the8x3_filename: 01950013 full_filename: mote-genie-2016-289-0-13 74838 50 01950013.mlg LOG FILE OPENED Megabytes used on CF file system = 468.000000 Megabytes available on CF file system = 1529.500000 74841 init_gps_input() 74841 behavior surface_11: SUBSTATE 7 ->10 : Waiting for final gps fix 74843 disabling Iridium console... 74852 52 sensor: m_gps_status = 1 enum 74852 sensor: m_gps_ignored_lat = 2710.6007 lat 74852 sensor: m_gps_ignored_lon = -8256.1967 lon 74857 53 sensor: m_gps_status = 1 enum 74857 sensor: m_gps_ignored_lat = 2710.6006 lat 74857 sensor: m_gps_ignored_lon = -8256.1973 lon 74862 53 sensor: m_gps_status = 1 enum 74862 sensor: m_gps_ignored_lat = 2710.5996 lat 74862 sensor: m_gps_ignored_lon = -8256.1968 lon 74867 55 sensor: m_gps_status = 1 enum 74867 sensor: m_gps_ignored_lat = 2710.5996 lat 74867 sensor: m_gps_ignored_lon = -8256.1966 lon 74871 56 sensor: m_gps_status = 1 enum 74871 sensor: m_gps_ignored_lat = 2710.5991 lat 74871 sensor: m_gps_ignored_lon = -8256.196 lon 74876 56 sensor: m_gps_lat = 2710.5987 lat 74876 sensor: m_gps_lon = -8256.1958 lon 74876 sensor: m_gps_status = 0 enum 74879 58 end_gps_input() 74879 behavior surface_11: SUBSTATE 10 ->12 : All done 74879 behavior surface_11: STATE Active -> UnInited 74883 59 behavior surface_11: Reading b_args from surfac54.ma 74883 behavior surface_11: start_when(enum)=13.000000 74883 behavior surface_11: when_utc_min(min)=0.000000 74884 behavior surface_11: when_utc_hour(hour)=23.000000 74884 behavior surface_11: when_utc_day(day)=-1.000000 74884 behavior surface_11: when_utc_month(month)=-1.000000 74884 behavior surface_11: report_all(bool)=0.000000 74884 behavior surface_11: end_action(enum)=1.000000 74884 behavior surface_11: gps_wait_time(s)=600.000000 74884 behavior surface_11: keystroke_wait_time(sec)=300.000000 74884 behavior surface_11: c_use_pitch(enum)=3.000000 74884 behavior surface_11: c_use_bpump(enum)=2.000000 74884 behavior surface_11: c_bpump_value(X)=1000.000000 74884 behavior surface_11: c_pitch_value(X)=0.452800 74884 behavior surface_11: printout_cycle_time(sec)=30.000000 74884 behavior surface_11: force_iridium_use(nodim)=1.000000 74884 behavior surface_11: STATE UnInited -> Waiting for Activation 74884 behavior surface_11: argument: args_from_file = 54.000000 enum 74884 behavior surface_11: argument: start_when = 13.000000 enum 74884 behavior surface_11: argument: when_secs = 1200.000000 sec 74884 behavior surface_11: argument: when_wpt_dist = 10.000000 m 74884 behavior surface_11: argument: end_action = 1.000000 enum 74884 behavior surface_11: argument: report_all = 0.000000 bool 74884 behavior surface_11: argument: gps_wait_time = 600.000000 sec 74884 behavior surface_11: argument: keystroke_wait_time = 300.000000 sec 74884 behavior surface_11: argument: end_wpt_dist = 0.000000 m 74884 behavior surface_11: argument: c_use_bpump = 2.000000 enum 74884 behavior surface_11: argument: c_bpump_value = 1000.000000 X 74884 behavior surface_11: argument: c_use_pitch = 3.000000 enum 74884 behavior surface_11: argument: c_pitch_value = 0.452800 X 74884 behavior surface_11: argument: c_stop_when_air_pump = 0.000000 bool 74884 behavior surface_11: argument: c_use_thruster = 0.000000 enum 74884 behavior surface_11: argument: c_thruster_value = 0.000000 X 74884 behavior surface_11: argument: printout_cycle_time = 30.000000 sec 74884 behavior surface_11: argument: gps_postfix_wait_time = 60.000000 sec 74884 behavior surface_11: argument: force_iridium_use = 1.000000 nodim 74884 behavior surface_11: argument: min_time_between_gps_fixes = 300.000000 sec 74884 behavior surface_11: argument: sensor_input_wait_time = 10.000000 sec 74884 behavior surface_11: argument: when_utc_min = 0.000000 min 74884 behavior surface_11: argument: when_utc_hour = 23.000000 hour 74884 behavior surface_11: argument: when_utc_day = -1.000000 day 74884 behavior surface_11: argument: when_utc_month = -1.000000 month 74884 behavior surface_11: argument: when_utc_on_surface = 1.000000 bool 74884 behavior surface_11: argument: strobe_on = 0.000000 bool 74884 behavior surface_11: argument: thruster_burst = 0.000000 bool :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0228 C_FIN:0.0000 74889 59 behavior sample_18: SUBSTATE 4 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 75098 6 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 75098 behavior dive_to_1701: STATE Active -> Complete 75098 behavior climb_to_1702: STATE UnInited -> Active 75099 behavior climb_to_1702: argument: target_depth = 3.000000 m 75099 behavior climb_to_1702: argument: target_altitude = -1.000000 m 75099 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 75099 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 75099 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 75099 behavior climb_to_1702: argument: pitch_value = 0.453800 X 75099 behavior climb_to_1702: argument: start_when = 0.000000 enum 75099 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 75099 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 75099 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 75099 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 75099 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 75099 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 75099 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 75099 behavior climb_to_1702: argument: thruster_value = 0.000000 X 75099 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 75099 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 75099 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 75103 6 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 153, Climb: 143 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.935. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 75265 43 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 75265 behavior climb_to_1702: STATE Active -> Complete 75265 behavior dive_to_1701: STATE UnInited -> Active 75265 behavior dive_to_1701: argument: target_depth = 60.000000 m 75265 behavior dive_to_1701: argument: target_altitude = 3.000000 m 75265 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 75265 behavior dive_to_1701: argument: bpump_value = 350.000000 X 75265 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 75265 behavior dive_to_1701: argument: pitch_value = -0.452800 X 75265 behavior dive_to_1701: argument: start_when = 0.000000 enum 75265 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 75265 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 75265 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 75265 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 75265 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 75265 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 75265 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 75265 behavior dive_to_1701: argument: thruster_value = 0.000000 X 75265 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 75265 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 75265 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 75265 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 75265 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 75265 behavior dive_to_1701: argument: time_ratio = 1.100000 X 75265 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 75265 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 75265 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 75265 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 75265 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 75265 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 75265 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 75269 43 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 75464 87 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 75464 behavior dive_to_1701: STATE Active -> Complete 75464 behavior climb_to_1702: STATE UnInited -> Active 75464 behavior climb_to_1702: argument: target_depth = 3.000000 m 75464 behavior climb_to_1702: argument: target_altitude = -1.000000 m 75464 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 75464 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 75464 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 75464 behavior climb_to_1702: argument: pitch_value = 0.453800 X 75464 behavior climb_to_1702: argument: start_when = 0.000000 enum 75464 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 75464 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 75464 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 75464 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 75464 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 75464 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 75464 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 75464 behavior climb_to_1702: argument: thruster_value = 0.000000 X 75464 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 75464 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 75464 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 75469 87 behavior sample_18: SUBSTATE 1 ->3 : Climbing 75492 93 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:0.0646 C_su:0.1709 :OOD: delta:0.1063 limit:0.1000 over:0.0063 75493 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Time to Dive: 161, Climb: 147 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.913. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 75635 25 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 75635 behavior climb_to_1702: STATE Active -> Complete 75635 behavior dive_to_1701: STATE UnInited -> Active 75635 behavior dive_to_1701: argument: target_depth = 60.000000 m 75635 behavior dive_to_1701: argument: target_altitude = 3.000000 m 75635 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 75635 behavior dive_to_1701: argument: bpump_value = 350.000000 X 75635 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 75635 behavior dive_to_1701: argument: pitch_value = -0.452800 X 75635 behavior dive_to_1701: argument: start_when = 0.000000 enum 75635 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 75635 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 75635 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 75635 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 75635 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 75635 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 75635 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 75635 behavior dive_to_1701: argument: thruster_value = 0.000000 X 75635 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 75635 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 75635 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 75635 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 75635 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 75635 behavior dive_to_1701: argument: time_ratio = 1.100000 X 75635 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 75635 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 75635 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 75635 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 75635 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 75635 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 75635 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 75640 25 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 75821 65 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 75821 behavior dive_to_1701: STATE Active -> Complete 75821 behavior climb_to_1702: STATE UnInited -> Active 75821 behavior climb_to_1702: argument: target_depth = 3.000000 m 75821 behavior climb_to_1702: argument: target_altitude = -1.000000 m 75821 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 75821 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 75821 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 75821 behavior climb_to_1702: argument: pitch_value = 0.453800 X 75821 behavior climb_to_1702: argument: start_when = 0.000000 enum 75821 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 75821 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 75821 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 75821 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 75821 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 75821 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 75821 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 75821 behavior climb_to_1702: argument: thruster_value = 0.000000 X 75821 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 75821 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 75821 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 75825 66 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 147 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.028. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 75992 3 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 75992 behavior climb_to_1702: STATE Active -> Complete 75992 behavior dive_to_1701: STATE UnInited -> Active 75992 behavior dive_to_1701: argument: target_depth = 60.000000 m 75992 behavior dive_to_1701: argument: target_altitude = 3.000000 m 75992 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 75992 behavior dive_to_1701: argument: bpump_value = 350.000000 X 75992 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 75992 behavior dive_to_1701: argument: pitch_value = -0.452800 X 75992 behavior dive_to_1701: argument: start_when = 0.000000 enum 75992 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 75992 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 75992 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 75992 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 75992 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 75992 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 75992 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 75992 behavior dive_to_1701: argument: thruster_value = 0.000000 X 75992 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 75992 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 75992 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 75992 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 75992 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 75992 behavior dive_to_1701: argument: time_ratio = 1.100000 X 75992 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 75992 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 75992 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 75992 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 75992 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 75992 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 75992 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 75996 5 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0910 C_FIN:0.1514 AB: Inflected early at Dive depth 21 [m] 76182 46 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 76182 behavior dive_to_1701: STATE Active -> Complete 76182 behavior climb_to_1702: STATE UnInited -> Active 76182 behavior climb_to_1702: argument: target_depth = 3.000000 m 76182 behavior climb_to_1702: argument: target_altitude = -1.000000 m 76182 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 76182 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 76182 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 76182 behavior climb_to_1702: argument: pitch_value = 0.453800 X 76182 behavior climb_to_1702: argument: start_when = 0.000000 enum 76182 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 76182 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 76182 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 76182 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 76182 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 76182 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 76182 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 76182 behavior climb_to_1702: argument: thruster_value = 0.000000 X 76182 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 76182 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 76182 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 76186 46 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 138, Climb: 111 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.243243 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 76322 77 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 76322 behavior climb_to_1702: STATE Active -> Complete 76322 behavior dive_to_1701: STATE UnInited -> Active 76322 behavior dive_to_1701: argument: target_depth = 60.000000 m 76322 behavior dive_to_1701: argument: target_altitude = 3.000000 m 76322 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 76322 behavior dive_to_1701: argument: bpump_value = 350.000000 X 76322 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 76322 behavior dive_to_1701: argument: pitch_value = -0.452800 X 76322 behavior dive_to_1701: argument: start_when = 0.000000 enum 76322 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 76322 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 76322 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 76322 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 76322 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 76322 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 76322 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 76322 behavior dive_to_1701: argument: thruster_value = 0.000000 X 76322 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 76322 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 76322 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 76322 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 76322 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 76322 behavior dive_to_1701: argument: time_ratio = 1.100000 X 76322 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 76322 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 76322 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 76322 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 76322 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 76322 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 76322 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 76326 78 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 76490 13 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 76490 behavior dive_to_1701: STATE Active -> Complete 76490 behavior climb_to_1702: STATE UnInited -> Active 76490 behavior climb_to_1702: argument: target_depth = 3.000000 m 76490 behavior climb_to_1702: argument: target_altitude = -1.000000 m 76490 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 76491 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 76491 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 76491 behavior climb_to_1702: argument: pitch_value = 0.453800 X 76491 behavior climb_to_1702: argument: start_when = 0.000000 enum 76491 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 76491 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 76491 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 76491 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 76491 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 76491 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 76491 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 76491 behavior climb_to_1702: argument: thruster_value = 0.000000 X 76491 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 76491 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 76491 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 76495 15 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 126, Climb: 153 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.214 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 76671 53 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 76671 behavior climb_to_1702: STATE Active -> Complete 76671 behavior dive_to_1701: STATE UnInited -> Active 76671 behavior dive_to_1701: argument: target_depth = 60.000000 m 76671 behavior dive_to_1701: argument: target_altitude = 3.000000 m 76671 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 