to_1701: argument: pitch_value = -0.452800 X 16015 behavior dive_to_1701: argument: start_when = 0.000000 enum 16015 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 16015 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 16015 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 16015 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 16015 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 16015 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 16015 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 16015 behavior dive_to_1701: argument: thruster_value = 0.000000 X 16015 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 16015 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 16015 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 16015 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 16015 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 16015 behavior dive_to_1701: argument: time_ratio = 1.100000 X 16015 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 16015 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 16015 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 16015 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 16015 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 16015 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 16015 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 16019 7 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 15 [m] 16151 37 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 16151 behavior dive_to_1701: STATE Active -> Complete 16151 behavior climb_to_1702: STATE UnInited -> Active 16151 behavior climb_to_1702: argument: target_depth = 3.000000 m 16151 behavior climb_to_1702: argument: target_altitude = -1.000000 m 16151 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 16151 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 16151 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 16151 behavior climb_to_1702: argument: pitch_value = 0.453800 X 16151 behavior climb_to_1702: argument: start_when = 0.000000 enum 16151 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 16151 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 16151 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 16151 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 16151 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 16151 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 16151 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 16151 behavior climb_to_1702: argument: thruster_value = 0.000000 X 16151 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 16151 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 16151 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 16155 37 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 98, Climb: 116 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.184 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 16295 69 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 16295 behavior climb_to_1702: STATE Active -> Complete 16295 behavior dive_to_1701: STATE UnInited -> Active 16295 behavior dive_to_1701: argument: target_depth = 60.000000 m 16295 behavior dive_to_1701: argument: target_altitude = 3.000000 m 16295 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 16295 behavior dive_to_1701: argument: bpump_value = 350.000000 X 16295 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 16295 behavior dive_to_1701: argument: pitch_value = -0.452800 X 16295 behavior dive_to_1701: argument: start_when = 0.000000 enum 16295 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 16295 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 16295 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 16295 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 16295 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 16295 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 16295 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 16295 behavior dive_to_1701: argument: thruster_value = 0.000000 X 16295 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 16295 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 16295 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 16295 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 16295 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 16295 behavior dive_to_1701: argument: time_ratio = 1.100000 X 16295 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 16295 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 16295 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 16295 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 16295 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 16295 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 16295 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 16300 69 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 15 [m] 16445 2 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 16445 behavior dive_to_1701: STATE Active -> Complete 16445 behavior climb_to_1702: STATE UnInited -> Active 16445 behavior climb_to_1702: argument: target_depth = 3.000000 m 16445 behavior climb_to_1702: argument: target_altitude = -1.000000 m 16445 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 16445 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 16445 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 16445 behavior climb_to_1702: argument: pitch_value = 0.453800 X 16445 behavior climb_to_1702: argument: start_when = 0.000000 enum 16445 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 16445 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 16445 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 16445 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 16445 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 16445 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 16445 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 16445 behavior climb_to_1702: argument: thruster_value = 0.000000 X 16445 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 16445 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 16445 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 16450 3 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 112, Climb: 102 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:0.911. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 16571 29 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 16571 behavior climb_to_1702: STATE Active -> Complete 16571 behavior dive_to_1701: STATE UnInited -> Active 16571 behavior dive_to_1701: argument: target_depth = 60.000000 m 16571 behavior dive_to_1701: argument: target_altitude = 3.000000 m 16571 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 16571 behavior dive_to_1701: argument: bpump_value = 350.000000 X 16571 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 16571 behavior dive_to_1701: argument: pitch_value = -0.452800 X 16571 behavior dive_to_1701: argument: start_when = 0.000000 enum 16571 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 16571 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 16571 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 16571 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 16571 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 16571 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 16571 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 16571 behavior dive_to_1701: argument: thruster_value = 0.000000 X 16571 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 16571 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 16571 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 16571 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 16571 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 16571 behavior dive_to_1701: argument: time_ratio = 1.100000 X 16571 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 16571 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 16571 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 16571 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 16571 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 16571 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 16571 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 16576 31 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 15 [m] 16725 64 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 16725 behavior dive_to_1701: STATE Active -> Complete 16725 behavior climb_to_1702: STATE UnInited -> Active 16725 behavior climb_to_1702: argument: target_depth = 3.000000 m 16725 behavior climb_to_1702: argument: target_altitude = -1.000000 m 16725 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 16725 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 16725 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 16725 behavior climb_to_1702: argument: pitch_value = 0.453800 X 16725 behavior climb_to_1702: argument: start_when = 0.000000 enum 16725 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 16725 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 16725 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 16725 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 16725 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 16725 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 16725 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 16725 behavior climb_to_1702: argument: thruster_value = 0.000000 X 16726 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 16726 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 16726 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 16730 64 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 116, Climb: 103 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 1.126214 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 16852 92 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 16852 behavior climb_to_1702: STATE Active -> Complete 16852 behavior dive_to_1701: STATE UnInited -> Active 16852 behavior dive_to_1701: argument: target_depth = 60.000000 m 16852 behavior dive_to_1701: argument: target_altitude = 3.000000 m 16852 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 16852 behavior dive_to_1701: argument: bpump_value = 350.000000 X 16852 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 16852 behavior dive_to_1701: argument: pitch_value = -0.452800 X 16852 behavior dive_to_1701: argument: start_when = 0.000000 enum 16852 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 16852 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 16852 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 16852 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 16852 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 16852 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 16852 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 16852 behavior dive_to_1701: argument: thruster_value = 0.000000 X 16852 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 16852 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 16852 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 16852 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 16852 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 16852 behavior dive_to_1701: argument: time_ratio = 1.100000 X 16852 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 16852 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 16852 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 16852 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 16852 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 16852 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 16852 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 16856 92 behavior sample_18: SUBSTATE 3 ->1 : Diving 16962 15 db(#/min/mn/max/sd) pitch_motor 1800 -0.098 0.003 0.099 0.041 in 16962 db(#/min/mn/max/sd) pitch_motor 1800 -45 2 45 19 mV AB: Inflected early at Dive depth 15 [m] 16989 21 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 16989 behavior dive_to_1701: STATE Active -> Complete 16989 behavior climb_to_1702: STATE UnInited -> Active 16989 behavior climb_to_1702: argument: target_depth = 3.000000 m 16989 behavior climb_to_1702: argument: target_altitude = -1.000000 m 16989 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 16989 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 16989 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 16989 behavior climb_to_1702: argument: pitch_value = 0.453800 X 16989 behavior climb_to_1702: argument: start_when = 0.000000 enum 16989 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 16989 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 16989 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 16989 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 16989 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 16989 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 16989 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 16989 behavior climb_to_1702: argument: thruster_value = 0.000000 X 16989 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 16989 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 16989 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 16993 22 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 94, Climb: 116 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.234 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 17133 53 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 17133 behavior climb_to_1702: STATE Active -> Complete 17133 behavior dive_to_1701: STATE UnInited -> Active 17133 behavior dive_to_1701: argument: target_depth = 60.000000 m 17133 behavior dive_to_1701: argument: target_altitude = 3.000000 m 17133 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 17133 behavior dive_to_1701: argument: bpump_value = 350.000000 X 17133 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 17133 behavior dive_to_1701: argument: pitch_value = -0.452800 X 17133 behavior dive_to_1701: argument: start_when = 0.000000 enum 17133 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 17133 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 17133 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 17133 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 17133 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 17133 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 17133 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 17133 behavior dive_to_1701: argument: thruster_value = 0.000000 X 17133 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 17133 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 17133 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 17133 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 17133 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 17133 behavior dive_to_1701: argument: time_ratio = 1.100000 X 17134 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 17134 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 17134 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 17134 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 17134 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 17134 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 17134 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 17138 54 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 15 [m] 17274 85 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 17274 behavior dive_to_1701: STATE Active -> Complete 17274 behavior climb_to_1702: STATE UnInited -> Active 17274 behavior climb_to_1702: argument: target_depth = 3.000000 m 17274 behavior climb_to_1702: argument: target_altitude = -1.000000 m 17274 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 17274 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 17274 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 17274 behavior climb_to_1702: argument: pitch_value = 0.453800 X 17274 behavior climb_to_1702: argument: start_when = 0.000000 enum 17274 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 17274 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 17274 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 17274 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 17274 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 17274 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 17274 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 17274 behavior climb_to_1702: argument: thruster_value = 0.000000 X 17274 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 17274 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 17274 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 17278 85 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 103, Climb: 107 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.039. