the8x3_filename: 01950011 full_filename: mote-genie-2016-289-0-11 60071 57 01950011.mlg LOG FILE OPENED Megabytes used on CF file system = 465.187500 Megabytes available on CF file system = 1532.312500 60074 init_gps_input() 60074 behavior surface_10: SUBSTATE 7 ->10 : Waiting for final gps fix 60074 behavior surface_10: TIMED OUT WAITING FOR A CHARACTER 60075 disabling Iridium console... 60087 60 sensor: m_gps_status = 1 enum 60087 sensor: m_gps_ignored_lat = 2711.6876 lat 60087 sensor: m_gps_ignored_lon = -8255.7315 lon 60096 62 sensor: m_gps_status = 1 enum 60096 sensor: m_gps_ignored_lat = 2711.6879 lat 60096 sensor: m_gps_ignored_lon = -8255.7336 lon 60105 64 sensor: m_gps_status = 1 enum 60105 sensor: m_gps_ignored_lat = 2711.6872 lat 60105 sensor: m_gps_ignored_lon = -8255.7337 lon 60108 65 sensor: m_gps_status = 1 enum 60108 sensor: m_gps_ignored_lat = 2711.6863 lat 60108 sensor: m_gps_ignored_lon = -8255.7331 lon 60112 65 sensor: m_gps_status = 1 enum 60112 sensor: m_gps_ignored_lat = 2711.6863 lat 60112 sensor: m_gps_ignored_lon = -8255.7335 lon 60117 67 sensor: m_gps_lat = 2711.6861 lat 60117 sensor: m_gps_lon = -8255.7339 lon 60117 sensor: m_gps_status = 0 enum 60122 68 end_gps_input() 60122 behavior surface_10: SUBSTATE 10 ->12 : All done 60122 behavior surface_10: STATE Active -> UnInited 60127 68 behavior surface_10: Reading b_args from surfac53.ma 60127 behavior surface_10: start_when(enum)=13.000000 60127 behavior surface_10: when_utc_min(min)=0.000000 60127 behavior surface_10: when_utc_hour(hour)=19.000000 60127 behavior surface_10: when_utc_day(day)=-1.000000 60127 behavior surface_10: when_utc_month(month)=-1.000000 60127 behavior surface_10: report_all(bool)=0.000000 60127 behavior surface_10: end_action(enum)=1.000000 60127 behavior surface_10: gps_wait_time(s)=600.000000 60127 behavior surface_10: keystroke_wait_time(sec)=300.000000 60127 behavior surface_10: c_use_pitch(enum)=3.000000 60127 behavior surface_10: c_use_bpump(enum)=2.000000 60127 behavior surface_10: c_bpump_value(X)=1000.000000 60127 behavior surface_10: c_pitch_value(X)=0.452800 60127 behavior surface_10: printout_cycle_time(sec)=30.000000 60127 behavior surface_10: force_iridium_use(nodim)=1.000000 60127 behavior surface_10: STATE UnInited -> Waiting for Activation 60127 behavior surface_10: argument: args_from_file = 53.000000 enum 60127 behavior surface_10: argument: start_when = 13.000000 enum 60127 behavior surface_10: argument: when_secs = 1200.000000 sec 60127 behavior surface_10: argument: when_wpt_dist = 10.000000 m 60127 behavior surface_10: argument: end_action = 1.000000 enum 60127 behavior surface_10: argument: report_all = 0.000000 bool 60127 behavior surface_10: argument: gps_wait_time = 600.000000 sec 60127 behavior surface_10: argument: keystroke_wait_time = 300.000000 sec 60127 behavior surface_10: argument: end_wpt_dist = 0.000000 m 60127 behavior surface_10: argument: c_use_bpump = 2.000000 enum 60127 behavior surface_10: argument: c_bpump_value = 1000.000000 X 60127 behavior surface_10: argument: c_use_pitch = 3.000000 enum 60127 behavior surface_10: argument: c_pitch_value = 0.452800 X 60127 behavior surface_10: argument: c_stop_when_air_pump = 0.000000 bool 60127 behavior surface_10: argument: c_use_thruster = 0.000000 enum 60127 behavior surface_10: argument: c_thruster_value = 0.000000 X 60127 behavior surface_10: argument: printout_cycle_time = 30.000000 sec 60127 behavior surface_10: argument: gps_postfix_wait_time = 60.000000 sec 60127 behavior surface_10: argument: force_iridium_use = 1.000000 nodim 60127 behavior surface_10: argument: min_time_between_gps_fixes = 300.000000 sec 60127 behavior surface_10: argument: sensor_input_wait_time = 10.000000 sec 60127 behavior surface_10: argument: when_utc_min = 0.000000 min 60127 behavior surface_10: argument: when_utc_hour = 19.000000 hour 60128 behavior surface_10: argument: when_utc_day = -1.000000 day 60128 behavior surface_10: argument: when_utc_month = -1.000000 month 60128 behavior surface_10: argument: when_utc_on_surface = 1.000000 bool 60128 behavior surface_10: argument: strobe_on = 0.000000 bool 60128 behavior surface_10: argument: thruster_burst = 0.000000 bool 60132 70 behavior sample_18: SUBSTATE 4 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0228 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0654 C_FIN:0.0000 AB: Inflected early at Dive depth 20 [m] 60332 14 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 60332 behavior dive_to_1701: STATE Active -> Complete 60332 behavior climb_to_1702: STATE UnInited -> Active 60332 behavior climb_to_1702: argument: target_depth = 3.000000 m 60332 behavior climb_to_1702: argument: target_altitude = -1.000000 m 60332 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 60332 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 60332 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 60333 behavior climb_to_1702: argument: pitch_value = 0.453800 X 60333 behavior climb_to_1702: argument: start_when = 0.000000 enum 60333 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 60333 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 60333 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 60333 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 60333 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 60333 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 60333 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 60333 behavior climb_to_1702: argument: thruster_value = 0.000000 X 60333 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 60333 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 60333 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 60337 15 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 144, Climb: 148 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.028. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 60513 54 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 60513 behavior climb_to_1702: STATE Active -> Complete 60513 behavior dive_to_1701: STATE UnInited -> Active 60513 behavior dive_to_1701: argument: target_depth = 60.000000 m 60513 behavior dive_to_1701: argument: target_altitude = 3.000000 m 60513 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 60513 behavior dive_to_1701: argument: bpump_value = 350.000000 X 60513 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 60513 behavior dive_to_1701: argument: pitch_value = -0.452800 X 60513 behavior dive_to_1701: argument: start_when = 0.000000 enum 60513 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 60513 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 60513 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 60513 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 60513 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 60513 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 60513 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 60513 behavior dive_to_1701: argument: thruster_value = 0.000000 X 60513 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 60513 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 60513 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 60513 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 60513 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 60513 behavior dive_to_1701: argument: time_ratio = 1.100000 X 60513 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 60513 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 60513 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 60513 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 60513 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 60513 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 60513 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 60517 54 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 60695 93 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 60695 behavior dive_to_1701: STATE Active -> Complete 60695 behavior climb_to_1702: STATE UnInited -> Active 60695 behavior climb_to_1702: argument: target_depth = 3.000000 m 60695 behavior climb_to_1702: argument: target_altitude = -1.000000 m 60695 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 60695 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 60695 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 60695 behavior climb_to_1702: argument: pitch_value = 0.453800 X 60695 behavior climb_to_1702: argument: start_when = 0.000000 enum 60695 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 60695 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 60695 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 60695 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 60695 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 60695 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 60695 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 60695 behavior climb_to_1702: argument: thruster_value = 0.000000 X 60695 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 60695 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 60695 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 60699 95 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 134, Climb: 143 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.067. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 60865 31 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 60865 behavior climb_to_1702: STATE Active -> Complete 60865 behavior dive_to_1701: STATE UnInited -> Active 60865 behavior dive_to_1701: argument: target_depth = 60.000000 m 60865 behavior dive_to_1701: argument: target_altitude = 3.000000 m 60865 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 60865 behavior dive_to_1701: argument: bpump_value = 350.000000 X 60865 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 60865 behavior dive_to_1701: argument: pitch_value = -0.452800 X 60865 behavior dive_to_1701: argument: start_when = 0.000000 enum 60865 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 60866 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 60866 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 60866 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 60866 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 60866 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 60866 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 60866 behavior dive_to_1701: argument: thruster_value = 0.000000 X 60866 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 60866 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 60866 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 60866 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 60866 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 60866 behavior dive_to_1701: argument: time_ratio = 1.100000 X 60866 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 60866 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 60866 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 60866 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 60866 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 60866 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 60866 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 60870 32 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 61043 70 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 61043 behavior dive_to_1701: STATE Active -> Complete 61043 behavior climb_to_1702: STATE UnInited -> Active 61043 behavior climb_to_1702: argument: target_depth = 3.000000 m 61043 behavior climb_to_1702: argument: target_altitude = -1.000000 m 61043 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 61043 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 61043 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 61043 behavior climb_to_1702: argument: pitch_value = 0.453800 X 61043 behavior climb_to_1702: argument: start_when = 0.000000 enum 61043 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 61043 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 61043 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 61043 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 61043 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 61043 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 61043 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 61043 behavior climb_to_1702: argument: thruster_value = 0.000000 X 61043 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 61043 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 61043 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 61047 71 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 144, Climb: 134 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:0.931. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 61209 7 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 61209 behavior climb_to_1702: STATE Active -> Complete 61209 behavior dive_to_1701: STATE UnInited -> Active 61209 behavior dive_to_1701: argument: target_depth = 60.000000 m 61209 behavior dive_to_1701: argument: target_altitude = 3.000000 m 61209 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 61209 behavior dive_to_1701: argument: bpump_value = 350.000000 X 61209 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 61209 behavior dive_to_1701: argument: pitch_value = -0.452800 X 61209 behavior dive_to_1701: argument: start_when = 0.000000 enum 61209 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 61209 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 61209 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 61209 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 61210 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 61210 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 61210 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 61210 behavior dive_to_1701: argument: thruster_value = 0.000000 X 61210 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 61210 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 61210 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 61210 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 61210 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 61210 behavior dive_to_1701: argument: time_ratio = 1.100000 X 61210 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 61210 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 61210 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 61210 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 61210 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 61210 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 61210 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 61214 9 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 61383 45 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 61383 behavior dive_to_1701: STATE Active -> Complete 61383 behavior climb_to_1702: STATE UnInited -> Active 61383 behavior climb_to_1702: argument: target_depth = 3.000000 m 61383 behavior climb_to_1702: argument: target_altitude = -1.000000 m 61383 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 61383 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 61383 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 61383 behavior climb_to_1702: argument: pitch_value = 0.453800 X 61383 behavior climb_to_1702: argument: start_when = 0.000000 enum 61383 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 61383 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 61383 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 61383 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 61383 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 61383 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 61383 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 61383 behavior climb_to_1702: argument: thruster_value = 0.000000 X 61383 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 61383 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 61383 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 61388 46 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 140, Climb: 112 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 1.250000 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 61518 76 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 61518 behavior climb_to_1702: STATE Active -> Complete 61519 behavior dive_to_1701: STATE UnInited -> Active 61519 behavior dive_to_1701: argument: target_depth = 60.000000 m 61519 behavior dive_to_1701: argument: target_altitude = 3.000000 m 61519 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 61519 behavior dive_to_1701: argument: bpump_value = 350.000000 X 61519 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 61519 behavior dive_to_1701: argument: pitch_value = -0.452800 X 61519 behavior dive_to_1701: argument: start_when = 0.000000 enum 61519 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 61519 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 61519 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 61519 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 61519 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 61519 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 61519 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 