76671 behavior dive_to_1701: argument: bpump_value = 350.000000 X 76671 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 76671 behavior dive_to_1701: argument: pitch_value = -0.452800 X 76671 behavior dive_to_1701: argument: start_when = 0.000000 enum 76671 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 76671 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 76671 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 76671 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 76671 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 76671 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 76671 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 76671 behavior dive_to_1701: argument: thruster_value = 0.000000 X 76671 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 76671 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 76671 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 76671 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 76671 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 76671 behavior dive_to_1701: argument: time_ratio = 1.100000 X 76671 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 76671 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 76671 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 76671 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 76671 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 76672 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 76672 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 76676 55 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 76861 96 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 76861 behavior dive_to_1701: STATE Active -> Complete 76861 behavior climb_to_1702: STATE UnInited -> Active 76861 behavior climb_to_1702: argument: target_depth = 3.000000 m 76861 behavior climb_to_1702: argument: target_altitude = -1.000000 m 76861 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 76861 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 76861 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 76861 behavior climb_to_1702: argument: pitch_value = 0.453800 X 76861 behavior climb_to_1702: argument: start_when = 0.000000 enum 76861 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 76861 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 76861 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 76861 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 76861 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 76861 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 76861 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 76861 behavior climb_to_1702: argument: thruster_value = 0.000000 X 76861 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 76861 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 76861 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 76866 96 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 151 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.993. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 77036 34 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 77036 behavior climb_to_1702: STATE Active -> Complete 77036 behavior dive_to_1701: STATE UnInited -> Active 77036 behavior dive_to_1701: argument: target_depth = 60.000000 m 77036 behavior dive_to_1701: argument: target_altitude = 3.000000 m 77036 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 77036 behavior dive_to_1701: argument: bpump_value = 350.000000 X 77036 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 77036 behavior dive_to_1701: argument: pitch_value = -0.452800 X 77036 behavior dive_to_1701: argument: start_when = 0.000000 enum 77036 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 77036 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 77036 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 77036 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 77036 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 77036 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 77037 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 77037 behavior dive_to_1701: argument: thruster_value = 0.000000 X 77037 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 77037 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 77037 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 77037 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 77037 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 77037 behavior dive_to_1701: argument: time_ratio = 1.100000 X 77037 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 77037 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 77037 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 77037 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 77037 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 77037 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 77037 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 77041 36 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 77231 78 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 77231 behavior dive_to_1701: STATE Active -> Complete 77231 behavior climb_to_1702: STATE UnInited -> Active 77231 behavior climb_to_1702: argument: target_depth = 3.000000 m 77231 behavior climb_to_1702: argument: target_altitude = -1.000000 m 77231 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 77231 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 77231 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 77231 behavior climb_to_1702: argument: pitch_value = 0.453800 X 77231 behavior climb_to_1702: argument: start_when = 0.000000 enum 77231 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 77231 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 77231 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 77231 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 77231 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 77231 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 77231 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 77231 behavior climb_to_1702: argument: thruster_value = 0.000000 X 77231 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 77231 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 77231 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 77236 78 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 161, Climb: 156 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.969. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 77411 18 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 77411 behavior climb_to_1702: STATE Active -> Complete 77411 behavior dive_to_1701: STATE UnInited -> Active 77411 behavior dive_to_1701: argument: target_depth = 60.000000 m 77411 behavior dive_to_1701: argument: target_altitude = 3.000000 m 77411 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 77411 behavior dive_to_1701: argument: bpump_value = 350.000000 X 77411 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 77411 behavior dive_to_1701: argument: pitch_value = -0.452800 X 77411 behavior dive_to_1701: argument: start_when = 0.000000 enum 77411 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 77411 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 77411 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 77411 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 77411 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 77411 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 77411 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 77411 behavior dive_to_1701: argument: thruster_value = 0.000000 X 77411 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 77411 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 77411 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 77411 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 77411 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 77411 behavior dive_to_1701: argument: time_ratio = 1.100000 X 77411 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 77411 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 77411 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 77411 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 77411 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 77411 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 77411 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 77416 18 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 77601 59 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 77601 behavior dive_to_1701: STATE Active -> Complete 77601 behavior climb_to_1702: STATE UnInited -> Active 77601 behavior climb_to_1702: argument: target_depth = 3.000000 m 77601 behavior climb_to_1702: argument: target_altitude = -1.000000 m 77601 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 77601 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 77601 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 77601 behavior climb_to_1702: argument: pitch_value = 0.453800 X 77601 behavior climb_to_1702: argument: start_when = 0.000000 enum 77601 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 77601 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 77601 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 77601 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 77601 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 77601 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 77601 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 77601 behavior climb_to_1702: argument: thruster_value = 0.000000 X 77601 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 77601 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 77601 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 77606 61 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 147, Climb: 142 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.966. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 77772 97 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 77772 behavior climb_to_1702: STATE Active -> Complete 77772 behavior dive_to_1701: STATE UnInited -> Active 77772 behavior dive_to_1701: argument: target_depth = 60.000000 m 77772 behavior dive_to_1701: argument: target_altitude = 3.000000 m 77772 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 77772 behavior dive_to_1701: argument: bpump_value = 350.000000 X 77772 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 77772 behavior dive_to_1701: argument: pitch_value = -0.452800 X 77772 behavior dive_to_1701: argument: start_when = 0.000000 enum 77772 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 77772 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 77772 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 77772 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 77772 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 77772 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 77772 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 77772 behavior dive_to_1701: argument: thruster_value = 0.000000 X 77772 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 77772 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 77772 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 77772 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 77772 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 77772 behavior dive_to_1701: argument: time_ratio = 1.100000 X 77772 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 77772 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 77772 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 77772 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 77772 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 77772 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 77772 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 77777 99 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 77958 38 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 77958 behavior dive_to_1701: STATE Active -> Complete 77958 behavior climb_to_1702: STATE UnInited -> Active 77958 behavior climb_to_1702: argument: target_depth = 3.000000 m 77958 behavior climb_to_1702: argument: target_altitude = -1.000000 m 77958 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 77958 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 77958 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 77958 behavior climb_to_1702: argument: pitch_value = 0.453800 X 77958 behavior climb_to_1702: argument: start_when = 0.000000 enum 77958 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 77958 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 77958 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 77958 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 77958 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 77958 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 77958 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 77958 behavior climb_to_1702: argument: thruster_value = 0.000000 X 77958 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 77958 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 77958 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 77962 40 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 148, Climb: 157 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.061. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 78138 78 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 78138 behavior climb_to_1702: STATE Active -> Complete 78138 behavior dive_to_1701: STATE UnInited -> Active 78138 behavior dive_to_1701: argument: target_depth = 60.000000 m 78138 behavior dive_to_1701: argument: target_altitude = 3.000000 m 78138 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 78138 behavior dive_to_1701: argument: bpump_value = 350.000000 X 78138 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 78138 behavior dive_to_1701: argument: pitch_value = -0.452800 X 78138 behavior dive_to_1701: argument: start_when = 0.000000 enum 78138 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 78138 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 78138 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 78138 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 78138 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 78138 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 78138 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 78138 behavior dive_to_1701: argument: thruster_value = 0.000000 X 78138 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 78138 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 78138 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 78138 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 78138 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 78138 behavior dive_to_1701: argument: time_ratio = 1.100000 X 78138 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 78138 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 78138 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 78138 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 78138 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 78138 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 78138 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 78143 80 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 78323 19 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 78323 behavior dive_to_1701: STATE Active -> Complete 78323 behavior climb_to_1702: STATE UnInited -> Active 78323 behavior climb_to_1702: argument: target_depth = 3.000000 m 78323 behavior climb_to_1702: argument: target_altitude = -1.000000 m 78323 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 78323 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 78323 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 78323 behavior climb_to_1702: argument: pitch_value = 0.453800 X 78323 behavior climb_to_1702: argument: start_when = 0.000000 enum 78323 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 78323 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 78323 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 78323 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 78323 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 78323 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 78323 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 78323 behavior climb_to_1702: argument: thruster_value = 0.000000 X 78323 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 78323 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 78323 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 78328 21 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 139 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.914. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 78486 56 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 78486 behavior climb_to_1702: STATE Active -> Complete 78486 behavior dive_to_1701: STATE UnInited -> Active 78486 behavior dive_to_1701: argument: target_depth = 60.000000 m 78486 behavior dive_to_1701: argument: target_altitude = 3.000000 m 78486 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 78486 behavior dive_to_1701: argument: bpump_value = 350.000000 X 78486 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 78486 behavior dive_to_1701: argument: pitch_value = -0.452800 X 78486 behavior dive_to_1701: argument: start_when = 0.000000 enum 78486 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 78486 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 78486 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 78486 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 78486 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 78486 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 78486 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 78486 behavior dive_to_1701: argument: thruster_value = 0.000000 X 78486 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 78486 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 78486 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 78486 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 78486 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 78486 behavior dive_to_1701: argument: time_ratio = 1.100000 X 78486 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 78486 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 78486 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 78486 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 78486 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 78486 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 78486 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 78490 56 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 78680 99 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 78680 behavior dive_to_1701: STATE Active -> Complete 78680 behavior climb_to_1702: STATE UnInited -> Active 78680 behavior climb_to_1702: argument: target_depth = 3.000000 m 78680 behavior climb_to_1702: argument: target_altitude = -1.000000 m 78680 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 78680 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 78680 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 78680 behavior climb_to_1702: argument: pitch_value = 0.453800 X 78680 behavior climb_to_1702: argument: start_when = 0.000000 enum 78680 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 78680 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 78681 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 78681 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 78681 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 78681 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 78681 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 78681 behavior climb_to_1702: argument: thruster_value = 0.000000 X 78681 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 78681 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 78681 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 78685 0 behavior sample_18: SUBSTATE 1 ->3 : Climbing 78753 15 db(#/min/mn/max/sd) buoyancy_pump 1800 -1.861 0.087 9.242 1.218 cc 78753 db(#/min/mn/max/sd) buoyancy_pump 1800 -4 0 19 2 mV AB: Time to Dive: 157, Climb: 152 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.968. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 78855 37 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 78855 behavior climb_to_1702: STATE Active -> Complete 78855 behavior dive_to_1701: STATE UnInited -> Active 78855 behavior dive_to_1701: argument: target_depth = 60.000000 m 78856 behavior dive_to_1701: argument: target_altitude = 3.000000 m 78856 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 78856 behavior dive_to_1701: argument: bpump_value = 350.000000 X 78856 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 78856 behavior dive_to_1701: argument: pitch_value = -0.452800 X 78856 behavior dive_to_1701: argument: start_when = 0.000000 enum 78856 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 78856 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 78856 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 78856 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 78856 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 78856 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 78856 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 78856 behavior dive_to_1701: argument: thruster_value = 0.000000 X 78856 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 78856 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 78856 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 78856 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 78856 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 78856 behavior dive_to_1701: argument: time_ratio = 1.100000 X 78856 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 78856 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 78856 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 78856 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 78856 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 78856 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 78856 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 78860 38 behavior sample_18: SUBSTATE 3 ->1 : Diving 78959 58 DRIVER_ODDITY:digifin:10056:xxx_ctrl() ran too long AB: Inflected early at Dive depth 21 [m] 79037 75 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 79037 behavior dive_to_1701: STATE Active -> Complete 79037 behavior climb_to_1702: STATE UnInited -> Active 79037 behavior climb_to_1702: argument: target_depth = 3.000000 m 79037 behavior climb_to_1702: argument: target_altitude = -1.000000 m 79037 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 79037 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 79037 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 79037 behavior climb_to_1702: argument: pitch_value = 0.453800 X 79037 behavior climb_to_1702: argument: start_when = 0.000000 enum 79037 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 79037 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 79037 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 79037 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 79037 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 79037 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 79037 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 79037 behavior climb_to_1702: argument: thruster_value = 0.000000 X 79037 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 79037 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 79037 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 79042 77 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 120 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.191667 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 79186 9 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 79186 behavior climb_to_1702: STATE Active -> Complete 79186 behavior dive_to_1701: STATE UnInited -> Active 79186 behavior dive_to_1701: argument: target_depth = 60.000000 m 79186 behavior dive_to_1701: argument: target_altitude = 3.000000 m 79186 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 79186 behavior dive_to_1701: argument: bpump_value = 350.000000 X 79186 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 79186 behavior dive_to_1701: argument: pitch_value = -0.452800 X 79186 behavior dive_to_1701: argument: start_when = 0.000000 enum 79186 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 79186 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 79186 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 79186 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 79186 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 79186 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 79186 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 79186 behavior dive_to_1701: argument: thruster_value = 0.000000 X 79186 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 79186 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 79186 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 79187 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 79187 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 79187 behavior dive_to_1701: argument: time_ratio = 1.100000 X 79187 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 79187 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 79187 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 79187 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 79187 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 79187 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 79187 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 79191 9 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0654 C_FIN:0.1259 AB: Inflected early at Dive depth 21 [m] 79364 47 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 79364 behavior dive_to_1701: STATE Active -> Complete 79364 behavior climb_to_1702: STATE UnInited -> Active 79364 behavior climb_to_1702: argument: target_depth = 3.000000 m 79364 behavior climb_to_1702: argument: target_altitude = -1.000000 m 79364 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 79364 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 79364 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 79364 behavior climb_to_1702: argument: pitch_value = 0.453800 X 79364 behavior climb_to_1702: argument: start_when = 0.000000 enum 79364 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 79364 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 79364 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 79364 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 79364 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 79364 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 79364 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 79364 behavior climb_to_1702: argument: thruster_value = 0.000000 X 79364 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 79364 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 79364 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 79368 49 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 139, Climb: 174 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.252 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 79561 91 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 79561 behavior climb_to_1702: STATE Active -> Complete 79561 behavior dive_to_1701: STATE UnInited -> Active 79561 behavior dive_to_1701: argument: target_depth = 60.000000 m 79561 behavior dive_to_1701: argument: target_altitude = 3.000000 m 79561 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 79561 behavior dive_to_1701: argument: bpump_value = 350.000000 X 79561 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 79562 behavior dive_to_1701: argument: pitch_value = -0.452800 X 79562 behavior dive_to_1701: argument: start_when = 0.000000 enum 79562 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 79562 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 79562 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 79562 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 79562 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 79562 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 79562 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 79562 behavior dive_to_1701: argument: thruster_value = 0.000000 X 79562 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 79562 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 79562 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 79562 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 79562 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 79562 behavior dive_to_1701: argument: time_ratio = 1.100000 X 79562 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 79562 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 79562 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 79562 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 79562 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 79562 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 79562 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 79566 93 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 79742 31 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 79742 behavior dive_to_1701: STATE Active -> Complete 79742 behavior climb_to_1702: STATE UnInited -> Active 79742 behavior climb_to_1702: argument: target_depth = 3.000000 m 79742 behavior climb_to_1702: argument: target_altitude = -1.000000 m 79742 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 79742 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 79742 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 79742 behavior climb_to_1702: argument: pitch_value = 0.453800 X 79742 behavior climb_to_1702: argument: start_when = 0.000000 enum 79742 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 79742 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 79742 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 79742 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 79742 