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 17404 14 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 17404 behavior climb_to_1702: STATE Active -> Complete 17404 behavior dive_to_1701: STATE UnInited -> Active 17404 behavior dive_to_1701: argument: target_depth = 60.000000 m 17404 behavior dive_to_1701: argument: target_altitude = 3.000000 m 17404 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 17404 behavior dive_to_1701: argument: bpump_value = 350.000000 X 17404 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 17404 behavior dive_to_1701: argument: pitch_value = -0.452800 X 17404 behavior dive_to_1701: argument: start_when = 0.000000 enum 17404 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 17404 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 17404 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 17404 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 17404 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 17404 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 17404 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 17404 behavior dive_to_1701: argument: thruster_value = 0.000000 X 17404 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 17404 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 17404 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 17404 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 17404 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 17404 behavior dive_to_1701: argument: time_ratio = 1.100000 X 17404 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 17404 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 17404 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 17404 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 17404 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 17404 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 17405 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 17409 14 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 17554 46 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 17554 behavior dive_to_1701: STATE Active -> Complete 17554 behavior climb_to_1702: STATE UnInited -> Active 17554 behavior climb_to_1702: argument: target_depth = 3.000000 m 17554 behavior climb_to_1702: argument: target_altitude = -1.000000 m 17554 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 17554 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 17554 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 17554 behavior climb_to_1702: argument: pitch_value = 0.453800 X 17554 behavior climb_to_1702: argument: start_when = 0.000000 enum 17554 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 17554 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 17554 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 17554 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 17554 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 17554 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 17554 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 17554 behavior climb_to_1702: argument: thruster_value = 0.000000 X 17554 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 17554 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 17554 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 17559 47 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 117, Climb: 99 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 1.181818 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 17677 74 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 17677 behavior climb_to_1702: STATE Active -> Complete 17677 behavior dive_to_1701: STATE UnInited -> Active 17677 behavior dive_to_1701: argument: target_depth = 60.000000 m 17677 behavior dive_to_1701: argument: target_altitude = 3.000000 m 17678 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 17678 behavior dive_to_1701: argument: bpump_value = 350.000000 X 17678 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 17678 behavior dive_to_1701: argument: pitch_value = -0.452800 X 17678 behavior dive_to_1701: argument: start_when = 0.000000 enum 17678 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 17678 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 17678 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 17678 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 17678 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 17678 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 17678 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 17678 behavior dive_to_1701: argument: thruster_value = 0.000000 X 17678 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 17678 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 17678 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 17678 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 17678 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 17678 behavior dive_to_1701: argument: time_ratio = 1.100000 X 17678 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 17678 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 17678 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 17678 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 17678 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 17678 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 17678 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 17682 75 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 17823 6 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 17823 behavior dive_to_1701: STATE Active -> Complete 17823 behavior climb_to_1702: STATE UnInited -> Active 17823 behavior climb_to_1702: argument: target_depth = 3.000000 m 17823 behavior climb_to_1702: argument: target_altitude = -1.000000 m 17823 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 17823 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 17823 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 17823 behavior climb_to_1702: argument: pitch_value = 0.453800 X 17823 behavior climb_to_1702: argument: start_when = 0.000000 enum 17823 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 17823 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 17823 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 17823 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 17823 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 17823 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 17823 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 17823 behavior climb_to_1702: argument: thruster_value = 0.000000 X 17823 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 17823 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 17823 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 17827 7 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 107, Climb: 131 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.224 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 17986 42 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 17986 behavior climb_to_1702: STATE Active -> Complete 17986 behavior dive_to_1701: STATE UnInited -> Active 17986 behavior dive_to_1701: argument: target_depth = 60.000000 m 17986 behavior dive_to_1701: argument: target_altitude = 3.000000 m 17986 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 17986 behavior dive_to_1701: argument: bpump_value = 350.000000 X 17986 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 17986 behavior dive_to_1701: argument: pitch_value = -0.452800 X 17986 behavior dive_to_1701: argument: start_when = 0.000000 enum 17986 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 17986 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 17986 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 17986 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 17986 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 17986 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 17986 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 17986 behavior dive_to_1701: argument: thruster_value = 0.000000 X 17986 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 17986 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 17986 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 17986 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 17986 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 17986 behavior dive_to_1701: argument: time_ratio = 1.100000 X 17986 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 17986 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 17986 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 17986 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 17986 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 17986 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 17986 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 17991 42 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 18144 77 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 18145 behavior dive_to_1701: STATE Active -> Complete 18145 behavior climb_to_1702: STATE UnInited -> Active 18145 behavior climb_to_1702: argument: target_depth = 3.000000 m 18145 behavior climb_to_1702: argument: target_altitude = -1.000000 m 18145 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 18145 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 18145 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 18145 behavior climb_to_1702: argument: pitch_value = 0.453800 X 18145 behavior climb_to_1702: argument: start_when = 0.000000 enum 18145 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 18145 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 18145 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 18145 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 18145 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 18145 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 18145 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 18145 behavior climb_to_1702: argument: thruster_value = 0.000000 X 18145 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 18145 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 18145 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 18149 78 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 121, Climb: 121 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.000. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 18289 9 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 18289 behavior climb_to_1702: STATE Active -> Complete 18289 behavior dive_to_1701: STATE UnInited -> Active 18289 behavior dive_to_1701: argument: target_depth = 60.000000 m 18289 behavior dive_to_1701: argument: target_altitude = 3.000000 m 18289 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 18289 behavior dive_to_1701: argument: bpump_value = 350.000000 X 18289 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 18289 behavior dive_to_1701: argument: pitch_value = -0.452800 X 18289 behavior dive_to_1701: argument: start_when = 0.000000 enum 18289 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 18289 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 18289 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 18289 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 18290 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 18290 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 18290 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 18290 behavior dive_to_1701: argument: thruster_value = 0.000000 X 18290 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 18290 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 18290 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 18290 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 18290 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 18290 behavior dive_to_1701: argument: time_ratio = 1.100000 X 18290 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 18290 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 18290 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 18290 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 18290 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 18290 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 18290 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 18294 10 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 18444 42 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 18444 behavior dive_to_1701: STATE Active -> Complete 18444 behavior climb_to_1702: STATE UnInited -> Active 18444 behavior climb_to_1702: argument: target_depth = 3.000000 m 18444 behavior climb_to_1702: argument: target_altitude = -1.000000 m 18444 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 18444 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 18444 