61519 behavior dive_to_1701: argument: thruster_value = 0.000000 X 61519 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 61519 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 61519 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 61519 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 61519 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 61519 behavior dive_to_1701: argument: time_ratio = 1.100000 X 61519 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 61519 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 61519 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 61519 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 61519 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 61519 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 61519 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 61523 76 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 61678 11 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 61678 behavior dive_to_1701: STATE Active -> Complete 61678 behavior climb_to_1702: STATE UnInited -> Active 61678 behavior climb_to_1702: argument: target_depth = 3.000000 m 61678 behavior climb_to_1702: argument: target_altitude = -1.000000 m 61678 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 61678 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 61678 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 61678 behavior climb_to_1702: argument: pitch_value = 0.453800 X 61678 behavior climb_to_1702: argument: start_when = 0.000000 enum 61678 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 61678 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 61678 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 61678 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 61678 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 61679 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 61679 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 61679 behavior climb_to_1702: argument: thruster_value = 0.000000 X 61679 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 61679 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 61679 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 61683 12 behavior sample_18: SUBSTATE 1 ->3 : Climbing 61779 31 DRIVER_ODDITY:digifin:10659:xxx_ctrl() ran too long AB: Time to Dive: 117, Climb: 155 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.325 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 61866 50 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 61866 behavior climb_to_1702: STATE Active -> Complete 61867 behavior dive_to_1701: STATE UnInited -> Active 61867 behavior dive_to_1701: argument: target_depth = 60.000000 m 61867 behavior dive_to_1701: argument: target_altitude = 3.000000 m 61867 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 61867 behavior dive_to_1701: argument: bpump_value = 350.000000 X 61867 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 61867 behavior dive_to_1701: argument: pitch_value = -0.452800 X 61867 behavior dive_to_1701: argument: start_when = 0.000000 enum 61867 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 61867 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 61867 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 61867 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 61867 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 61867 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 61867 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 61867 behavior dive_to_1701: argument: thruster_value = 0.000000 X 61867 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 61867 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 61867 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 61867 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 61867 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 61867 behavior dive_to_1701: argument: time_ratio = 1.100000 X 61867 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 61867 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 61867 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 61867 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 61867 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 61867 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 61867 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 61871 52 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 62039 88 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 62039 behavior dive_to_1701: STATE Active -> Complete 62039 behavior climb_to_1702: STATE UnInited -> Active 62039 behavior climb_to_1702: argument: target_depth = 3.000000 m 62039 behavior climb_to_1702: argument: target_altitude = -1.000000 m 62039 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 62039 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 62039 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 62039 behavior climb_to_1702: argument: pitch_value = 0.453800 X 62039 behavior climb_to_1702: argument: start_when = 0.000000 enum 62039 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 62039 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 62039 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 62039 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 62039 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 62039 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 62039 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 62039 behavior climb_to_1702: argument: thruster_value = 0.000000 X 62039 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 62039 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 62039 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 62043 90 behavior sample_18: SUBSTATE 1 ->3 : Climbing 62066 94 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:-0.0265 C_su:0.0852 :OOD: delta:0.1117 limit:0.1000 over:0.0117 62067 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Time to Dive: 138, Climb: 140 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.014. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 62202 25 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 62202 behavior climb_to_1702: STATE Active -> Complete 62202 behavior dive_to_1701: STATE UnInited -> Active 62202 behavior dive_to_1701: argument: target_depth = 60.000000 m 62202 behavior dive_to_1701: argument: target_altitude = 3.000000 m 62202 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 62202 behavior dive_to_1701: argument: bpump_value = 350.000000 X 62202 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 62202 behavior dive_to_1701: argument: pitch_value = -0.452800 X 62202 behavior dive_to_1701: argument: start_when = 0.000000 enum 62202 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 62202 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 62202 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 62202 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 62202 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 62202 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 62202 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 62202 behavior dive_to_1701: argument: thruster_value = 0.000000 X 62203 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 62203 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 62203 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 62203 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 62203 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 62203 behavior dive_to_1701: argument: time_ratio = 1.100000 X 62203 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 62203 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 62203 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 62203 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 62203 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 62203 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 62203 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 62207 25 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 62383 65 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 62383 behavior dive_to_1701: STATE Active -> Complete 62383 behavior climb_to_1702: STATE UnInited -> Active 62384 behavior climb_to_1702: argument: target_depth = 3.000000 m 62384 behavior climb_to_1702: argument: target_altitude = -1.000000 m 62384 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 62384 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 62384 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 62384 behavior climb_to_1702: argument: pitch_value = 0.453800 X 62384 behavior climb_to_1702: argument: start_when = 0.000000 enum 62384 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 62384 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 62384 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 62384 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 62384 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 62384 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 62384 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 62384 behavior climb_to_1702: argument: thruster_value = 0.000000 X 62384 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 62384 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 62384 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 62388 65 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 138, Climb: 139 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.007. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 62551 2 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 62551 behavior climb_to_1702: STATE Active -> Complete 62551 behavior dive_to_1701: STATE UnInited -> Active 62551 behavior dive_to_1701: argument: target_depth = 60.000000 m 62551 behavior dive_to_1701: argument: target_altitude = 3.000000 m 62551 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 62551 behavior dive_to_1701: argument: bpump_value = 350.000000 X 62551 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 62551 behavior dive_to_1701: argument: pitch_value = -0.452800 X 62551 behavior dive_to_1701: argument: start_when = 0.000000 enum 62551 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 62551 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 62551 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 62551 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 62551 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 62551 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 62551 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 62551 behavior dive_to_1701: argument: thruster_value = 0.000000 X 62551 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 62551 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 62551 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 62551 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 62551 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 62551 behavior dive_to_1701: argument: time_ratio = 1.100000 X 62551 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 62551 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 62551 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 62551 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 62551 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 62551 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 62551 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 62555 3 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 62728 40 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 62728 behavior dive_to_1701: STATE Active -> Complete 62728 behavior climb_to_1702: STATE UnInited -> Active 62728 behavior climb_to_1702: argument: target_depth = 3.000000 m 62728 behavior climb_to_1702: argument: target_altitude = -1.000000 m 62728 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 62728 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 62728 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 62728 behavior climb_to_1702: argument: pitch_value = 0.453800 X 62728 behavior climb_to_1702: argument: start_when = 0.000000 enum 62728 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 62728 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 62728 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 62728 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 62728 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 62728 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 62728 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 62728 behavior climb_to_1702: argument: thruster_value = 0.000000 X 62728 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 62728 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 62728 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 62733 41 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 134, Climb: 140 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.045. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 62896 78 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 62896 behavior climb_to_1702: STATE Active -> Complete 62896 behavior dive_to_1701: STATE UnInited -> Active 62896 behavior dive_to_1701: argument: target_depth = 60.000000 m 62896 behavior dive_to_1701: argument: target_altitude = 3.000000 m 62896 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 62896 behavior dive_to_1701: argument: bpump_value = 350.000000 X 62896 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 62896 behavior dive_to_1701: argument: pitch_value = -0.452800 X 62896 behavior dive_to_1701: argument: start_when = 0.000000 enum 62896 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 62896 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 62896 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 62896 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 62896 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 62896 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 62896 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 62896 behavior dive_to_1701: argument: thruster_value = 0.000000 X 62896 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 62896 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 62896 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 62896 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 62896 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 62896 behavior dive_to_1701: argument: time_ratio = 1.100000 X 62896 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 62896 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 62896 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 62896 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 62896 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 62896 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 62896 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 62901 78 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 63091 21 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 63091 behavior dive_to_1701: STATE Active -> Complete 63091 behavior climb_to_1702: STATE UnInited -> Active 63091 behavior climb_to_1702: argument: target_depth = 3.000000 m 63091 behavior climb_to_1702: argument: target_altitude = -1.000000 m 63091 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 63091 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 63091 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 63091 behavior climb_to_1702: argument: pitch_value = 0.453800 X 63091 behavior climb_to_1702: argument: start_when = 0.000000 enum 63091 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 63091 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 63091 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 63091 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 63091 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 63091 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 63091 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 63091 behavior climb_to_1702: argument: thruster_value = 0.000000 X 63091 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 63091 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 63091 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 63095 21 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 147 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:0.967. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 63261 59 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 63261 behavior climb_to_1702: STATE Active -> Complete 63261 behavior dive_to_1701: STATE UnInited -> Active 63261 behavior dive_to_1701: argument: target_depth = 60.000000 m 63261 behavior dive_to_1701: argument: target_altitude = 3.000000 m 63261 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 63261 behavior dive_to_1701: argument: bpump_value = 350.000000 X 63261 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 63261 behavior dive_to_1701: argument: pitch_value = -0.452800 X 63261 behavior dive_to_1701: argument: start_when = 0.000000 enum 63261 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 63261 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 63261 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 63262 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 63262 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 63262 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 63262 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 63262 behavior dive_to_1701: argument: thruster_value = 0.000000 X 63262 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 63262 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 63262 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 63262 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 63262 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 63262 behavior dive_to_1701: argument: time_ratio = 1.100000 X 63262 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 63262 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 63262 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 63262 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 63262 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 63262 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 63262 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 63266 59 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 63442 99 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 63442 behavior dive_to_1701: STATE Active -> Complete 63442 behavior climb_to_1702: STATE UnInited -> Active 63442 behavior climb_to_1702: argument: target_depth = 3.000000 m 63442 behavior climb_to_1702: argument: target_altitude = -1.000000 m 63442 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 63442 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 63442 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 63442 behavior climb_to_1702: argument: pitch_value = 0.453800 X 63442 behavior climb_to_1702: argument: start_when = 0.000000 enum 63442 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 63442 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 63442 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 63442 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 63442 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 63442 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 63442 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 63442 behavior climb_to_1702: argument: thruster_value = 0.000000 X 63443 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 63443 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 63443 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 63447 0 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 104 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 1.375000 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 63570 27 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 63570 behavior climb_to_1702: STATE Active -> Complete 63570 behavior dive_to_1701: STATE UnInited -> Active 63570 behavior dive_to_1701: argument: target_depth = 60.000000 m 63570 behavior dive_to_1701: argument: target_altitude = 3.000000 m 63570 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 63570 behavior dive_to_1701: argument: bpump_value = 350.000000 X 63570 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 63570 behavior dive_to_1701: argument: pitch_value = -0.452800 X 63570 behavior dive_to_1701: argument: start_when = 0.000000 enum 63570 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 63570 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 63570 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 63570 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 63570 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 63570 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 63570 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 63570 behavior dive_to_1701: argument: thruster_value = 0.000000 X 63570 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 63570 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 63570 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 63570 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 63570 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 63570 behavior dive_to_1701: argument: time_ratio = 1.100000 X 63570 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 63570 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 63570 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 63570 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 63570 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 63570 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 63570 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 63574 28 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 63730 62 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 63730 behavior dive_to_1701: STATE Active -> Complete 63730 behavior climb_to_1702: STATE UnInited -> Active 63730 behavior climb_to_1702: argument: target_depth = 3.000000 m 63730 behavior climb_to_1702: argument: target_altitude = -1.000000 m 63730 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 63730 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 63730 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 63730 behavior climb_to_1702: argument: pitch_value = 0.453800 X 63730 behavior climb_to_1702: argument: start_when = 0.000000 enum 63730 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 63730 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 63730 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 63730 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 63730 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 63730 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 63730 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 63730 behavior climb_to_1702: argument: thruster_value = 0.000000 X 63730 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 63730 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 63730 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 63734 62 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 112, Climb: 179 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.598 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 63941 9 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 63941 behavior climb_to_1702: STATE Active -> Complete 63941 behavior dive_to_1701: STATE UnInited -> Active 63941 behavior dive_to_1701: argument: target_depth = 60.000000 m 63941 behavior dive_to_1701: argument: target_altitude = 3.000000 m 63941 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 63941 behavior dive_to_1701: argument: bpump_value = 350.000000 X 63941 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 63941 behavior dive_to_1701: argument: pitch_value = -0.452800 X 63941 behavior dive_to_1701: argument: start_when = 0.000000 enum 63941 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 63941 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 63941 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 63941 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 63941 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 63941 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 63941 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 63941 behavior dive_to_1701: argument: thruster_value = 0.000000 X 63941 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 63941 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 63941 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 63941 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 63941 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 63941 behavior dive_to_1701: argument: time_ratio = 1.100000 X 63941 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 63941 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 63941 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 63941 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 63941 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 63941 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 63941 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 63945 9 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 64113 46 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 64113 behavior dive_to_1701: STATE Active -> Complete 64113 behavior climb_to_1702: STATE UnInited -> Active 64113 behavior climb_to_1702: argument: target_depth = 3.000000 m 64113 behavior climb_to_1702: argument: target_altitude = -1.000000 m 64113 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 64113 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 64113 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 64113 behavior climb_to_1702: argument: pitch_value = 0.453800 X 64113 behavior climb_to_1702: argument: start_when = 0.000000 enum 64113 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 64113 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 64113 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 64113 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 64113 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 64113 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 64113 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 64114 behavior climb_to_1702: argument: thruster_value = 0.000000 X 64114 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 64114 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 64114 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 64118 47 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 130, Climb: 153 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.177 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 64289 86 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 64289 behavior climb_to_1702: STATE Active -> Complete 64289 behavior dive_to_1701: STATE UnInited -> Active 64289 behavior dive_to_1701: argument: target_depth = 60.000000 m 64289 behavior dive_to_1701: argument: target_altitude = 3.000000 m 64289 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 64289 behavior dive_to_1701: argument: bpump_value = 350.000000 X 64290 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 64290 behavior dive_to_1701: argument: pitch_value = -0.452800 X 64290 behavior dive_to_1701: argument: start_when = 0.000000 enum 64290 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 64290 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 64290 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 64290 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 64290 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 64290 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 64290 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 64290 behavior dive_to_1701: argument: thruster_value = 0.000000 X 64290 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 64290 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 64290 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 64290 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 64290 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 64290 behavior dive_to_1701: argument: time_ratio = 1.100000 X 64290 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 64290 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 64290 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 64290 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 64290 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 64290 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 64290 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 64295 87 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 64480 28 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 64480 behavior dive_to_1701: STATE Active -> Complete 64480 behavior climb_to_1702: STATE UnInited -> Active 64480 behavior climb_to_1702: argument: target_depth = 3.000000 m 64480 behavior climb_to_1702: argument: target_altitude = -1.000000 m 64480 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 64481 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 64481 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 64481 behavior climb_to_1702: argument: pitch_value = 0.453800 X 64481 behavior climb_to_1702: argument: start_when = 0.000000 enum 64481 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 64481 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 64481 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 64481 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 64481 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 64481 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 64481 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 64481 behavior climb_to_1702: argument: thruster_value = 0.000000 X 64481 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 64481 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 64481 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 64485 28 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 112 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.357143 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 64621 59 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 64621 behavior climb_to_1702: STATE Active -> Complete 64621 behavior dive_to_1701: STATE UnInited -> Active 64621 behavior dive_to_1701: argument: target_depth = 60.000000 m 64621 behavior dive_to_1701: argument: target_altitude = 3.000000 m 64621 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 64621 behavior dive_to_1701: argument: bpump_value = 350.000000 X 64621 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 64621 behavior dive_to_1701: argument: pitch_value = -0.452800 X 64621 behavior dive_to_1701: argument: start_when = 0.000000 enum 64621 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 64621 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 64621 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 64621 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 64621 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 64621 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 64621 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 64621 behavior dive_to_1701: argument: thruster_value = 0.000000 X 64621 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 64621 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 64621 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 64621 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 64621 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 64621 behavior dive_to_1701: argument: time_ratio = 1.100000 X 64621 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 64621 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 64621 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 64621 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 64621 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 64621 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 64621 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 64625 59 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 64802 99 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 64802 behavior dive_to_1701: STATE Active -> Complete 64802 behavior climb_to_1702: STATE UnInited -> Active 64802 behavior climb_to_1702: argument: target_depth = 3.000000 m 64802 behavior climb_to_1702: argument: target_altitude = -1.000000 m 64802 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 64802 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 64802 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 64802 behavior climb_to_1702: argument: pitch_value = 0.453800 X 64802 behavior climb_to_1702: argument: start_when = 0.000000 enum 64802 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 64802 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 64802 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 64802 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 64802 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 64802 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 64802 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 64802 behavior climb_to_1702: argument: thruster_value = 0.000000 X 64802 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 64802 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 64802 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 64806 0 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 160 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.119 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 64990 40 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 64990 behavior climb_to_1702: STATE Active -> Complete 64990 behavior dive_to_1701: STATE UnInited -> Active 64990 behavior dive_to_1701: argument: target_depth = 60.000000 m 64990 behavior dive_to_1701: argument: target_altitude = 3.000000 m 64990 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 64990 behavior dive_to_1701: argument: bpump_value = 350.000000 X 64990 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 64990 behavior dive_to_1701: argument: pitch_value = -0.452800 X 64990 behavior dive_to_1701: argument: start_when = 0.000000 enum 64990 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 64990 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 64990 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 64990 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 64990 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 64990 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 64991 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 64991 behavior dive_to_1701: argument: thruster_value = 0.000000 X 64991 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 64991 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 64991 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 64991 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 64991 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 64991 behavior dive_to_1701: argument: time_ratio = 1.100000 X 64991 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 64991 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 64991 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 64991 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 64991 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 64991 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 64991 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 64995 41 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 65167 80 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 65167 behavior dive_to_1701: STATE Active -> Complete 65167 behavior climb_to_1702: STATE UnInited -> Active 65167 behavior climb_to_1702: argument: target_depth = 3.000000 m 65167 behavior climb_to_1702: argument: target_altitude = -1.000000 m 65167 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 65167 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 65167 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 65167 behavior climb_to_1702: argument: pitch_value = 0.453800 X 65167 behavior climb_to_1702: argument: start_when = 0.000000 enum 65167 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 65167 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 65167 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 65167 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 65167 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 65167 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 65167 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 65167 behavior climb_to_1702: argument: thruster_value = 0.000000 X 65167 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 65167 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 65167 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 65171 81 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 143 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.000. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 65333 16 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 65333 behavior climb_to_1702: STATE Active -> Complete 65334 behavior dive_to_1701: STATE UnInited -> Active 65334 behavior dive_to_1701: argument: target_depth = 60.000000 m 65334 behavior dive_to_1701: argument: target_altitude = 3.000000 m 65334 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 65334 behavior dive_to_1701: argument: bpump_value = 350.000000 X 65334 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 65334 behavior dive_to_1701: argument: pitch_value = -0.452800 X 65334 behavior dive_to_1701: argument: start_when = 0.000000 enum 65334 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 65334 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 65334 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 65334 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 65334 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 65334 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 65334 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 65334 behavior dive_to_1701: argument: thruster_value = 0.000000 X 65334 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 65334 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 65334 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 65334 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 65334 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 65334 behavior dive_to_1701: argument: time_ratio = 1.100000 X 65334 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 65334 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 65334 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 65334 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 65334 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 65334 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 65334 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 65338 18 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 65524 59 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 65524 behavior dive_to_1701: STATE Active -> Complete 65524 behavior climb_to_1702: STATE UnInited -> Active 65524 behavior climb_to_1702: argument: target_depth = 3.000000 m 65524 behavior climb_to_1702: argument: target_altitude = -1.000000 m 65524 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 65524 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 65524 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 65524 behavior climb_to_1702: argument: pitch_value = 0.453800 X 65524 behavior climb_to_1702: argument: start_when = 0.000000 enum 65524 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 65524 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 65524 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 65524 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 65524 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 65524 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 65524 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 65524 behavior climb_to_1702: argument: thruster_value = 0.000000 X 65524 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 65524 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 65524 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 65528 59 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 147, Climb: 134 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.912. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 65681 93 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 65681 behavior climb_to_1702: STATE Active -> Complete 65681 behavior dive_to_1701: STATE UnInited -> Active 65681 behavior dive_to_1701: argument: target_depth = 60.000000 m 65681 behavior dive_to_1701: argument: target_altitude = 3.000000 m 65681 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 65681 behavior dive_to_1701: argument: bpump_value = 350.000000 X 65681 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 65681 behavior dive_to_1701: argument: pitch_value = -0.452800 X 65682 behavior dive_to_1701: argument: start_when = 0.000000 enum 65682 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 65682 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 65682 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 65682 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 65682 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 65682 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 65682 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 65682 behavior dive_to_1701: argument: thruster_value = 0.000000 X 65682 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 65682 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 65682 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 65682 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 65682 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 65682 behavior dive_to_1701: argument: time_ratio = 1.100000 X 65682 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 65682 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 65682 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 65682 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 65682 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 65682 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 65682 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 65686 94 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 65872 36 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 65872 behavior dive_to_1701: STATE Active -> Complete 65872 behavior climb_to_1702: STATE UnInited -> Active 65872 behavior climb_to_1702: argument: target_depth = 3.000000 m 65872 behavior climb_to_1702: argument: target_altitude = -1.000000 m 65872 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 65872 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 65872 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 65872 behavior climb_to_1702: argument: pitch_value = 0.453800 X 65872 behavior climb_to_1702: argument: start_when = 0.000000 enum 65872 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 65872 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 65872 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 65872 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 65872 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 65872 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 65872 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 65872 behavior climb_to_1702: argument: thruster_value = 0.000000 X 65873 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 65873 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 65873 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 65877 37 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 153, Climb: 116 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.318966 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 66016 68 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 66016 behavior climb_to_1702: STATE Active -> Complete 66016 behavior dive_to_1701: STATE UnInited -> Active 66016 behavior dive_to_1701: argument: target_depth = 60.000000 m 66016 behavior dive_to_1701: argument: target_altitude = 3.000000 m 66016 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 66016 behavior dive_to_1701: argument: bpump_value = 350.000000 X 66016 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 66017 behavior dive_to_1701: argument: pitch_value = -0.452800 X 66017 behavior dive_to_1701: argument: start_when = 0.000000 enum 66017 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 66017 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 66017 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 66017 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 66017 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 66017 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 66017 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 66017 behavior dive_to_1701: argument: thruster_value = 0.000000 X 66017 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 66017 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 66017 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 66017 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 66017 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 66017 behavior dive_to_1701: argument: time_ratio = 1.100000 X 66017 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 66017 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 66017 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 66017 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 66017 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 66017 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 66017 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 66022 68 behavior sample_18: SUBSTATE 3 ->1 : Diving 66073 77 DRIVER_ODDITY:digifin:12669:xxx_ctrl() ran too long AB: Inflected early at Dive depth 20 [m] 66183 2 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 66183 behavior dive_to_1701: STATE Active -> Complete 66183 behavior climb_to_1702: STATE UnInited -> Active 66183 behavior climb_to_1702: argument: target_depth = 3.000000 m 66183 behavior climb_to_1702: argument: target_altitude = -1.000000 m 66183 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 66183 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 66183 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 66183 behavior climb_to_1702: argument: pitch_value = 0.453800 X 66183 behavior climb_to_1702: argument: start_when = 0.000000 enum 66183 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 66183 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 66183 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 66183 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 66184 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 66184 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 66184 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 66184 behavior climb_to_1702: argument: thruster_value = 0.000000 X 66184 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 66184 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 66184 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 66188 3 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 127, Climb: 151 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.189 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 66367 43 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 66367 behavior climb_to_1702: STATE Active -> Complete 66367 behavior dive_to_1701: STATE UnInited -> Active 66367 behavior dive_to_1701: argument: target_depth = 60.000000 m 66367 behavior dive_to_1701: argument: target_altitude = 3.000000 m 66367 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 66368 behavior dive_to_1701: argument: bpump_value = 350.000000 X 66368 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 66368 behavior dive_to_1701: argument: pitch_value = -0.452800 X 66368 behavior dive_to_1701: argument: start_when = 0.000000 enum 66368 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 66368 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 66368 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 66368 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 66368 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 66368 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 66368 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 66368 behavior dive_to_1701: argument: thruster_value = 0.000000 X 66368 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 66368 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 66368 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 66368 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 66368 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 66368 behavior dive_to_1701: argument: time_ratio = 1.100000 X 66368 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 66368 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 66368 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 66368 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 66368 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 66368 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 66368 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 66372 43 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 66558 84 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 66558 behavior dive_to_1701: STATE Active -> Complete 66558 behavior climb_to_1702: STATE UnInited -> Active 66558 behavior climb_to_1702: argument: target_depth = 3.000000 m 66558 behavior climb_to_1702: argument: target_altitude = -1.000000 m 66558 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 66558 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 66558 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 66558 behavior climb_to_1702: argument: pitch_value = 0.453800 X 66558 behavior climb_to_1702: argument: start_when = 0.000000 enum 66558 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 66558 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 66558 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 66558 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 66558 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 66558 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 66558 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 66558 behavior climb_to_1702: argument: thruster_value = 0.000000 X 66558 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 66559 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 66559 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 66563 86 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 134 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.937. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 66716 19 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 66716 behavior climb_to_1702: STATE Active -> Complete 66716 behavior dive_to_1701: STATE UnInited -> Active 66716 behavior dive_to_1701: argument: target_depth = 60.000000 m 66716 behavior dive_to_1701: argument: target_altitude = 3.000000 m 66716 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 66716 behavior dive_to_1701: argument: bpump_value = 350.000000 X 66716 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 66716 behavior dive_to_1701: argument: pitch_value = -0.452800 X 66716 behavior dive_to_1701: argument: start_when = 0.000000 enum 66716 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 66716 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 66716 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 66716 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 66716 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 66716 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 66716 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 66716 behavior dive_to_1701: argument: thruster_value = 0.000000 X 66716 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 66716 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 66716 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 66716 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 66716 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 66716 behavior dive_to_1701: argument: time_ratio = 1.100000 X 66716 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 66716 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 66716 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 66716 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 66716 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 66716 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 66716 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 66720 21 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 66924 65 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 66924 behavior dive_to_1701: STATE Active -> Complete 66924 behavior climb_to_1702: STATE UnInited -> Active 66924 behavior climb_to_1702: argument: target_depth = 3.000000 m 66924 behavior climb_to_1702: argument: target_altitude = -1.000000 m 66924 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 66924 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 66924 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 66924 behavior climb_to_1702: argument: pitch_value = 0.453800 X 66924 behavior climb_to_1702: argument: start_when = 0.000000 enum 66924 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 66924 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 66924 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 66924 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 66924 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 66924 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 66924 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 66924 behavior climb_to_1702: argument: thruster_value = 0.000000 X 66924 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 66924 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 66924 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 66928 66 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 170, Climb: 131 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.297710 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 67078 0 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 67078 behavior climb_to_1702: STATE Active -> Complete 67078 behavior dive_to_1701: STATE UnInited -> Active 67078 behavior dive_to_1701: argument: target_depth = 60.000000 m 67078 behavior dive_to_1701: argument: target_altitude = 3.000000 m 67078 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 67078 behavior dive_to_1701: argument: bpump_value = 350.000000 X 67078 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 67078 behavior dive_to_1701: argument: pitch_value = -0.452800 X 67078 behavior dive_to_1701: argument: start_when = 0.000000 enum 67078 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 67078 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 67078 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 67078 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 67078 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 67078 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 67078 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 67078 behavior dive_to_1701: argument: thruster_value = 0.000000 X 67078 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 67079 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 67079 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 67079 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 67079 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 67079 behavior dive_to_1701: argument: time_ratio = 1.100000 X 67079 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 67079 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 67079 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 67079 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 67079 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 67079 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 67079 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 67083 0 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 67284 44 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 67284 behavior dive_to_1701: STATE Active -> Complete 67284 behavior climb_to_1702: STATE UnInited -> Active 67284 behavior climb_to_1702: argument: target_depth = 3.000000 m 67284 behavior climb_to_1702: argument: target_altitude = -1.000000 m 67284 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 67284 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 67284 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 67284 behavior climb_to_1702: argument: pitch_value = 0.453800 X 67284 behavior climb_to_1702: argument: start_when = 0.000000 enum 67284 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 67284 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 67284 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 67284 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 67284 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 67284 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 67284 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 67284 behavior climb_to_1702: argument: thruster_value = 0.000000 X 67284 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 67284 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 67284 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 67288 46 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 144, Climb: 160 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.111 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 67477 87 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 67477 behavior climb_to_1702: STATE Active -> Complete 67477 behavior dive_to_1701: STATE UnInited -> Active 67477 behavior dive_to_1701: argument: target_depth = 60.000000 m 67477 behavior dive_to_1701: argument: target_altitude = 3.000000 m 67477 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 67477 behavior dive_to_1701: argument: bpump_value = 350.000000 X 67477 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 67477 behavior dive_to_1701: argument: pitch_value = -0.452800 X 67477 behavior dive_to_1701: argument: start_when = 0.000000 enum 67477 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 67477 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 67477 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 67477 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 67477 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 67477 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 67477 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 67477 behavior dive_to_1701: argument: thruster_value = 0.000000 X 67477 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 67477 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 67477 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 67477 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 67477 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 67477 behavior dive_to_1701: argument: time_ratio = 1.100000 X 67477 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 67477 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 67477 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 67477 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 67477 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 67477 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 67477 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 67481 88 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 67684 34 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 67684 behavior dive_to_1701: STATE Active -> Complete 67684 behavior climb_to_1702: STATE UnInited -> Active 67684 behavior climb_to_1702: argument: target_depth = 3.000000 m 67684 behavior climb_to_1702: argument: target_altitude = -1.000000 m 67684 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 67684 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 67684 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 67685 behavior climb_to_1702: argument: pitch_value = 0.453800 X 67685 behavior climb_to_1702: argument: start_when = 0.000000 enum 67685 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 67685 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 67685 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 67685 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 67685 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 67685 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 67685 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 67685 behavior climb_to_1702: argument: thruster_value = 0.000000 X 67685 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 67685 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 67685 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 67689 34 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 174, Climb: 143 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.216783 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 67851 71 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 67851 behavior climb_to_1702: STATE Active -> Complete 67851 behavior dive_to_1701: STATE UnInited -> Active 67851 behavior dive_to_1701: argument: target_depth = 60.000000 m 67851 behavior dive_to_1701: argument: target_altitude = 3.000000 m 67851 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 67851 behavior dive_to_1701: argument: bpump_value = 350.000000 X 67851 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 67851 behavior dive_to_1701: argument: pitch_value = -0.452800 X 67851 behavior dive_to_1701: argument: start_when = 0.000000 enum 67851 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 67851 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 67851 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 67851 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 67851 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 67851 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 67851 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 67851 behavior dive_to_1701: argument: thruster_value = 0.000000 X 67851 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 67851 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 67851 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 67851 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 67851 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 67851 behavior dive_to_1701: argument: time_ratio = 1.100000 X 67851 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 67851 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 67851 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 67851 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 67851 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 67851 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 67852 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 67856 71 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 68047 13 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 68047 behavior dive_to_1701: STATE Active -> Complete 68047 behavior climb_to_1702: STATE UnInited -> Active 68047 behavior climb_to_1702: argument: target_depth = 3.000000 m 68047 behavior climb_to_1702: argument: target_altitude = -1.000000 m 68047 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 68047 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 68047 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 68047 behavior climb_to_1702: argument: pitch_value = 0.453800 X 68047 behavior climb_to_1702: argument: start_when = 0.000000 enum 68047 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 68047 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 68047 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 68047 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 68047 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 68047 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 68047 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 68047 behavior climb_to_1702: argument: thruster_value = 0.000000 X 68047 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 68047 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 68047 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 68051 15 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 153, Climb: 147 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:0.961. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 68222 53 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 68222 behavior climb_to_1702: STATE Active -> Complete 68222 behavior dive_to_1701: STATE UnInited -> Active 68222 behavior dive_to_1701: argument: target_depth = 60.000000 m 68222 behavior dive_to_1701: argument: target_altitude = 3.000000 m 68222 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 68222 behavior dive_to_1701: argument: bpump_value = 350.000000 X 68222 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 68222 behavior dive_to_1701: argument: pitch_value = -0.452800 X 68222 behavior dive_to_1701: argument: start_when = 0.000000 enum 68222 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 68222 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 68222 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 68222 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 68222 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 68222 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 68222 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 68222 behavior dive_to_1701: argument: thruster_value = 0.000000 X 68222 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 68222 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 68222 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 68222 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 68222 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 68222 behavior dive_to_1701: argument: time_ratio = 1.100000 X 68222 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 68222 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 68222 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 68222 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 68222 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 68222 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 68222 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 68226 53 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 68409 93 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 68409 behavior dive_to_1701: STATE Active -> Complete 68409 behavior climb_to_1702: STATE UnInited -> Active 68409 behavior climb_to_1702: argument: target_depth = 3.000000 m 68409 behavior climb_to_1702: argument: target_altitude = -1.000000 m 68409 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 68409 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 68409 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 68409 behavior climb_to_1702: argument: pitch_value = 0.453800 X 68409 behavior climb_to_1702: argument: start_when = 0.000000 enum 68409 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 68409 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 68409 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 68409 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 68409 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 68409 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 68409 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 68409 behavior climb_to_1702: argument: thruster_value = 0.000000 X 68409 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 68409 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 68409 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 68413 94 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 144, Climb: 160 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.111 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 68597 36 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 68597 behavior climb_to_1702: STATE Active -> Complete 68597 behavior dive_to_1701: STATE UnInited -> Active 68597 behavior dive_to_1701: argument: target_depth = 60.000000 m 68597 behavior dive_to_1701: argument: target_altitude = 3.000000 m 68597 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 68597 behavior dive_to_1701: argument: bpump_value = 350.000000 X 68597 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 68597 behavior dive_to_1701: argument: pitch_value = -0.452800 X 68597 behavior dive_to_1701: argument: start_when = 0.000000 enum 68597 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 68597 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 68597 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 68597 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 68597 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 68597 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 68597 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 68597 behavior