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 79742 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 79742 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 79742 behavior climb_to_1702: argument: thruster_value = 0.000000 X 79742 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 79742 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 79742 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 79747 33 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 147, Climb: 165 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.122 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: check_bpump(): Climb amt 250.00 over limit AB: check_bpump(): old delta_bpump:25.00 AB: check_bpump(): new delta_bpump:8.00 AB: dc_autoballast_done(): Convergence Error. AB: C_AUTOBALLAST_STATE: 5 AB: Abort upon error = False. Keep running with existing bpump AB: New ballast: Dive:-125.00, Climb:225.00 79931 74 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 79931 behavior climb_to_1702: STATE Active -> Complete 79931 behavior dive_to_1701: STATE UnInited -> Active 79931 behavior dive_to_1701: argument: target_depth = 60.000000 m 79931 behavior dive_to_1701: argument: target_altitude = 3.000000 m 79931 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 79931 behavior dive_to_1701: argument: bpump_value = 350.000000 X 79931 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 79931 behavior dive_to_1701: argument: pitch_value = -0.452800 X 79931 behavior dive_to_1701: argument: start_when = 0.000000 enum 79931 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 79931 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 79931 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 79931 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 79931 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 79931 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 79931 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 79931 behavior dive_to_1701: argument: thruster_value = 0.000000 X 79931 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 79931 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 79931 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 79931 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 79931 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 79931 behavior dive_to_1701: argument: time_ratio = 1.100000 X 79931 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 79931 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 79932 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 79932 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 79932 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 79932 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 79932 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 79936 75 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 80123 15 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 80123 behavior dive_to_1701: STATE Active -> Complete 80123 behavior climb_to_1702: STATE UnInited -> Active 80123 behavior climb_to_1702: argument: target_depth = 3.000000 m 80123 behavior climb_to_1702: argument: target_altitude = -1.000000 m 80123 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 80123 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 80123 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 80123 behavior climb_to_1702: argument: pitch_value = 0.453800 X 80123 behavior climb_to_1702: argument: start_when = 0.000000 enum 80123 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 80123 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 80123 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 80123 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 80123 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 80123 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 80123 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 80123 behavior climb_to_1702: argument: thruster_value = 0.000000 X 80123 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 80123 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 80123 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 80127 16 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 154, Climb: 157 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.019. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 80303 56 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 80303 behavior climb_to_1702: STATE Active -> Complete 80303 behavior dive_to_1701: STATE UnInited -> Active 80303 behavior dive_to_1701: argument: target_depth = 60.000000 m 80303 behavior dive_to_1701: argument: target_altitude = 3.000000 m 80303 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 80303 behavior dive_to_1701: argument: bpump_value = 350.000000 X 80303 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 80303 behavior dive_to_1701: argument: pitch_value = -0.452800 X 80303 behavior dive_to_1701: argument: start_when = 0.000000 enum 80303 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 80303 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 80303 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 80303 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 80303 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 80303 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 80303 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 80303 behavior dive_to_1701: argument: thruster_value = 0.000000 X 80303 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 80303 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 80303 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 80303 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 80304 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 80304 behavior dive_to_1701: argument: time_ratio = 1.100000 X 80304 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 80304 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 80304 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 80304 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 80304 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 80304 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 80304 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 80308 56 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 80485 96 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 80485 behavior dive_to_1701: STATE Active -> Complete 80485 behavior climb_to_1702: STATE UnInited -> Active 80485 behavior climb_to_1702: argument: target_depth = 3.000000 m 80485 behavior climb_to_1702: argument: target_altitude = -1.000000 m 80485 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 80485 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 80485 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 80485 behavior climb_to_1702: argument: pitch_value = 0.453800 X 80485 behavior climb_to_1702: argument: start_when = 0.000000 enum 80485 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 80485 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 80485 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 80485 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 80485 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 80485 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 80485 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 80485 behavior climb_to_1702: argument: thruster_value = 0.000000 X 80485 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 80485 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 80485 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 80490 96 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 144, Climb: 160 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.111 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: check_bpump(): Climb amt 250.00 over limit AB: check_bpump(): old delta_bpump:25.00 AB: check_bpump(): new delta_bpump:8.00 AB: dc_autoballast_done(): Convergence Error. AB: C_AUTOBALLAST_STATE: 5 AB: Abort upon error = False. Keep running with existing bpump AB: New ballast: Dive:-125.00, Climb:225.00 80669 37 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 80669 behavior climb_to_1702: STATE Active -> Complete 80669 behavior dive_to_1701: STATE UnInited -> Active 80669 behavior dive_to_1701: argument: target_depth = 60.000000 m 80669 behavior dive_to_1701: argument: target_altitude = 3.000000 m 80669 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 80669 behavior dive_to_1701: argument: bpump_value = 350.000000 X 80669 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 80669 behavior dive_to_1701: argument: pitch_value = -0.452800 X 80669 behavior dive_to_1701: argument: start_when = 0.000000 enum 80669 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 80669 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 80669 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 80669 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 80669 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 80669 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 80669 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 80669 behavior dive_to_1701: argument: thruster_value = 0.000000 X 80669 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 80669 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 80669 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 80669 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 80669 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 80669 behavior dive_to_1701: argument: time_ratio = 1.100000 X 80669 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 80669 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 80669 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 80669 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 80669 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 80670 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 80670 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 80674 37 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 80855 78 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 80855 behavior dive_to_1701: STATE Active -> Complete 80855 behavior climb_to_1702: STATE UnInited -> Active 80855 behavior climb_to_1702: argument: target_depth = 3.000000 m 80855 behavior climb_to_1702: argument: target_altitude = -1.000000 m 80855 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 80855 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 80855 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 80855 behavior climb_to_1702: argument: pitch_value = 0.453800 X 80855 behavior climb_to_1702: argument: start_when = 0.000000 enum 80855 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 80855 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 80855 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 80855 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 80855 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 80855 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 80855 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 80855 behavior climb_to_1702: argument: thruster_value = 0.000000 X 80855 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 80855 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 80855 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 80859 78 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 142 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.993. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 81021 15 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 81021 behavior climb_to_1702: STATE Active -> Complete 81021 behavior dive_to_1701: STATE UnInited -> Active 81021 behavior dive_to_1701: argument: target_depth = 60.000000 m 81021 behavior dive_to_1701: argument: target_altitude = 3.000000 m 81021 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 81021 behavior dive_to_1701: argument: bpump_value = 350.000000 X 81021 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 81021 behavior dive_to_1701: argument: pitch_value = -0.452800 X 81021 behavior dive_to_1701: argument: start_when = 0.000000 enum 81021 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 81021 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 81021 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 81021 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 81021 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 81021 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 81021 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 81021 behavior dive_to_1701: argument: thruster_value = 0.000000 X 81021 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 81021 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 81021 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 81021 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 81021 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 81021 behavior dive_to_1701: argument: time_ratio = 1.100000 X 81021 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 81021 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 81021 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 81021 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 81021 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 81021 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 81021 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 81025 15 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 81211 56 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 81211 behavior dive_to_1701: STATE Active -> Complete 81211 behavior climb_to_1702: STATE UnInited -> Active 81211 behavior climb_to_1702: argument: target_depth = 3.000000 m 81211 behavior climb_to_1702: argument: target_altitude = -1.000000 m 81211 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 81211 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 81211 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 81211 behavior climb_to_1702: argument: pitch_value = 0.453800 X 81211 behavior climb_to_1702: argument: start_when = 0.000000 enum 81211 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 81211 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 81211 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 81211 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 81211 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 81211 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 81211 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 81211 behavior climb_to_1702: argument: thruster_value = 0.000000 X 81211 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 81211 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 81211 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 81216 58 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 151 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.993. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 81386 96 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 81386 behavior climb_to_1702: STATE Active -> Complete 81386 behavior dive_to_1701: STATE UnInited -> Active 81386 behavior dive_to_1701: argument: target_depth = 60.000000 m 81386 behavior dive_to_1701: argument: target_altitude = 3.000000 m 81386 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 81386 behavior dive_to_1701: argument: bpump_value = 350.000000 X 81386 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 81386 behavior dive_to_1701: argument: pitch_value = -0.452800 X 81386 behavior dive_to_1701: argument: start_when = 0.000000 enum 81386 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 81386 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 81386 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 81386 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 81386 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 81386 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 81386 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 81386 behavior dive_to_1701: argument: thruster_value = 0.000000 X 81386 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 81386 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 81386 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 81386 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 81386 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 81386 behavior dive_to_1701: argument: time_ratio = 1.100000 X 81386 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 81386 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 81386 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 81386 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 81386 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 81386 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 81386 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 81391 96 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 81577 37 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 81577 behavior dive_to_1701: STATE Active -> Complete 81577 behavior climb_to_1702: STATE UnInited -> Active 81577 behavior climb_to_1702: argument: target_depth = 3.000000 m 81577 behavior climb_to_1702: argument: target_altitude = -1.000000 m 81577 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 81577 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 81577 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 81577 behavior climb_to_1702: argument: pitch_value = 0.453800 X 81577 behavior climb_to_1702: argument: start_when = 0.000000 enum 81577 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 81577 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 81577 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 81577 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 81577 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 81577 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 81577 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 81577 behavior climb_to_1702: argument: thruster_value = 0.000000 X 81577 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 81577 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 81577 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 81581 38 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 125 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.216000 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 81725 71 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 81725 behavior climb_to_1702: STATE Active -> Complete 81725 behavior dive_to_1701: STATE UnInited -> Active 81725 behavior dive_to_1701: argument: target_depth = 60.000000 m 81725 behavior dive_to_1701: argument: target_altitude = 3.000000 m 81725 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 81725 behavior dive_to_1701: argument: bpump_value = 350.000000 X 81725 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 81725 behavior dive_to_1701: argument: pitch_value = -0.452800 X 81726 behavior dive_to_1701: argument: start_when = 0.000000 enum 81726 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 81726 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 81726 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 81726 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 81726 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 81726 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 81726 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 81726 behavior dive_to_1701: argument: thruster_value = 0.000000 X 81726 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 81726 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 81726 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 81726 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 81726 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 81726 behavior dive_to_1701: argument: time_ratio = 1.100000 X 81726 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 81726 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 81726 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 81726 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 81726 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 81726 