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 18444 behavior climb_to_1702: argument: pitch_value = 0.453800 X 18444 behavior climb_to_1702: argument: start_when = 0.000000 enum 18444 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 18444 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 18444 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 18444 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 18444 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 18444 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 18444 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 18444 behavior climb_to_1702: argument: thruster_value = 0.000000 X 18444 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 18444 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 18444 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 18448 43 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 117, Climb: 85 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 1.376471 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 18557 67 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 18557 behavior climb_to_1702: STATE Active -> Complete 18557 behavior dive_to_1701: STATE UnInited -> Active 18557 behavior dive_to_1701: argument: target_depth = 60.000000 m 18557 behavior dive_to_1701: argument: target_altitude = 3.000000 m 18557 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 18557 behavior dive_to_1701: argument: bpump_value = 350.000000 X 18557 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 18557 behavior dive_to_1701: argument: pitch_value = -0.452800 X 18557 behavior dive_to_1701: argument: start_when = 0.000000 enum 18557 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 18557 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 18557 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 18557 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 18557 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 18557 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 18557 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 18557 behavior dive_to_1701: argument: thruster_value = 0.000000 X 18557 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 18557 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 18557 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 18557 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 18557 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 18557 behavior dive_to_1701: argument: time_ratio = 1.100000 X 18557 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 18557 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 18557 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 18557 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 18557 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 18557 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 18557 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 18561 68 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 18702 0 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 18702 behavior dive_to_1701: STATE Active -> Complete 18702 behavior climb_to_1702: STATE UnInited -> Active 18702 behavior climb_to_1702: argument: target_depth = 3.000000 m 18702 behavior climb_to_1702: argument: target_altitude = -1.000000 m 18702 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 18703 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 18703 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 18703 behavior climb_to_1702: argument: pitch_value = 0.453800 X 18703 behavior climb_to_1702: argument: start_when = 0.000000 enum 18703 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 18703 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 18703 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 18703 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 18703 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 18703 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 18703 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 18703 behavior climb_to_1702: argument: thruster_value = 0.000000 X 18703 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 18703 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 18703 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 18707 0 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 98, Climb: 116 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.184 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 18851 32 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 18851 behavior climb_to_1702: STATE Active -> Complete 18851 behavior dive_to_1701: STATE UnInited -> Active 18851 behavior dive_to_1701: argument: target_depth = 60.000000 m 18851 behavior dive_to_1701: argument: target_altitude = 3.000000 m 18851 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 18851 behavior dive_to_1701: argument: bpump_value = 350.000000 X 18851 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 18851 behavior dive_to_1701: argument: pitch_value = -0.452800 X 18851 behavior dive_to_1701: argument: start_when = 0.000000 enum 18851 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 18851 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 18851 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 18851 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 18851 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 18851 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 18851 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 18851 behavior dive_to_1701: argument: thruster_value = 0.000000 X 18851 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 18851 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 18851 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 18851 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 18851 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 18851 behavior dive_to_1701: argument: time_ratio = 1.100000 X 18851 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 18851 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 18851 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 18851 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 18851 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 18851 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 18851 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 18856 34 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 19015 68 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 19015 behavior dive_to_1701: STATE Active -> Complete 19015 behavior climb_to_1702: STATE UnInited -> Active 19015 behavior climb_to_1702: argument: target_depth = 3.000000 m 19015 behavior climb_to_1702: argument: target_altitude = -1.000000 m 19015 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 19015 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 19015 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 19015 behavior climb_to_1702: argument: pitch_value = 0.453800 X 19015 behavior climb_to_1702: argument: start_when = 0.000000 enum 19015 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 19015 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 19015 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 19015 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 19015 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 19015 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 19015 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 19015 behavior climb_to_1702: argument: thruster_value = 0.000000 X 19015 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 19015 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 19015 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 19019 70 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 116, Climb: 90 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 1.288889 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 19132 95 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 19132 behavior climb_to_1702: STATE Active -> Complete 19132 behavior dive_to_1701: STATE UnInited -> Active 19132 behavior dive_to_1701: argument: target_depth = 60.000000 m 19132 behavior dive_to_1701: argument: target_altitude = 3.000000 m 19132 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 19132 behavior dive_to_1701: argument: bpump_value = 350.000000 X 19132 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 19132 behavior dive_to_1701: argument: pitch_value = -0.452800 X 19132 behavior dive_to_1701: argument: start_when = 0.000000 enum 19132 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 19132 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 19133 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 19133 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 19133 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 19133 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 19133 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 19133 behavior dive_to_1701: argument: thruster_value = 0.000000 X 19133 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 19133 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 19133 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 19133 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 19133 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 19133 behavior dive_to_1701: argument: time_ratio = 1.100000 X 19133 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 19133 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 19133 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 19133 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 19133 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 19133 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 19133 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 19137 96 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 19273 25 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 19273 behavior dive_to_1701: STATE Active -> Complete 19273 behavior climb_to_1702: STATE UnInited -> Active 19273 behavior climb_to_1702: argument: target_depth = 3.000000 m 19273 behavior climb_to_1702: argument: target_altitude = -1.000000 m 19273 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 19273 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 19273 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 19273 behavior climb_to_1702: argument: pitch_value = 0.453800 X 19273 behavior climb_to_1702: argument: start_when = 0.000000 enum 19273 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 19273 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 19273 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 19273 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 19273 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 19273 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 19273 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 19273 behavior climb_to_1702: argument: thruster_value = 0.000000 X 19273 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 19273 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 19274 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 19278 27 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 107, Climb: 121 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.131 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 19422 59 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 19422 behavior climb_to_1702: STATE Active -> Complete 19422 behavior dive_to_1701: STATE UnInited -> Active 19422 behavior dive_to_1701: argument: target_depth = 60.000000 m 19422 behavior dive_to_1701: argument: target_altitude = 3.000000 m 19422 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 19422 behavior dive_to_1701: argument: bpump_value = 350.000000 X 19422 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 19422 behavior dive_to_1701: argument: pitch_value = -0.452800 X 19422 behavior dive_to_1701: argument: start_when = 0.000000 enum 19422 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 19422 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 19422 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 19422 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 19422 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 19422 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 19422 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 19422 behavior dive_to_1701: argument: thruster_value = 0.000000 X 19422 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 19422 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 19422 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 19422 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 19422 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 19422 behavior dive_to_1701: argument: time_ratio = 1.100000 X 19422 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 19422 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 19422 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 19422 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 19422 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 19422 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 19422 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 19426 60 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 19576 92 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 19576 behavior dive_to_1701: STATE Active -> Complete 19576 behavior climb_to_1702: STATE UnInited -> Active 19576 behavior climb_to_1702: argument: target_depth = 3.000000 m 19576 behavior climb_to_1702: argument: target_altitude = -1.000000 m 19576 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 19576 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 19576 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 19576 behavior climb_to_1702: argument: pitch_value = 0.453800 X 19576 behavior climb_to_1702: argument: start_when = 0.000000 enum 19576 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 19576 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 19576 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 19576 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 19576 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 19576 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 19576 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 19576 behavior climb_to_1702: argument: thruster_value = 0.000000 X 19576 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 19576 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 19576 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 19581 93 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 111, Climb: 107 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:0.964. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 19711 22 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 19711 behavior climb_to_1702: STATE Active -> Complete 19711 behavior dive_to_1701: STATE UnInited -> Active 19711 behavior dive_to_1701: argument: target_depth = 60.000000 m 19711 behavior dive_to_1701: argument: target_altitude = 3.000000 m 19711 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 19711 behavior dive_to_1701: argument: bpump_value = 350.000000 X 19711 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 19711 behavior dive_to_1701: argument: pitch_value = -0.452800 X 19711 behavior dive_to_1701: argument: start_when = 0.000000 enum 19711 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 19711 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 19711 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 19711 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 19711 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 19711 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 19711 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 19711 behavior dive_to_1701: argument: thruster_value = 0.000000 X 19711 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 19711 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 19711 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 19711 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 19711 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 19711 behavior dive_to_1701: argument: time_ratio = 1.100000 X 19711 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 19711 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 19711 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 19711 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 19711 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 19711 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 19711 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 19715 24 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 19856 54 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 19856 behavior dive_to_1701: STATE Active -> Complete 19856 behavior climb_to_1702: STATE UnInited -> Active 19856 behavior climb_to_1702: argument: target_depth = 3.000000 m 19856 behavior climb_to_1702: argument: target_altitude = -1.000000 m 19856 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 19856 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 19856 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 19856 behavior climb_to_1702: argument: pitch_value = 0.453800 X 19856 behavior climb_to_1702: argument: start_when = 0.000000 enum 19856 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 19856 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 19856 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 19856 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 19856 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 19856 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 19857 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 19857 behavior climb_to_1702: argument: thruster_value = 0.000000 X 19857 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 19857 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 19857 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 19861 56 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 98, Climb: 98 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.000. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 19983 82 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 19983 behavior climb_to_1702: STATE Active -> Complete 19983 behavior dive_to_1701: STATE UnInited -> Active 19983 behavior dive_to_1701: argument: target_depth = 60.000000 m 19983 behavior dive_to_1701: argument: target_altitude = 3.000000 m 19983 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 19983 behavior dive_to_1701: argument: bpump_value = 350.000000 X 19983 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 19983 behavior dive_to_1701: argument: pitch_value = -0.452800 X 19983 behavior dive_to_1701: argument: start_when = 0.000000 enum 19983 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 19983 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 19983 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 19983 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 19983 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 19983 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 19983 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 19983 behavior dive_to_1701: argument: thruster_value = 0.000000 X 19983 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 19983 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 19983 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 19983 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 19983 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 19983 behavior dive_to_1701: argument: time_ratio = 1.100000 X 19983 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 19983 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 19983 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 19983 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 19983 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 19983 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 19983 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 19987 84 behavior sample_18: SUBSTATE 3 ->1 : Diving 20126 14 db(#/min/mn/max/sd) buoyancy_pump 1800 -1.742 -0.042 1.354 0.903 cc 20126 db(#/min/mn/max/sd) buoyancy_pump 1800 -4 0 3 2 mV AB: Inflected early at Dive depth 16 [m] 20134 15 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 20134 behavior dive_to_1701: STATE Active -> Complete 20134 behavior climb_to_1702: STATE UnInited -> Active 20134 behavior climb_to_1702: argument: target_depth = 3.000000 m 20134 behavior climb_to_1702: argument: target_altitude = -1.000000 m 20134 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 20134 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 20134 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 20134 behavior climb_to_1702: argument: pitch_value = 0.453800 X 20134 behavior climb_to_1702: argument: start_when = 0.000000 enum 20134 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 20134 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 20134 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 20134 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 20134 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 20134 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 20134 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 20134 behavior climb_to_1702: argument: thruster_value = 0.000000 X 20134 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 20134 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 20134 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 20138 17 behavior sample_18: SUBSTATE 1 ->3 : Climbing 20172 21 DRIVER_ODDITY:digifin:11053:xxx_ctrl() ran too long AB: Time to Dive: 108, Climb: 125 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.157 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 20286 47 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 20286 behavior climb_to_1702: STATE Active -> Complete 20286 behavior dive_to_1701: STATE UnInited -> Active 20286 behavior dive_to_1701: argument: target_depth = 60.000000 m 20286 behavior dive_to_1701: argument: target_altitude = 3.000000 m 20286 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 20286 behavior dive_to_1701: argument: bpump_value = 350.000000 X 20286 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 20286 behavior dive_to_1701: argument: pitch_value = -0.452800 X 20286 behavior dive_to_1701: argument: start_when = 0.000000 enum 20286 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 20286 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 20286 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 20287 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 20287 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 20287 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 20287 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 20287 behavior dive_to_1701: argument: thruster_value = 0.000000 X 20287 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 20287 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 20287 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 20287 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 20287 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 20287 behavior dive_to_1701: argument: time_ratio = 1.100000 X 20287 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 20287 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 20287 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 20287 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 20287 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 20287 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 20287 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 20291 49 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 20473 89 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 20473 behavior dive_to_1701: STATE Active -> Complete 20473 behavior climb_to_1702: STATE UnInited -> Active 20473 behavior climb_to_1702: argument: target_depth = 3.000000 m 20473 behavior climb_to_1702: argument: target_altitude = -1.000000 m 20473 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 20473 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 20473 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 20473 behavior climb_to_1702: argument: pitch_value = 0.453800 X 20473 behavior climb_to_1702: argument: start_when = 0.000000 enum 20473 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 20473 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 20473 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 20473 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 20473 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 20473 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 20473 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 20474 behavior climb_to_1702: argument: thruster_value = 0.000000 X 20474 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 20474 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 20474 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 20478 89 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 112 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.276786 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 20608 18 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 20608 behavior climb_to_1702: STATE Active -> Complete 20608 behavior dive_to_1701: STATE UnInited -> Active 20608 behavior dive_to_1701: argument: target_depth = 60.000000 m 20608 behavior dive_to_1701: argument: target_altitude = 3.000000 m 20608 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 20608 behavior dive_to_1701: argument: bpump_value = 350.000000 X 20608 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 20608 behavior dive_to_1701: argument: pitch_value = -0.452800 X 20608 behavior dive_to_1701: argument: start_when = 0.000000 enum 20609 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 20609 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 20609 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 20609 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 20609 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 20609 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 20609 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 20609 behavior dive_to_1701: argument: thruster_value = 0.000000 X 20609 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 20609 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 20609 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 20609 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 20609 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 20609 behavior dive_to_1701: argument: time_ratio = 1.100000 X 20609 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 20609 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 20609 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 20609 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 20609 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 20609 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 20609 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 20613 20 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 20758 52 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 20758 behavior dive_to_1701: STATE Active -> Complete 20758 behavior climb_to_1702: STATE UnInited -> Active 20758 behavior climb_to_1702: argument: target_depth = 3.000000 m 20758 behavior climb_to_1702: argument: target_altitude = -1.000000 m 20758 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 20758 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 20758 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 20758 behavior climb_to_1702: argument: pitch_value = 0.453800 X 20758 behavior climb_to_1702: argument: start_when = 0.000000 enum 20758 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 20758 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 20758 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 20758 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 20758 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 20758 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 20758 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 20758 behavior climb_to_1702: argument: thruster_value = 0.000000 X 20758 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 20758 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 20758 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 20762 53 behavior sample_18: SUBSTATE 1 ->3 : Climbing 20785 57 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:0.0378 C_su:0.1396 :OOD: delta:0.1018 limit:0.1000 over:0.0018 20786 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Time to Dive: 116, Climb: 120 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.034. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 20902 84 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 20902 behavior climb_to_1702: STATE Active -> Complete 20902 behavior dive_to_1701: STATE UnInited -> Active 20902 behavior dive_to_1701: argument: target_depth = 60.000000 m 20902 behavior dive_to_1701: argument: target_altitude = 3.000000 m 20902 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 20902 behavior dive_to_1701: argument: bpump_value = 350.000000 X 20902 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 20902 behavior dive_to_1701: argument: pitch_value = -0.452800 X 20902 behavior dive_to_1701: argument: start_when = 0.000000 enum 20902 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 20902 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 20902 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 20902 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 20902 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 20902 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 20902 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 20902 behavior dive_to_1701: argument: thruster_value = 0.000000 X 20902 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 20902 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 20902 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 20902 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 20902 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 20902 behavior dive_to_1701: argument: time_ratio = 1.100000 X 20902 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 20902 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 20902 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 20902 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 20902 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 20902 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 20902 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 20906 85 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.4257 C_FIN:0.4500 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.4291 C_FIN:0.4500 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.4268 C_FIN:0.4500 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.4291 C_FIN:0.4500 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.4268 C_FIN:0.4500 AB: Inflected early at Dive depth 19 [m] 21331 78 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, WE GOT STUCK not moving vertically 21331 behavior dive_to_1701: STATE Active -> Complete 21331 behavior climb_to_1702: STATE UnInited -> Active 21331 behavior climb_to_1702: argument: target_depth = 3.000000 m 21331 behavior climb_to_1702: argument: target_altitude = -1.000000 m 21331 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 21331 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 21331 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 21331 behavior climb_to_1702: argument: pitch_value = 0.453800 X 21331 behavior climb_to_1702: argument: start_when = 0.000000 enum 21331 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 21331 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 21331 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 21331 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 21331 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 21331 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 21331 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 21331 behavior climb_to_1702: argument: thruster_value = 0.000000 X 21331 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 21331 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 21331 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 21335 79 behavior sample_18: SUBSTATE 1 ->3 : Climbing :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.4280 C_FIN:0.4500 AB: Time to Dive: 386, Climb: 151 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 2.556291 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 21506 17 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 21506 behavior climb_to_1702: STATE Active -> Complete 21506 behavior dive_to_1701: STATE UnInited -> Active 21506 behavior dive_to_1701: argument: target_depth = 60.000000 m 21506 behavior dive_to_1701: argument: target_altitude = 3.000000 m 21506 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 21506 behavior dive_to_1701: argument: bpump_value = 350.000000 X 21506 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 21506 behavior dive_to_1701: argument: pitch_value = -0.452800 X 21506 behavior dive_to_1701: argument: start_when = 0.000000 enum 21506 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 21506 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 21506 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 21506 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 21506 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 21506 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 21506 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 21506 behavior dive_to_1701: argument: thruster_value = 0.000000 X 21506 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 21506 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 21506 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 21506 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 21506 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 21506 behavior dive_to_1701: argument: time_ratio = 1.100000 X 21506 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 21506 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 21506 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 21506 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 21507 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 21507 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 21507 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 21511 18 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 19 [m] 21884 2 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, WE GOT STUCK not moving vertically 21884 behavior dive_to_1701: STATE Active -> Complete 21884 behavior climb_to_1702: STATE UnInited -> Active 21884 behavior climb_to_1702: argument: target_depth = 3.000000 m 21884 behavior climb_to_1702: argument: target_altitude = -1.000000 m 21884 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 21884 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 21884 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 21884 behavior climb_to_1702: argument: pitch_value = 0.453800 X 21884 behavior climb_to_1702: argument: start_when = 0.000000 enum 21884 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 21884 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 21884 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 21884 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 21884 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 21884 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 21885 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 21885 behavior climb_to_1702: argument: thruster_value = 0.000000 X 21885 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 21885 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 21885 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 21889 3 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 344, Climb: 161 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Dive/Climb times 2.136646 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-200.00, Climb:150.00 22073 43 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 22073 behavior climb_to_1702: STATE Active -> Complete 22073 behavior dive_to_1701: STATE UnInited -> Active 22073 behavior dive_to_1701: argument: target_depth = 60.000000 m 22073 behavior dive_to_1701: argument: target_altitude = 3.000000 m 22073 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 22073 behavior dive_to_1701: argument: bpump_value = 350.000000 X 22073 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 22073 behavior dive_to_1701: argument: pitch_value = -0.452800 X 22073 behavior dive_to_1701: argument: start_when = 0.000000 enum 22073 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 22073 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 22073 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 22073 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 22073 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 22073 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 22073 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 22073 behavior dive_to_1701: argument: thruster_value = 0.000000 X 22073 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 22073 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 22073 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 22073 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 22073 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 22073 behavior dive_to_1701: argument: time_ratio = 1.100000 X 22073 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 22073 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 22073 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 22073 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 22073 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 22073 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 22074 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 22078 45 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 17 [m] 22201 71 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 22202 behavior dive_to_1701: STATE Active -> Complete 22202 behavior climb_to_1702: STATE UnInited -> Active 22202 behavior climb_to_1702: argument: target_depth = 3.000000 m 22202 behavior climb_to_1702: argument: target_altitude = -1.000000 m 22202 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 22202 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 22202 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 22202 behavior climb_to_1702: argument: pitch_value = 0.453800 X 22202 behavior climb_to_1702: argument: start_when = 0.000000 enum 22202 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 22202 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 22202 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 22202 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 22202 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 22202 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 22202 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 22202 behavior climb_to_1702: argument: thruster_value = 0.000000 X 22202 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 22202 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 22202 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 22206 72 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 100, Climb: 161 [s] AB: Previous ballast: Dive:-200.00, Climb:150.00 AB: Ratio of Climb/Dive times 1.610 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 22391 14 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 22391 behavior climb_to_1702: STATE Active -> Complete 22391 behavior dive_to_1701: STATE UnInited -> Active 22391 behavior dive_to_1701: argument: target_depth = 60.000000 m 22391 behavior dive_to_1701: argument: target_altitude = 3.000000 m 22391 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 22391 behavior dive_to_1701: argument: bpump_value = 350.000000 X 22391 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 22391 behavior dive_to_1701: argument: pitch_value = -0.452800 X 22391 behavior dive_to_1701: argument: start_when = 0.000000 enum 22391 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 22391 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 22391 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 22391 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 22391 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 22391 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 22391 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 22391 behavior dive_to_1701: argument: thruster_value = 0.000000 X 22391 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 22391 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 22391 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 22391 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 22391 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 22391 behavior dive_to_1701: argument: time_ratio = 1.100000 X 22391 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 22391 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 22391 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 22391 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 22391 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 22391 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 22391 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 22395 14 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 17 [m] 22536 46 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 22536 behavior dive_to_1701: STATE Active -> Complete 22536 behavior climb_to_1702: STATE UnInited -> Active 22536 behavior climb_to_1702: argument: target_depth = 3.000000 m 22536 behavior climb_to_1702: argument: target_altitude = -1.000000 m 22536 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 22536 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 22536 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 22536 behavior climb_to_1702: argument: pitch_value = 0.453800 X 22536 behavior climb_to_1702: argument: start_when = 0.000000 enum 22536 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 22536 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 22536 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 22536 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 22536 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 22536 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 22536 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 22537 behavior climb_to_1702: argument: thruster_value = 0.000000 X 22537 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 22537 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 22537 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 22541 46 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 112, Climb: 147 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.312 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 22707 84 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 22707 behavior climb_to_1702: STATE Active -> Complete 22707 behavior dive_to_1701: STATE UnInited -> Active 22707 behavior dive_to_1701: argument: target_depth = 60.000000 m 22707 behavior dive_to_1701: argument: target_altitude = 3.000000 m 22707 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 22707 behavior dive_to_1701: argument: bpump_value = 350.000000 X 22707 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 22707 behavior dive_to_1701: argument: pitch_value = -0.452800 X 22707 behavior dive_to_1701: argument: start_when = 0.000000 enum 22707 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 22707 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 22707 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 22707 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 22707 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 22707 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 22707 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 22707 behavior dive_to_1701: argument: thruster_value = 0.000000 