dive_to_1701: argument: thruster_value = 0.000000 X 68597 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 68597 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 68597 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 68598 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 68598 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 68598 behavior dive_to_1701: argument: time_ratio = 1.100000 X 68598 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 68598 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 68598 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 68598 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 68598 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 68598 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 68598 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 68602 37 behavior sample_18: SUBSTATE 3 ->1 : Diving 68641 44 db(#/min/mn/max/sd) buoyancy_pump 1800 -1.861 -0.080 1.392 0.883 cc 68641 db(#/min/mn/max/sd) buoyancy_pump 1800 -4 0 3 2 mV AB: Inflected early at Dive depth 21 [m] 68784 77 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 68784 behavior dive_to_1701: STATE Active -> Complete 68784 behavior climb_to_1702: STATE UnInited -> Active 68784 behavior climb_to_1702: argument: target_depth = 3.000000 m 68784 behavior climb_to_1702: argument: target_altitude = -1.000000 m 68784 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 68784 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 68784 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 68784 behavior climb_to_1702: argument: pitch_value = 0.453800 X 68784 behavior climb_to_1702: argument: start_when = 0.000000 enum 68784 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 68784 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 68784 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 68784 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 68784 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 68784 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 68784 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 68784 behavior climb_to_1702: argument: thruster_value = 0.000000 X 68784 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 68784 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 68784 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 68788 78 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 148, Climb: 116 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.275862 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 68923 8 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 68923 behavior climb_to_1702: STATE Active -> Complete 68923 behavior dive_to_1701: STATE UnInited -> Active 68923 behavior dive_to_1701: argument: target_depth = 60.000000 m 68923 behavior dive_to_1701: argument: target_altitude = 3.000000 m 68923 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 68923 behavior dive_to_1701: argument: bpump_value = 350.000000 X 68923 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 68923 behavior dive_to_1701: argument: pitch_value = -0.452800 X 68923 behavior dive_to_1701: argument: start_when = 0.000000 enum 68923 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 68923 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 68923 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 68923 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 68923 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 68923 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 68923 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 68923 behavior dive_to_1701: argument: thruster_value = 0.000000 X 68923 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 68923 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 68923 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 68923 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 68923 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 68923 behavior dive_to_1701: argument: time_ratio = 1.100000 X 68923 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 68923 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 68923 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 68923 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 68923 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 68923 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 68923 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 68927 9 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 69122 52 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 69122 behavior dive_to_1701: STATE Active -> Complete 69122 behavior climb_to_1702: STATE UnInited -> Active 69122 behavior climb_to_1702: argument: target_depth = 3.000000 m 69122 behavior climb_to_1702: argument: target_altitude = -1.000000 m 69122 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 69122 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 69122 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 69122 behavior climb_to_1702: argument: pitch_value = 0.453800 X 69122 behavior climb_to_1702: argument: start_when = 0.000000 enum 69122 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 69122 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 69122 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 69122 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 69122 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 69122 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 69122 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 69123 behavior climb_to_1702: argument: thruster_value = 0.000000 X 69123 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 69123 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 69123 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 69127 53 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 147, Climb: 162 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.102 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 69317 94 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 69317 behavior climb_to_1702: STATE Active -> Complete 69317 behavior dive_to_1701: STATE UnInited -> Active 69317 behavior dive_to_1701: argument: target_depth = 60.000000 m 69317 behavior dive_to_1701: argument: target_altitude = 3.000000 m 69317 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 69317 behavior dive_to_1701: argument: bpump_value = 350.000000 X 69317 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 69317 behavior dive_to_1701: argument: pitch_value = -0.452800 X 69317 behavior dive_to_1701: argument: start_when = 0.000000 enum 69317 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 69317 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 69317 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 69317 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 69317 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 69317 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 69317 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 69317 behavior dive_to_1701: argument: thruster_value = 0.000000 X 69317 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 69317 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 69317 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 69317 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 69317 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 69317 behavior dive_to_1701: argument: time_ratio = 1.100000 X 69317 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 69317 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 69317 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 69317 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 69317 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 69317 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 69317 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 69322 96 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 69526 40 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 69526 behavior dive_to_1701: STATE Active -> Complete 69526 behavior climb_to_1702: STATE UnInited -> Active 69526 behavior climb_to_1702: argument: target_depth = 3.000000 m 69526 behavior climb_to_1702: argument: target_altitude = -1.000000 m 69526 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 69526 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 69526 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 69526 behavior climb_to_1702: argument: pitch_value = 0.453800 X 69526 behavior climb_to_1702: argument: start_when = 0.000000 enum 69526 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 69526 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 69526 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 69526 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 69526 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 69526 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 69526 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 69526 behavior climb_to_1702: argument: thruster_value = 0.000000 X 69526 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 69526 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 69526 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 69531 41 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 162, Climb: 152 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.938. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 69702 80 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 69702 behavior climb_to_1702: STATE Active -> Complete 69702 behavior dive_to_1701: STATE UnInited -> Active 69702 behavior dive_to_1701: argument: target_depth = 60.000000 m 69702 behavior dive_to_1701: argument: target_altitude = 3.000000 m 69702 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 69702 behavior dive_to_1701: argument: bpump_value = 350.000000 X 69702 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 69702 behavior dive_to_1701: argument: pitch_value = -0.452800 X 69702 behavior dive_to_1701: argument: start_when = 0.000000 enum 69702 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 69702 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 69702 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 69702 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 69702 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 69702 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 69702 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 69702 behavior dive_to_1701: argument: thruster_value = 0.000000 X 69702 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 69702 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 69702 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 69702 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 69702 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 69702 behavior dive_to_1701: argument: time_ratio = 1.100000 X 69702 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 69702 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 69702 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 69702 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 69702 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 69702 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 69702 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 69706 81 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 69901 24 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 69901 behavior dive_to_1701: STATE Active -> Complete 69901 behavior climb_to_1702: STATE UnInited -> Active 69901 behavior climb_to_1702: argument: target_depth = 3.000000 m 69901 behavior climb_to_1702: argument: target_altitude = -1.000000 m 69901 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 69901 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 69901 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 69901 behavior climb_to_1702: argument: pitch_value = 0.453800 X 69901 behavior climb_to_1702: argument: start_when = 0.000000 enum 69901 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 69902 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 69902 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 69902 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 69902 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 69902 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 69902 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 69902 behavior climb_to_1702: argument: thruster_value = 0.000000 X 69902 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 69902 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 69902 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 69906 25 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 130 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.169231 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 70060 59 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 70060 behavior climb_to_1702: STATE Active -> Complete 70060 behavior dive_to_1701: STATE UnInited -> Active 70060 behavior dive_to_1701: argument: target_depth = 60.000000 m 70060 behavior dive_to_1701: argument: target_altitude = 3.000000 m 70060 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 70060 behavior dive_to_1701: argument: bpump_value = 350.000000 X 70060 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 70060 behavior dive_to_1701: argument: pitch_value = -0.452800 X 70060 behavior dive_to_1701: argument: start_when = 0.000000 enum 70060 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 70060 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 70060 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 70060 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 70060 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 70060 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 70060 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 70060 behavior dive_to_1701: argument: thruster_value = 0.000000 X 70060 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 70060 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 70060 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 70060 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 70060 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 70060 behavior dive_to_1701: argument: time_ratio = 1.100000 X 70060 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 70060 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 70060 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 70060 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 70060 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 70060 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 70060 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 70065 59 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 70251 0 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 70251 behavior dive_to_1701: STATE Active -> Complete 70251 behavior climb_to_1702: STATE UnInited -> Active 70251 behavior climb_to_1702: argument: target_depth = 3.000000 m 70251 behavior climb_to_1702: argument: target_altitude = -1.000000 m 70251 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 70251 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 70251 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 70251 behavior climb_to_1702: argument: pitch_value = 0.453800 X 70251 behavior climb_to_1702: argument: start_when = 0.000000 enum 70251 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 70251 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 70251 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 70251 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 70251 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 70251 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 70251 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 70252 behavior climb_to_1702: argument: thruster_value = 0.000000 X 70252 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 70252 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 70252 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 70256 2 behavior sample_18: SUBSTATE 1 ->3 : Climbing 70369 25 DRIVER_ODDITY:digifin:9503:xxx_ctrl() ran too long AB: Time to Dive: 153, Climb: 137 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 1.116788 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 70420 37 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 70420 behavior climb_to_1702: STATE Active -> Complete 70421 behavior dive_to_1701: STATE UnInited -> Active 70421 behavior dive_to_1701: argument: target_depth = 60.000000 m 70421 behavior dive_to_1701: argument: target_altitude = 3.000000 m 70421 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 70421 behavior dive_to_1701: argument: bpump_value = 350.000000 X 70421 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 70421 behavior dive_to_1701: argument: pitch_value = -0.452800 X 70421 behavior dive_to_1701: argument: start_when = 0.000000 enum 70421 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 70421 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 70421 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 70421 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 70421 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 