X 22707 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 22707 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 22707 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 22707 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 22707 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 22707 behavior dive_to_1701: argument: time_ratio = 1.100000 X 22707 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 22707 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 22707 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 22708 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 22708 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 22708 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 22708 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 22712 85 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 17 [m] 22876 21 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 22876 behavior dive_to_1701: STATE Active -> Complete 22876 behavior climb_to_1702: STATE UnInited -> Active 22876 behavior climb_to_1702: argument: target_depth = 3.000000 m 22876 behavior climb_to_1702: argument: target_altitude = -1.000000 m 22876 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 22876 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 22876 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 22876 behavior climb_to_1702: argument: pitch_value = 0.453800 X 22876 behavior climb_to_1702: argument: start_when = 0.000000 enum 22876 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 22876 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 22876 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 22876 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 22876 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 22876 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 22876 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 22876 behavior climb_to_1702: argument: thruster_value = 0.000000 X 22876 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 22876 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 22876 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 22881 21 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 130, Climb: 129 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:0.992. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 23029 54 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 23029 behavior climb_to_1702: STATE Active -> Complete 23029 behavior dive_to_1701: STATE UnInited -> Active 23029 behavior dive_to_1701: argument: target_depth = 60.000000 m 23029 behavior dive_to_1701: argument: target_altitude = 3.000000 m 23029 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 23029 behavior dive_to_1701: argument: bpump_value = 350.000000 X 23029 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 23029 behavior dive_to_1701: argument: pitch_value = -0.452800 X 23029 behavior dive_to_1701: argument: start_when = 0.000000 enum 23029 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 23029 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 23029 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 23029 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 23029 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 23029 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 23029 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 23029 behavior dive_to_1701: argument: thruster_value = 0.000000 X 23029 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 23029 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 23029 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 23029 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 23029 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 23029 behavior dive_to_1701: argument: time_ratio = 1.100000 X 23029 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 23029 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 23029 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 23029 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 23029 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 23029 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 23029 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 23034 56 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 17 [m] 23187 89 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 23187 behavior dive_to_1701: STATE Active -> Complete 23187 behavior climb_to_1702: STATE UnInited -> Active 23187 behavior climb_to_1702: argument: target_depth = 3.000000 m 23187 behavior climb_to_1702: argument: target_altitude = -1.000000 m 23187 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 23187 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 23187 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 23187 behavior climb_to_1702: argument: pitch_value = 0.453800 X 23187 behavior climb_to_1702: argument: start_when = 0.000000 enum 23187 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 23187 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 23187 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 23187 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 23187 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 23187 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 23187 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 23187 behavior climb_to_1702: argument: thruster_value = 0.000000 X 23187 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 23187 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 23188 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 23192 90 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 125, Climb: 130 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.040. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 23345 25 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 23345 behavior climb_to_1702: STATE Active -> Complete 23345 behavior dive_to_1701: STATE UnInited -> Active 23345 behavior dive_to_1701: argument: target_depth = 60.000000 m 23345 behavior dive_to_1701: argument: target_altitude = 3.000000 m 23345 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 23346 behavior dive_to_1701: argument: bpump_value = 350.000000 X 23346 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 23346 behavior dive_to_1701: argument: pitch_value = -0.452800 X 23346 behavior dive_to_1701: argument: start_when = 0.000000 enum 23346 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 23346 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 23346 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 23346 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 23346 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 23346 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 23346 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 23346 behavior dive_to_1701: argument: thruster_value = 0.000000 X 23346 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 23346 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 23346 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 23346 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 23346 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 23346 behavior dive_to_1701: argument: time_ratio = 1.100000 X 23346 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 23346 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 23346 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 23346 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 23346 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 23346 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 23346 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 23350 25 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 23509 60 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 23509 behavior dive_to_1701: STATE Active -> Complete 23509 behavior climb_to_1702: STATE UnInited -> Active 23509 behavior climb_to_1702: argument: target_depth = 3.000000 m 23509 behavior climb_to_1702: argument: target_altitude = -1.000000 m 23509 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 23509 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 23509 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 23509 behavior climb_to_1702: argument: pitch_value = 0.453800 X 23509 behavior climb_to_1702: argument: start_when = 0.000000 enum 23509 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 23509 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 23509 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 23509 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 23509 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 23509 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 23509 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 23509 behavior climb_to_1702: argument: thruster_value = 0.000000 X 23509 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 23509 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 23509 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 23513 61 behavior sample_18: SUBSTATE 1 ->3 : Climbing 23536 67 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:-0.0547 C_su:0.0485 :OOD: delta:0.1031 limit:0.1000 over:0.0031 23537 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Time to Dive: 121, Climb: 116 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:0.959. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 23648 92 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 23648 behavior climb_to_1702: STATE Active -> Complete 23648 behavior dive_to_1701: STATE UnInited -> Active 23649 behavior dive_to_1701: argument: target_depth = 60.000000 m 23649 behavior dive_to_1701: argument: target_altitude = 3.000000 m 23649 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 23649 behavior dive_to_1701: argument: bpump_value = 350.000000 X 23649 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 23649 behavior dive_to_1701: argument: pitch_value = -0.452800 X 23649 behavior dive_to_1701: argument: start_when = 0.000000 enum 23649 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 23649 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 23649 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 23649 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 23649 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 23649 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 23649 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 23649 behavior dive_to_1701: argument: thruster_value = 0.000000 X 23649 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 23649 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 23649 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 23649 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 23649 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 23649 behavior dive_to_1701: argument: time_ratio = 1.100000 X 23649 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 23649 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 23649 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 23649 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 23649 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 23649 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 23649 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 23653 92 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 17 [m] 23798 25 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 23798 behavior dive_to_1701: STATE Active -> Complete 23798 behavior climb_to_1702: STATE UnInited -> Active 23798 behavior climb_to_1702: argument: target_depth = 3.000000 m 23798 behavior climb_to_1702: argument: target_altitude = -1.000000 m 23798 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 23798 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 23798 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 23798 behavior climb_to_1702: argument: pitch_value = 0.453800 X 23798 behavior climb_to_1702: argument: start_when = 0.000000 enum 23798 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 23798 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 23798 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 23799 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 23799 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 23799 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 23799 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 23799 behavior climb_to_1702: argument: thruster_value = 0.000000 X 23799 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 23799 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 23799 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 23803 25 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 111, Climb: 120 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.081. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 23942 57 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 23942 behavior climb_to_1702: STATE Active -> Complete 23942 behavior dive_to_1701: STATE UnInited -> Active 23942 behavior dive_to_1701: argument: target_depth = 60.000000 m 23942 behavior dive_to_1701: argument: target_altitude = 3.000000 m 23942 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 23942 behavior dive_to_1701: argument: bpump_value = 350.000000 X 23942 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 23942 behavior dive_to_1701: argument: pitch_value = -0.452800 X 23942 behavior dive_to_1701: argument: start_when = 0.000000 enum 23942 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 23942 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 23942 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 23942 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 23942 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 23942 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 23942 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 23942 behavior dive_to_1701: argument: thruster_value = 0.000000 X 23942 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 23942 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 23942 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 23942 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 23942 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 23942 behavior dive_to_1701: argument: time_ratio = 1.100000 X 23942 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 23942 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 23943 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 23943 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 23943 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 23943 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 23943 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 23947 57 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 17 [m] 24093 89 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 24093 behavior dive_to_1701: STATE Active -> Complete 24093 behavior climb_to_1702: STATE UnInited -> Active 24093 behavior climb_to_1702: argument: target_depth = 3.000000 m 24093 behavior climb_to_1702: argument: target_altitude = -1.000000 m 24093 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 24093 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 24093 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 24093 behavior climb_to_1702: argument: pitch_value = 0.453800 X 24093 behavior climb_to_1702: argument: start_when = 0.000000 enum 24093 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 24093 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 24093 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 24093 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 24093 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 24093 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 24093 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 24093 behavior climb_to_1702: argument: thruster_value = 0.000000 X 24093 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 24093 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 24093 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 24098 90 behavior sample_18: SUBSTATE 1 ->3 : Climbing 24111 93 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:0.0204 C_su:0.1204 :OOD: delta:0.1001 limit:0.1000 over:0.0001 24111 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Time to Dive: 112, Climb: 130 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.161 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 24247 24 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 24247 behavior climb_to_1702: STATE Active -> Complete 24247 behavior dive_to_1701: STATE UnInited -> Active 24247 behavior dive_to_1701: argument: target_depth = 60.000000 m 24247 behavior dive_to_1701: argument: target_altitude = 3.000000 m 24247 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 24247 behavior dive_to_1701: argument: bpump_value = 350.000000 X 24247 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 24247 behavior dive_to_1701: argument: pitch_value = -0.452800 X 24247 behavior dive_to_1701: argument: start_when = 0.000000 enum 24247 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 24247 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 24247 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 24247 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 24247 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 24247 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 24247 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 24247 behavior dive_to_1701: argument: thruster_value = 0.000000 X 24247 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 24247 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 24247 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 24247 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 24247 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 24247 behavior dive_to_1701: argument: time_ratio = 1.100000 X 24247 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 24247 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 24247 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 24247 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 24247 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 24247 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 24247 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 24251 25 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 24447 67 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 24447 behavior dive_to_1701: STATE Active -> Complete 24447 behavior climb_to_1702: STATE UnInited -> Active 24447 behavior climb_to_1702: argument: target_depth = 3.000000 m 24447 behavior climb_to_1702: argument: target_altitude = -1.000000 m 24447 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 24447 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 24447 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 24447 behavior climb_to_1702: argument: pitch_value = 0.453800 X 24447 behavior climb_to_1702: argument: start_when = 0.000000 enum 24447 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 24447 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 24447 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 24447 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 24447 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 24447 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 24447 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 24447 behavior climb_to_1702: argument: thruster_value = 0.000000 X 24447 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 24447 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 24447 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 24451 68 behavior sample_18: SUBSTATE 1 ->3 : Climbing 24467 70 DRIVER_ODDITY:digifin:11063:xxx_ctrl() ran too long AB: Time to Dive: 130, Climb: 101 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.287129 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 24573 93 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 24573 behavior climb_to_1702: STATE Active -> Complete 24573 behavior dive_to_1701: STATE UnInited -> Active 24573 behavior dive_to_1701: argument: target_depth = 60.000000 m 24573 behavior dive_to_1701: argument: target_altitude = 3.000000 m 24573 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 24573 behavior dive_to_1701: argument: bpump_value = 350.000000 X 24573 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 24573 behavior dive_to_1701: argument: pitch_value = -0.452800 X 24573 behavior dive_to_1701: argument: start_when = 0.000000 enum 24573 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 24573 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 24573 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 24573 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 24573 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 24573 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 24573 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 24573 behavior dive_to_1701: argument: thruster_value = 0.000000 X 24573 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 24573 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 24573 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 24573 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 24573 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 24573 behavior dive_to_1701: argument: time_ratio = 1.100000 X 24573 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 24573 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 24573 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 24573 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 24573 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 24573 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 24573 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 24577 95 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 17 [m] 24719 25 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 24719 behavior dive_to_1701: STATE Active -> Complete 24719 behavior climb_to_1702: STATE UnInited -> Active 24719 behavior climb_to_1702: argument: target_depth = 3.000000 m 24719 behavior climb_to_1702: argument: target_altitude = -1.000000 m 24719 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 24719 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 24719 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 24719 behavior climb_to_1702: argument: pitch_value = 0.453800 X 24719 behavior climb_to_1702: argument: start_when = 0.000000 enum 24719 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 24720 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 24720 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 24720 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 24720 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 24720 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 24720 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 24720 behavior climb_to_1702: argument: thruster_value = 0.000000 X 24720 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 24720 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 24720 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 24724 27 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 108, Climb: 112 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.037. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 24864 57 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 24864 behavior climb_to_1702: STATE Active -> Complete 24864 behavior dive_to_1701: STATE UnInited -> Active 24864 behavior dive_to_1701: argument: target_depth = 60.000000 m 24864 behavior dive_to_1701: argument: target_altitude = 3.000000 m 24864 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 24864 behavior dive_to_1701: argument: bpump_value = 350.000000 X 24864 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 24864 behavior dive_to_1701: argument: pitch_value = -0.452800 X 24864 behavior dive_to_1701: argument: start_when = 0.000000 enum 24864 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 24864 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 24864 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 24864 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 24865 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 24865 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 24865 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 24865 behavior dive_to_1701: argument: thruster_value = 0.000000 X 24865 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 24865 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 24865 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 24865 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 24865 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 24865 behavior dive_to_1701: argument: time_ratio = 1.100000 X 24865 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 24865 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 24865 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 24865 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 24865 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 24865 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 24865 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 24869 59 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 16 [m] 25024 92 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 25024 behavior dive_to_1701: STATE Active -> Complete 25024 behavior climb_to_1702: STATE UnInited -> Active 25024 behavior climb_to_1702: argument: target_depth = 3.000000 m 25024 behavior climb_to_1702: argument: target_altitude = -1.000000 m 25024 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 25024 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 25024 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 25024 behavior climb_to_1702: argument: pitch_value = 0.453800 X 25024 behavior climb_to_1702: argument: start_when = 0.000000 enum 25024 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 25024 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 25024 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 25024 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 25024 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 25024 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 25024 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 25024 behavior climb_to_1702: argument: thruster_value = 0.000000 X 25024 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 25024 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 25024 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 25028 93 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 107, Climb: 127 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.187 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 25179 27 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 25179 behavior climb_to_1702: STATE Active -> Complete 25179 behavior dive_to_1701: STATE UnInited -> Active 25179 behavior dive_to_1701: argument: target_depth = 60.000000 m 25179 behavior dive_to_1701: argument: target_altitude = 3.000000 m 25179 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 25179 behavior dive_to_1701: argument: bpump_value = 350.000000 X 25179 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 25179 behavior dive_to_1701: argument: pitch_value = -0.452800 X 25179 behavior dive_to_1701: argument: start_when = 0.000000 enum 25179 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 25179 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 25179 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 25179 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 25179 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 25179 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 25179 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 25179 behavior dive_to_1701: argument: thruster_value = 0.000000 X 25179 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 25179 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 25179 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 25179 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 25179 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 25179 behavior dive_to_1701: argument: time_ratio = 1.100000 X 25179 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 25179 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 25179 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 25179 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 25179 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 25179 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 25179 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 25184 28 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 17 [m] 25356 65 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 25357 behavior dive_to_1701: STATE Active -> Complete 25357 behavior climb_to_1702: STATE UnInited -> Active 25357 behavior climb_to_1702: argument: target_depth = 3.000000 m 25357 behavior climb_to_1702: argument: target_altitude = -1.000000 m 25357 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 25357 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 25357 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 25357 behavior climb_to_1702: argument: pitch_value = 0.453800 X 25357 behavior climb_to_1702: argument: start_when = 0.000000 enum 25357 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 25357 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 25357 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 25357 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 25357 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 25357 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 25357 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 25357 behavior climb_to_1702: argument: thruster_value = 0.000000 X 25357 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 25357 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 25357 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 25361 67 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 139, Climb: 103 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.349515 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 25483 93 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 25483 behavior climb_to_1702: STATE Active -> Complete 25483 behavior dive_to_1701: STATE UnInited -> Active 25483 behavior dive_to_1701: argument: target_depth = 60.000000 m 25483 behavior dive_to_1701: argument: target_altitude = 3.000000 m 25483 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 25483 behavior dive_to_1701: argument: bpump_value = 350.000000 X 25483 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 25483 behavior dive_to_1701: argument: pitch_value = -0.452800 X 25483 behavior dive_to_1701: argument: start_when = 0.000000 enum 25483 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 25483 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 25483 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 25483 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 25483 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 25483 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 25483 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 25483 behavior dive_to_1701: argument: thruster_value = 0.000000 X 25483 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 25483 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 25483 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 25483 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 25483 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 25483 behavior dive_to_1701: argument: time_ratio = 1.100000 X 25483 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 25483 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 25483 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 25483 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 25483 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 25483 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 25483 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 25487 95 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 17 [m] 25632 27 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 25632 behavior dive_to_1701: STATE Active -> Complete 25632 behavior climb_to_1702: STATE UnInited -> Active 25632 behavior climb_to_1702: argument: target_depth = 3.000000 m 25632 behavior climb_to_1702: argument: target_altitude = -1.000000 m 25632 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 25632 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 25632 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 25632 behavior climb_to_1702: argument: pitch_value = 0.453800 X 25633 behavior climb_to_1702: argument: start_when = 0.000000 enum 25633 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 25633 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 25633 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 25633 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 25633 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 25633 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 25633 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 25633 behavior climb_to_1702: argument: thruster_value = 0.000000 X 25633 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 25633 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 25633 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 25637 28 behavior sample_18: SUBSTATE 1 ->3 : Climbing 25669 35 behavior surface_2: STATE Waiting for Activation -> Active 25669 behavior surface_2: SUBSTATE 0 UnInited->1 : climb_to the surface 25670 behavior climb_to_201: STATE UnInited -> Active 25670 behavior climb_to_201: argument: target_depth = 4.000000 m 25670 behavior climb_to_201: argument: target_altitude = -1.000000 m 25670 behavior climb_to_201: argument: use_bpump = 2.000000 enum 25670 behavior climb_to_201: argument: bpump_value = 1000.000000 X 25670 behavior climb_to_201: argument: use_pitch = 3.000000 enum 25670 behavior climb_to_201: argument: pitch_value = 0.452800 X 25670 behavior climb_to_201: argument: start_when = 0.000000 enum 25670 behavior climb_to_201: argument: stop_when_hover_for = -1.000000 sec 25670 behavior climb_to_201: argument: stop_when_stalled_for = -1.000000 sec 25670 behavior climb_to_201: argument: stop_when_air_pump = 0.000000 bool 25670 behavior climb_to_201: argument: initial_inflection = 1.000000 bool 25670 behavior climb_to_201: argument: speed_min = 100.000000 m/s 25670 behavior climb_to_201: argument: speed_max = -100.000000 m/s 25670 behavior climb_to_201: argument: use_thruster = 0.000000 enum 25670 behavior climb_to_201: argument: thruster_value = 0.000000 X 25670 behavior climb_to_201: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 25670 behavior climb_to_201: SUBSTATE 1 ->3 : Starting the climb 25670 behavior climb_to_201: SUBSTATE 3 ->4 : climbing 25769 57 behavior climb_to_201: SUBSTATE 4 ->5 : Complete reached depth 25769 behavior climb_to_201: STATE Active -> Complete 25769 behavior surface_2: SUBSTATE 1 ->2 : waiting for various sensors 25769 behavior surface_2: SUBSTATE 2 ->3 : waiting for GPS fix 25769 init_gps_input() 25774 57 behavior sample_18: SUBSTATE 3 ->4 : On Surface 25774 sensor: m_gps_status = 2 enum 25774 sensor: m_gps_invalid_lat = 2715.9189 lat 25774 sensor: m_gps_invalid_lon = -8254.6848 lon AB: Another behavior changed the climb bpump. Discount. 25779 59 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 25779 behavior climb_to_1702: STATE Active -> Complete 25779 behavior dive_to_1701: STATE UnInited -> Active 25779 behavior dive_to_1701: argument: target_depth = 60.000000 m 25779 behavior dive_to_1701: argument: target_altitude = 3.000000 m 25779 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 25779 behavior dive_to_1701: argument: bpump_value = 350.000000 X 25779 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 25779 behavior dive_to_1701: argument: pitch_value = -0.452800 X 25779 behavior dive_to_1701: argument: start_when = 0.000000 enum 25779 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 25779 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 25779 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 25779 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 25779 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 25780 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 25780 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 25780 behavior dive_to_1701: argument: thruster_value = 0.000000 X 25780 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 25780 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 25780 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 25780 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 25780 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 25780 behavior dive_to_1701: argument: time_ratio = 1.100000 X 25780 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 25780 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 25780 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 25780 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 25780 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 25780 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 25780 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 25780 sensor: m_gps_status = 2 enum 25780 sensor: m_gps_invalid_lat = 2715.9189 lat 25780 sensor: m_gps_invalid_lon = -8254.6848 lon 25784 60 sensor: m_gps_status = 2 enum 25784 sensor: m_gps_invalid_lat = 2715.9189 lat 25784 sensor: m_gps_invalid_lon = -8254.6848 lon 25789 60 sensor: m_gps_status = 2 enum 25790 sensor: m_gps_invalid_lat = 2715.9189 lat 25790 sensor: m_gps_invalid_lon = -8254.6848 lon 25794 61 sensor: m_gps_status = 2 enum 25794 sensor: m_gps_invalid_lat = 2715.9189 lat 25794 sensor: m_gps_invalid_lon = -8254.6848 lon 25800 63 sensor: m_gps_status = 2 enum 25800 sensor: m_gps_invalid_lat = 2715.9189 lat 25800 sensor: m_gps_invalid_lon = -8254.6848 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0711 C_FIN:0.0000 25804 64 sensor: m_gps_status = 2 enum 25804 sensor: m_gps_invalid_lat = 2715.9189 lat 25804 sensor: m_gps_invalid_lon = -8254.6848 lon 25811 65 sensor: m_gps_status = 2 enum 25811 sensor: m_gps_invalid_lat = 2715.9189 lat 25811 sensor: m_gps_invalid_lon = -8254.6848 lon 25816 67 sensor: m_gps_status = 2 enum 25816 sensor: m_gps_invalid_lat = 2715.9189 lat 25816 sensor: m_gps_invalid_lon = -8254.6848 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0455 C_FIN:0.0000 25820 67 sensor: m_gps_status = 2 enum 25820 sensor: m_gps_invalid_lat = 2715.9189 lat 25820 sensor: m_gps_invalid_lon = -8254.6848 lon 25825 68 sensor: m_gps_status = 2 enum 25825 sensor: m_gps_invalid_lat = 2715.9189 lat 25825 sensor: m_gps_invalid_lon = -8254.6848 lon 25830 70 sensor: m_gps_status = 2 enum 25830 sensor: m_gps_invalid_lat = 2715.9189 lat 25830 sensor: m_gps_invalid_lon = -8254.6848 lon 25835 71 sensor: m_gps_status = 2 enum 25835 sensor: m_gps_invalid_lat = 2715.9189 lat 25835 sensor: m_gps_invalid_lon = -8254.6848 lon 25840 71 sensor: m_gps_status = 1 enum 25840 sensor: m_gps_ignored_lat = 2715.8484 lat 25840 sensor: m_gps_ignored_lon = -8254.8054 lon 25845 72 sensor: m_gps_status = 1 enum 25845 sensor: m_gps_ignored_lat = 2715.8485 lat 25845 sensor: m_gps_ignored_lon = -8254.8053 lon 25852 75 sensor: m_gps_status = 1 enum 25852 sensor: m_gps_ignored_lat = 2715.8491 lat 25852 sensor: m_gps_ignored_lon = -8254.8055 lon 25856 75 sensor: m_gps_status = 1 enum 25856 sensor: m_gps_ignored_lat = 2715.8491 lat 25856 sensor: m_gps_ignored_lon = -8254.8055 lon 25861 77 sensor: m_gps_status = 1 enum 25861 sensor: m_gps_ignored_lat = 2715.8504 lat 25861 sensor: m_gps_ignored_lon = -8254.803 lon 25865 78 sensor: m_gps_lat = 2715.8498 lat 25865 sensor: m_gps_lon = -8254.8027 lon 25865 sensor: m_gps_status = 0 enum 25870 78 end_gps_input() 25870 init_gps_input() 25870 behavior surface_2: SUBSTATE 3 ->4 : Picking iridium or freewave 25870 behavior surface_2: SUBSTATE 4 ->5 : Waiting for more gps fixes 25870 sensor: m_gps_lat = 2715.8495 lat 25870 sensor: m_gps_lon = -8254.8032 lon 25870 sensor: m_gps_status = 0 enum 25875 79 sensor: m_gps_lat = 2715.8491 lat 25875 sensor: m_gps_lon = -8254.8036 lon 25875 sensor: m_gps_status = 0 enum 25880 81 sensor: m_gps_lat = 2715.8497 lat 25880 sensor: m_gps_lon = -8254.8029 lon 25880 sensor: m_gps_status = 0 enum 25884 82 sensor: m_gps_lat = 2715.8492 lat 25885 sensor: m_gps_lon = -8254.802 lon 25885 sensor: m_gps_status = 0 enum 25890 82 sensor: m_gps_lat = 2715.8491 lat 25890 sensor: m_gps_lon = -8254.8016 lon 25890 sensor: m_gps_status = 0 enum 25895 84 sensor: m_gps_lat = 2715.8487 lat 25895 sensor: m_gps_lon = -8254.8012 lon 25895 sensor: m_gps_status = 0 enum 25900 85 sensor: m_gps_lat = 2715.8487 lat 25900 sensor: m_gps_lon = -8254.8008 lon 25900 sensor: m_gps_status = 0 enum 25905 85 sensor: m_gps_lat = 2715.8484 lat 25905 sensor: m_gps_lon = -8254.8 lon 25905 sensor: m_gps_status = 0 enum 25909 86 sensor: m_gps_lat = 2715.8486 lat 25909 sensor: m_gps_lon = -8254.7996 lon 25909 sensor: m_gps_status = 0 enum 25915 88 sensor: m_gps_lat = 2715.8485 lat 25915 sensor: m_gps_lon = -8254.7997 lon 25915 sensor: m_gps_status = 0 enum 25920 89 sensor: m_gps_lat = 2715.848 lat 25920 sensor: m_gps_lon = -8254.7995 lon 25920 sensor: m_gps_status = 0 enum 25925 89 sensor: m_gps_lat = 2715.8481 lat 25925 sensor: m_gps_lon = -8254.7992 lon 25925 sensor: m_gps_status = 0 enum 25929 90 sensor: m_gps_lat = 2715.8475 lat 25929 sensor: m_gps_lon = -8254.7987 lon 25929 sensor: m_gps_status = 0 enum 25932 92 end_gps_input() 25932 behavior surface_2: SUBSTATE 5 ->7 : waiting for control-C to exit/resume 25942 93 Iridium has been powered on for 4.5 secs 25942 Waking up Iridium... sending:ATE1 25942 Iridium, modem making attempt #1 at primary number (881600005112) 25947 95 Iridium driver received:[ATE1[0D][0D]] 25947 Iridium modem matched: OK 25947 Waking up Iridium... sending:AT+cbst=6,0,1 25956 96 Iridium driver received:[AT+cbst=6,0,1[0D][0D]] 25956 Iridium modem matched: OK 25956 Waking up Iridium... sending:AT+CSQ 25960 96 Iridium driver received:[AT+CSQ[0D][0D][0A]+CSQ:5[0D][0A][0D]] 25960 Iridium modem matched: OK :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0313 C_FIN:0.0000 25965 97 Iridium waiting for registration... 25970 99 Obtaining Iridium RSSI... 25970 Iridium dialing [ATD00881600005112]........... 25970 Iridium waiting for connection... 25974 0 Iridium driver received:[ATD00881600005112[0D]] 25979 0 Iridium driver received:[[0D]] 25979 Iridium modem matched: CONNECT 4800 25979 Iridium connected... 25979 Iridium console active and ready... Vehicle Name: mote-genie Curr Time: Sat Oct 15 22:22:54 2016 MT: 25978 DR Location: 2715.847 N -8254.798 E measured 39.765 secs ago GPS TooFar: 2716.902 N -8253.604 E measured 1e+308 secs ago GPS Invalid : 2715.919 N -8254.685 E measured 144.509 secs ago GPS Location: 2715.847 N -8254.798 E measured 42.164 secs ago sensor:c_wpt_lat(lat)=2644 19041 secs ago sensor:c_wpt_lon(lon)=-8333 19041.1 secs ago sensor:m_avg_climb_rate(m/s)=-0.135907122642952 212.082 secs ago sensor:m_avg_dive_rate(m/s)=0.0969558476713749 348.945 secs ago sensor:m_battery(volts)=11.2969090885625 9.722 secs ago sensor:m_coulomb_amphr(amp-hrs)=2.28474998474121 5.178 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=7.84049998489395 5.199 secs ago sensor:m_final_water_vx(m/s)=0.0684290045072043 11077.9 secs ago sensor:m_final_water_vy(m/s)=-0.0142762561931618 11077.9 secs ago sensor:m_iridium_signal_strength(nodim)=5 10.076 secs ago sensor:m_leakdetect_voltage(volts)=2.48107448107448 9.896 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48669108669109 9.916 secs ago sensor:m_tot_num_inflections(nodim)=3979 197.942 secs ago sensor:m_vacuum(inHg)=7.98174505494506 37.581 secs ago sensor:m_water_vx(m/s)=0.040034874565594 112.128 secs ago sensor:m_water_vy(m/s)=-0.0193318093841471 112.17 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=2720.0967 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-8234.5649 1e+308 secs ago 25980 No login script found for processing. 26141 34 01940010.mlg LOG FILE CLOSED