70421 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 70421 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 70421 behavior dive_to_1701: argument: thruster_value = 0.000000 X 70421 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 70421 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 70421 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 70421 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 70421 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 70421 behavior dive_to_1701: argument: time_ratio = 1.100000 X 70421 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 70421 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 70421 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 70421 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 70421 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 70421 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 70421 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 70425 37 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 70585 72 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 70585 behavior dive_to_1701: STATE Active -> Complete 70585 behavior climb_to_1702: STATE UnInited -> Active 70585 behavior climb_to_1702: argument: target_depth = 3.000000 m 70585 behavior climb_to_1702: argument: target_altitude = -1.000000 m 70585 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 70585 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 70585 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 70585 behavior climb_to_1702: argument: pitch_value = 0.453800 X 70585 behavior climb_to_1702: argument: start_when = 0.000000 enum 70585 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 70585 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 70585 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 70585 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 70585 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 70585 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 70585 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 70585 behavior climb_to_1702: argument: thruster_value = 0.000000 X 70585 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 70585 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 70585 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 70589 74 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 121, Climb: 196 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.620 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 70814 24 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 70814 behavior climb_to_1702: STATE Active -> Complete 70814 behavior dive_to_1701: STATE UnInited -> Active 70814 behavior dive_to_1701: argument: target_depth = 60.000000 m 70814 behavior dive_to_1701: argument: target_altitude = 3.000000 m 70814 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 70814 behavior dive_to_1701: argument: bpump_value = 350.000000 X 70814 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 70814 behavior dive_to_1701: argument: pitch_value = -0.452800 X 70814 behavior dive_to_1701: argument: start_when = 0.000000 enum 70814 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 70814 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 70814 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 70814 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 70814 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 70814 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 70814 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 70814 behavior dive_to_1701: argument: thruster_value = 0.000000 X 70814 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 70814 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 70814 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 70814 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 70814 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 70814 behavior dive_to_1701: argument: time_ratio = 1.100000 X 70814 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 70814 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 70814 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 70814 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 70814 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 70814 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 70814 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 70818 25 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 70997 63 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 70997 behavior dive_to_1701: STATE Active -> Complete 70997 behavior climb_to_1702: STATE UnInited -> Active 70997 behavior climb_to_1702: argument: target_depth = 3.000000 m 70997 behavior climb_to_1702: argument: target_altitude = -1.000000 m 70997 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 70997 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 70997 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 70997 behavior climb_to_1702: argument: pitch_value = 0.453800 X 70997 behavior climb_to_1702: argument: start_when = 0.000000 enum 70997 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 70997 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 70997 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 70997 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 70997 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 70997 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 70997 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 70997 behavior climb_to_1702: argument: thruster_value = 0.000000 X 70997 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 70997 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 70997 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 71001 65 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 140, Climb: 152 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.086. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 71177 3 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 71177 behavior climb_to_1702: STATE Active -> Complete 71177 behavior dive_to_1701: STATE UnInited -> Active 71177 behavior dive_to_1701: argument: target_depth = 60.000000 m 71177 behavior dive_to_1701: argument: target_altitude = 3.000000 m 71177 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 71177 behavior dive_to_1701: argument: bpump_value = 350.000000 X 71177 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 71177 behavior dive_to_1701: argument: pitch_value = -0.452800 X 71177 behavior dive_to_1701: argument: start_when = 0.000000 enum 71177 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 71177 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 71177 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 71177 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 71177 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 71177 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 71177 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 71177 behavior dive_to_1701: argument: thruster_value = 0.000000 X 71177 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 71177 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 71177 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 71177 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 71177 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 71177 behavior dive_to_1701: argument: time_ratio = 1.100000 X 71177 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 71177 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 71177 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 71177 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 71177 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 71177 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 71178 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 71182 5 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 19 [m] 71341 40 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 71341 behavior dive_to_1701: STATE Active -> Complete 71341 behavior climb_to_1702: STATE UnInited -> Active 71341 behavior climb_to_1702: argument: target_depth = 3.000000 m 71341 behavior climb_to_1702: argument: target_altitude = -1.000000 m 71341 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 71341 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 71341 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 71341 behavior climb_to_1702: argument: pitch_value = 0.453800 X 71341 behavior climb_to_1702: argument: start_when = 0.000000 enum 71341 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 71341 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 71341 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 71341 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 71341 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 71341 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 71341 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 71341 behavior climb_to_1702: argument: thruster_value = 0.000000 X 71341 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 71341 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 71341 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 71345 40 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 126, Climb: 156 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.238 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 71520 80 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 71520 behavior climb_to_1702: STATE Active -> Complete 71520 behavior dive_to_1701: STATE UnInited -> Active 71520 behavior dive_to_1701: argument: target_depth = 60.000000 m 71520 behavior dive_to_1701: argument: target_altitude = 3.000000 m 71520 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 71520 behavior dive_to_1701: argument: bpump_value = 350.000000 X 71520 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 71520 behavior dive_to_1701: argument: pitch_value = -0.452800 X 71521 behavior dive_to_1701: argument: start_when = 0.000000 enum 71521 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 71521 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 71521 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 71521 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 71521 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 71521 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 71521 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 71521 behavior dive_to_1701: argument: thruster_value = 0.000000 X 71521 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 71521 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 71521 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 71521 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 71521 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 71521 behavior dive_to_1701: argument: time_ratio = 1.100000 X 71521 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 71521 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 71521 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 71521 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 71521 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 71521 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 71521 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 71525 81 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 71697 18 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 71697 behavior dive_to_1701: STATE Active -> Complete 71697 behavior climb_to_1702: STATE UnInited -> Active 71697 behavior climb_to_1702: argument: target_depth = 3.000000 m 71697 behavior climb_to_1702: argument: target_altitude = -1.000000 m 71697 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 71697 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 71697 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 71697 behavior climb_to_1702: argument: pitch_value = 0.453800 X 71697 behavior climb_to_1702: argument: start_when = 0.000000 enum 71697 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 71697 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 71697 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 71697 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 71697 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 71697 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 71697 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 71697 behavior climb_to_1702: argument: thruster_value = 0.000000 X 71697 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 71697 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 71697 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 71701 19 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 148 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.035. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 71868 56 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 71868 behavior climb_to_1702: STATE Active -> Complete 71868 behavior dive_to_1701: STATE UnInited -> Active 71868 behavior dive_to_1701: argument: target_depth = 60.000000 m 71868 behavior dive_to_1701: argument: target_altitude = 3.000000 m 71868 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 71868 behavior dive_to_1701: argument: bpump_value = 350.000000 X 71868 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 71868 behavior dive_to_1701: argument: pitch_value = -0.452800 X 71868 behavior dive_to_1701: argument: start_when = 0.000000 enum 71868 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 71868 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 71868 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 71868 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 71868 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 71868 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 71868 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 71868 behavior dive_to_1701: argument: thruster_value = 0.000000 X 71868 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 71868 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 71868 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 71868 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 71868 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 71868 behavior dive_to_1701: argument: time_ratio = 1.100000 X 71868 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 71868 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 71868 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 71868 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 71868 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 71868 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 71868 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 71873 58 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 24 [m] 72416 78 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, WE GOT STUCK not moving vertically 72416 behavior dive_to_1701: STATE Active -> Complete 72416 behavior climb_to_1702: STATE UnInited -> Active 72416 behavior climb_to_1702: argument: target_depth = 3.000000 m 72416 behavior climb_to_1702: argument: target_altitude = -1.000000 m 72416 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 72416 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 72416 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 72416 behavior climb_to_1702: argument: pitch_value = 0.453800 X 72416 behavior climb_to_1702: argument: start_when = 0.000000 enum 72416 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 72416 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 72416 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 72416 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 72416 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 72416 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 72416 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 72416 behavior climb_to_1702: argument: thruster_value = 0.000000 X 72416 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 72416 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 72416 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 72420 80 behavior sample_18: SUBSTATE 1 ->3 : Climbing 72434 83 db(#/min/mn/max/sd) pitch_motor 1800 -0.112 0.003 0.101 0.054 in 72434 db(#/min/mn/max/sd) pitch_motor 1800 -51 1 46 24 mV AB: Time to Dive: 505, Climb: 170 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 2.970588 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 72609 21 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 72609 behavior climb_to_1702: STATE Active -> Complete 72609 behavior dive_to_1701: STATE UnInited -> Active 72609 behavior dive_to_1701: argument: target_depth = 60.000000 m 72609 behavior dive_to_1701: argument: target_altitude = 3.000000 m 72609 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 72609 behavior dive_to_1701: argument: bpump_value = 350.000000 X 72609 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 72609 behavior dive_to_1701: argument: pitch_value = -0.452800 X 72609 behavior dive_to_1701: argument: start_when = 0.000000 enum 72609 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 72609 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 72609 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 72609 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 72609 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 72609 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 72609 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 72609 behavior dive_to_1701: argument: thruster_value = 0.000000 X 72609 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 72609 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 72609 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 72609 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 72609 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 72609 behavior dive_to_1701: argument: time_ratio = 1.100000 X 72609 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 72609 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 72609 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 72609 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 72609 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 72609 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 72609 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 72614 22 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 72772 58 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 72772 behavior dive_to_1701: STATE Active -> Complete 72772 behavior climb_to_1702: STATE UnInited -> Active 72772 behavior climb_to_1702: argument: target_depth = 3.000000 m 72772 behavior climb_to_1702: argument: target_altitude = -1.000000 m 72772 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 72772 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 72772 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 72772 behavior climb_to_1702: argument: pitch_value = 0.453800 X 72772 behavior climb_to_1702: argument: start_when = 0.000000 enum 72772 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 72772 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 72772 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 72772 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 72772 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 72773 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 72773 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 72773 behavior climb_to_1702: argument: thruster_value = 0.000000 X 72773 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 72773 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 72773 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 72777 59 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 130, Climb: 165 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.269 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 72961 0 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 72961 behavior climb_to_1702: STATE Active -> Complete 72961 behavior dive_to_1701: STATE UnInited -> Active 72961 behavior dive_to_1701: argument: target_depth = 60.000000 m 72961 behavior dive_to_1701: argument: target_altitude = 3.000000 m 72961 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 72961 behavior dive_to_1701: argument: bpump_value = 350.000000 X 72961 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 72961 behavior dive_to_1701: argument: pitch_value = -0.452800 X 72961 behavior dive_to_1701: argument: start_when = 0.000000 enum 72961 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 72961 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 72961 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 72961 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 72961 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 72961 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 72961 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 72961 behavior dive_to_1701: argument: thruster_value = 0.000000 X 72961 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 72961 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 72961 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 72961 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 72961 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 72961 behavior dive_to_1701: argument: time_ratio = 1.100000 X 72961 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 72961 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 72961 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 72961 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 72962 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 72962 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 72962 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 72966 0 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 73137 38 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 73137 behavior dive_to_1701: STATE Active -> Complete 73138 behavior climb_to_1702: STATE UnInited -> Active 73138 behavior climb_to_1702: argument: target_depth = 3.000000 m 73138 behavior climb_to_1702: argument: target_altitude = -1.000000 m 73138 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 73138 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 73138 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 73138 behavior climb_to_1702: argument: pitch_value = 0.453800 X 73138 behavior climb_to_1702: argument: start_when = 0.000000 enum 73138 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 73138 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 73138 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 73138 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 73138 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 73138 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 73138 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 73138 behavior climb_to_1702: argument: thruster_value = 0.000000 X 73138 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 73138 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 73138 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 73142 40 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 138, Climb: 138 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.000. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 73304 75 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 73304 behavior climb_to_1702: STATE Active -> Complete 73304 behavior dive_to_1701: STATE UnInited -> Active 73304 behavior dive_to_1701: argument: target_depth = 60.000000 m 73304 behavior dive_to_1701: argument: target_altitude = 3.000000 m 73304 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 73304 behavior dive_to_1701: argument: bpump_value = 350.000000 X 73304 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 73304 behavior dive_to_1701: argument: pitch_value = -0.452800 X 73304 behavior dive_to_1701: argument: start_when = 0.000000 enum 73304 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 73304 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 73304 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 73304 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 73304 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 73304 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 73304 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 73304 behavior dive_to_1701: argument: thruster_value = 0.000000 X 73304 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 73304 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 73304 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 73304 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 73304 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 73304 behavior dive_to_1701: argument: time_ratio = 1.100000 X 73304 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 73304 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 73304 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 73304 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 73304 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 73304 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 73304 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 73308 77 behavior sample_18: SUBSTATE 3 ->1 : Diving 73440 6 behavior surface_11: STATE Waiting for Activation -> Active 73440 behavior surface_11: SUBSTATE 0 UnInited->1 : climb_to the surface 73441 behavior climb_to_1101: STATE UnInited -> Active 73441 behavior climb_to_1101: argument: target_depth = 4.000000 m 73441 behavior climb_to_1101: argument: target_altitude = -1.000000 m 73441 behavior climb_to_1101: argument: use_bpump = 2.000000 enum 73441 behavior climb_to_1101: argument: bpump_value = 1000.000000 X 73441 behavior climb_to_1101: argument: use_pitch = 3.000000 enum 73441 behavior climb_to_1101: argument: pitch_value = 0.452800 X 73441 behavior climb_to_1101: argument: start_when = 0.000000 enum 73441 behavior climb_to_1101: argument: stop_when_hover_for = -1.000000 sec 73441 behavior climb_to_1101: argument: stop_when_stalled_for = -1.000000 sec 73441 behavior climb_to_1101: argument: stop_when_air_pump = 0.000000 bool 73441 behavior climb_to_1101: argument: initial_inflection = 1.000000 bool 73441 behavior climb_to_1101: argument: speed_min = 100.000000 m/s 73441 behavior climb_to_1101: argument: speed_max = -100.000000 m/s 73441 behavior climb_to_1101: argument: use_thruster = 0.000000 enum 73441 behavior climb_to_1101: argument: thruster_value = 0.000000 X 73441 behavior climb_to_1101: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 73441 behavior climb_to_1101: SUBSTATE 1 ->3 : Starting the climb 73441 behavior climb_to_1101: SUBSTATE 3 ->4 : climbing 73444 6 behavior sample_18: SUBSTATE 1 ->3 : Climbing 73575 36 behavior climb_to_1101: SUBSTATE 4 ->5 : Complete reached depth 73575 behavior climb_to_1101: STATE Active -> Complete 73575 behavior surface_11: SUBSTATE 1 ->2 : waiting for various sensors 73575 behavior surface_11: SUBSTATE 2 ->3 : waiting for GPS fix 73575 init_gps_input() 73580 37 behavior sample_18: SUBSTATE 3 ->4 : On Surface 73585 37 sensor: m_gps_status = 2 enum 73585 sensor: m_gps_invalid_lat = 2710.9858 lat 73585 sensor: m_gps_invalid_lon = -8256.1969 lon 73589 38 sensor: m_gps_status = 2 enum 73589 sensor: m_gps_invalid_lat = 2710.9858 lat 73589 sensor: m_gps_invalid_lon = -8256.1969 lon 73595 40 sensor: m_gps_status = 2 enum 73595 sensor: m_gps_invalid_lat = 2710.9858 lat 73595 sensor: m_gps_invalid_lon = -8256.1969 lon 73599 40 sensor: m_gps_status = 2 enum 73599 sensor: m_gps_invalid_lat = 2710.9858 lat 73599 sensor: m_gps_invalid_lon = -8256.1969 lon 73605 41 sensor: m_gps_status = 2 enum 73605 sensor: m_gps_invalid_lat = 2710.9858 lat 73605 sensor: m_gps_invalid_lon = -8256.1969 lon 73609 43 sensor: m_gps_status = 2 enum 73609 sensor: m_gps_invalid_lat = 2710.9858 lat 73609 sensor: m_gps_invalid_lon = -8256.1969 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0683 C_FIN:0.0000 73615 43 sensor: m_gps_status = 2 enum 73615 sensor: m_gps_invalid_lat = 2710.9858 lat 73615 sensor: m_gps_invalid_lon = -8256.1969 lon 73619 44 sensor: m_gps_status = 2 enum 73619 sensor: m_gps_invalid_lat = 2710.9858 lat 73619 sensor: m_gps_invalid_lon = -8256.1969 lon 73626 46 sensor: m_gps_status = 2 enum 73626 sensor: m_gps_invalid_lat = 2710.9858 lat 73626 sensor: m_gps_invalid_lon = -8256.1969 lon 73631 47 sensor: m_gps_status = 2 enum 73631 sensor: m_gps_invalid_lat = 2710.9858 lat 73631 sensor: m_gps_invalid_lon = -8256.1969 lon 73636 49 sensor: m_gps_status = 2 enum 73636 sensor: m_gps_invalid_lat = 2710.9858 lat 73636 sensor: m_gps_invalid_lon = -8256.1969 lon 73642 50 sensor: m_gps_status = 2 enum 73642 sensor: m_gps_invalid_lat = 2710.9858 lat 73642 sensor: m_gps_invalid_lon = -8256.1969 lon 73646 50 sensor: m_gps_status = 2 enum 73646 sensor: m_gps_invalid_lat = 2710.9858 lat 73646 sensor: m_gps_invalid_lon = -8256.1969 lon 73653 53 sensor: m_gps_status = 2 enum 73653 sensor: m_gps_invalid_lat = 2710.9858 lat 73653 sensor: m_gps_invalid_lon = -8256.1969 lon 73662 55 sensor: m_gps_status = 1 enum 73662 sensor: m_gps_ignored_lat = 2710.7383 lat 73662 sensor: m_gps_ignored_lon = -8256.2956 lon 73667 56 sensor: m_gps_status = 1 enum 73667 sensor: m_gps_ignored_lat = 2710.7376 lat 73667 sensor: m_gps_ignored_lon = -8256.2959 lon 73671 56 sensor: m_gps_status = 1 enum 73671 sensor: m_gps_ignored_lat = 2710.7365 lat 73671 sensor: m_gps_ignored_lon = -8256.2955 lon 73676 58 sensor: m_gps_status = 1 enum 73676 sensor: m_gps_ignored_lat = 2710.736 lat 73676 sensor: m_gps_ignored_lon = -8256.2952 lon 73682 59 sensor: m_gps_status = 1 enum 73682 sensor: m_gps_ignored_lat = 2710.7354 lat 73682 sensor: m_gps_ignored_lon = -8256.2948 lon 73686 59 sensor: m_gps_lat = 2710.7349 lat 73686 sensor: m_gps_lon = -8256.2943 lon 73686 sensor: m_gps_status = 0 enum 73690 61 end_gps_input() 73690 init_gps_input() 73690 behavior surface_11: SUBSTATE 3 ->4 : Picking iridium or freewave 73690 behavior surface_11: SUBSTATE 4 ->5 : Waiting for more gps fixes 73691 sensor: m_gps_lat = 2710.7345 lat 73691 sensor: m_gps_lon = -8256.2936 lon 73691 sensor: m_gps_status = 0 enum 73696 62 Pressure sensor has been re-calibrated, i.e. ZEROed F_OCEAN_PRESSURE_MIN: 0.115 ==> 0.115 delta volts: 0.000, delta bar: 0.029, delta meters: 0.000 auto deadband(bar)+-: 0.025(bar) max allowed+-(bar): 0.200 73696 sensor: m_gps_lat = 2710.734 lat 73696 sensor: m_gps_lon = -8256.2932 lon 73696 sensor: m_gps_status = 0 enum 73702 62 sensor: m_gps_lat = 2710.7335 lat 73702 sensor: m_gps_lon = -8256.293 lon 73702 sensor: m_gps_status = 0 enum 73706 63 sensor: m_gps_lat = 2710.7333 lat 73706 sensor: m_gps_lon = -8256.2925 lon 73707 sensor: m_gps_status = 0 enum 73711 65 sensor: m_gps_lat = 2710.7327 lat 73711 sensor: m_gps_lon = -8256.2917 lon 73711 sensor: m_gps_status = 0 enum 73716 65 sensor: m_gps_lat = 2710.7322 lat 73716 sensor: m_gps_lon = -8256.2919 lon 73716 sensor: m_gps_status = 0 enum 73723 68 sensor: m_gps_lat = 2710.7317 lat 73723 sensor: m_gps_lon = -8256.2914 lon 73723 sensor: m_gps_status = 0 enum 73728 68 sensor: m_gps_lat = 2710.731 lat 73728 sensor: m_gps_lon = -8256.2911 lon 73728 sensor: m_gps_status = 0 enum 73733 69 sensor: m_gps_lat = 2710.7302 lat 73733 sensor: m_gps_lon = -8256.2906 lon 73733 sensor: m_gps_status = 0 enum 73738 71 sensor: m_gps_lat = 2710.7298 lat 73738 sensor: m_gps_lon = -8256.2901 lon 73738 sensor: m_gps_status = 0 enum 73743 71 sensor: m_gps_lat = 2710.7291 lat 73743 sensor: m_gps_lon = -8256.2896 lon 73743 sensor: m_gps_status = 0 enum 73747 72 sensor: m_gps_lat = 2710.7285 lat 73747 sensor: m_gps_lon = -8256.2892 lon 73747 sensor: m_gps_status = 0 enum 73752 74 end_gps_input() 73752 behavior surface_11: SUBSTATE 5 ->7 : waiting for control-C to exit/resume 73766 75 Iridium has been powered on for 4.3 secs 73766 Waking up Iridium... sending:ATE1 73766 Iridium, modem making attempt #1 at primary number (881600005112) 73771 77 Iridium driver received:[ATE1[0D][0D]] 73771 Iridium modem matched: OK 73771 Waking up Iridium... sending:AT+cbst=6,0,1 73776 78 Iridium driver received:[AT+cbst=6,0,1[0D][0D]] 73776 Iridium modem matched: OK 73776 Waking up Iridium... sending:AT+CSQ 73780 78 Iridium driver received:[AT+CSQ[0D][0D][0A]+CSQ:5[0D][0A][0D]] 73781 Iridium modem matched: OK 73785 80 Iridium waiting for registration... 73795 81 Obtaining Iridium RSSI... 73795 Iridium dialing [ATD00881600005112]........... 73795 Iridium waiting for connection... 73799 83 Iridium driver received:[ATD00881600005112[0D]] 73809 84 Iridium driver received:[[0D]] 73809 Iridium modem matched: CONNECT 4800 73809 Iridium connected... 73809 Iridium console active and ready... Vehicle Name: mote-genie Curr Time: Sun Oct 16 23:05:12 2016 MT: 73808 DR Location: 2710.728 N -8256.288 E measured 45.165 secs ago GPS TooFar: 2716.902 N -8253.604 E measured 1e+308 secs ago GPS Invalid : 2710.986 N -8256.197 E measured 155.649 secs ago GPS Location: 2710.728 N -8256.288 E measured 47.387 secs ago sensor:c_wpt_lat(lat)=2644 73631.1 secs ago sensor:c_wpt_lon(lon)=-8333 73631.2 secs ago sensor:m_avg_climb_rate(m/s)=-0.130515138803676 235.632 secs ago sensor:m_avg_dive_rate(m/s)=0.129724940167581 371.11 secs ago sensor:m_battery(volts)=11.3177434133804 60.937 secs ago sensor:m_coulomb_amphr(amp-hrs)=8.80531311035156 5.252 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=14.3610631105043 5.273 secs ago sensor:m_final_water_vx(m/s)=0.13836127652539 13689.7 secs ago sensor:m_final_water_vy(m/s)=-0.0688084243642107 13689.7 secs ago sensor:m_iridium_signal_strength(nodim)=5 14.618 secs ago sensor:m_leakdetect_voltage(volts)=2.48107448107448 33.365 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48644688644689 33.387 secs ago sensor:m_tot_num_inflections(nodim)=4427 367.054 secs ago sensor:m_vacuum(inHg)=7.67656117216117 99.621 secs ago sensor:m_water_vx(m/s)=0.134169867474603 121.756 secs ago sensor:m_water_vy(m/s)=-0.0739587769439431 121.797 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 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_NOINPUT ABORT HISTORY: last abort details: M_DEPTH not updating ABORT HISTORY: last abort time: 2016-10-16T02:16:38 ABORT HISTORY: last abort segment: mote-genie-2016-288-3-14 (0194.0014) ABORT HISTORY: last abort mission: STOCKUTC.MI 73810 No login script found for processing. :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0455 C_FIN:0.0000 73877 99 01950011.mlg LOG FILE CLOSED