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 81726 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 81730 71 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0171 C_FIN:0.1010 AB: Inflected early at Dive depth 24 [m] 82126 59 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, WE GOT STUCK not moving vertically 82126 behavior dive_to_1701: STATE Active -> Complete 82126 behavior climb_to_1702: STATE UnInited -> Active 82126 behavior climb_to_1702: argument: target_depth = 3.000000 m 82126 behavior climb_to_1702: argument: target_altitude = -1.000000 m 82126 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 82126 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 82126 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 82126 behavior climb_to_1702: argument: pitch_value = 0.453800 X 82126 behavior climb_to_1702: argument: start_when = 0.000000 enum 82126 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 82126 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 82126 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 82126 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 82126 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 82126 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 82126 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 82126 behavior climb_to_1702: argument: thruster_value = 0.000000 X 82126 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 82126 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 82127 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 82131 61 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 358, Climb: 184 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 1.945652 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 82343 8 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 82343 behavior climb_to_1702: STATE Active -> Complete 82343 behavior dive_to_1701: STATE UnInited -> Active 82343 behavior dive_to_1701: argument: target_depth = 60.000000 m 82343 behavior dive_to_1701: argument: target_altitude = 3.000000 m 82343 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 82343 behavior dive_to_1701: argument: bpump_value = 350.000000 X 82343 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 82343 behavior dive_to_1701: argument: pitch_value = -0.452800 X 82343 behavior dive_to_1701: argument: start_when = 0.000000 enum 82343 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 82343 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 82343 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 82343 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 82343 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 82343 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 82343 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 82343 behavior dive_to_1701: argument: thruster_value = 0.000000 X 82343 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 82343 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 82343 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 82343 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 82343 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 82343 behavior dive_to_1701: argument: time_ratio = 1.100000 X 82343 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 82343 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 82343 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 82343 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 82343 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 82343 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 82343 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 82348 9 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 82493 40 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 82493 behavior dive_to_1701: STATE Active -> Complete 82493 behavior climb_to_1702: STATE UnInited -> Active 82493 behavior climb_to_1702: argument: target_depth = 3.000000 m 82493 behavior climb_to_1702: argument: target_altitude = -1.000000 m 82493 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 82493 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 82493 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 82493 behavior climb_to_1702: argument: pitch_value = 0.453800 X 82493 behavior climb_to_1702: argument: start_when = 0.000000 enum 82493 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 82493 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 82493 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 82493 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 82493 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 82493 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 82493 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 82493 behavior climb_to_1702: argument: thruster_value = 0.000000 X 82493 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 82493 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 82493 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 82497 41 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 121, Climb: 187 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.545 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 82708 88 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 82708 behavior climb_to_1702: STATE Active -> Complete 82708 behavior dive_to_1701: STATE UnInited -> Active 82708 behavior dive_to_1701: argument: target_depth = 60.000000 m 82708 behavior dive_to_1701: argument: target_altitude = 3.000000 m 82708 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 82708 behavior dive_to_1701: argument: bpump_value = 350.000000 X 82708 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 82708 behavior dive_to_1701: argument: pitch_value = -0.452800 X 82708 behavior dive_to_1701: argument: start_when = 0.000000 enum 82708 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 82708 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 82708 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 82708 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 82708 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 82708 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 82708 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 82708 behavior dive_to_1701: argument: thruster_value = 0.000000 X 82708 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 82708 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 82708 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 82708 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 82708 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 82708 behavior dive_to_1701: argument: time_ratio = 1.100000 X 82708 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 82708 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 82708 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 82708 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 82708 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 82708 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 82708 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 82713 90 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 82876 25 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 82876 behavior dive_to_1701: STATE Active -> Complete 82876 behavior climb_to_1702: STATE UnInited -> Active 82876 behavior climb_to_1702: argument: target_depth = 3.000000 m 82876 behavior climb_to_1702: argument: target_altitude = -1.000000 m 82876 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 82876 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 82876 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 82876 behavior climb_to_1702: argument: pitch_value = 0.453800 X 82876 behavior climb_to_1702: argument: start_when = 0.000000 enum 82876 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 82876 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 82876 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 82876 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 82876 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 82876 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 82876 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 82876 behavior climb_to_1702: argument: thruster_value = 0.000000 X 82876 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 82876 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 82877 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 82881 27 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 125, Climb: 160 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.280 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 83060 66 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 83060 behavior climb_to_1702: STATE Active -> Complete 83060 behavior dive_to_1701: STATE UnInited -> Active 83060 behavior dive_to_1701: argument: target_depth = 60.000000 m 83060 behavior dive_to_1701: argument: target_altitude = 3.000000 m 83060 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 83060 behavior dive_to_1701: argument: bpump_value = 350.000000 X 83060 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 83060 behavior dive_to_1701: argument: pitch_value = -0.452800 X 83060 behavior dive_to_1701: argument: start_when = 0.000000 enum 83060 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 83060 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 83060 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 83060 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 83060 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 83060 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 83060 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 83060 behavior dive_to_1701: argument: thruster_value = 0.000000 X 83061 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 83061 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 83061 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 83061 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 83061 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 83061 behavior dive_to_1701: argument: time_ratio = 1.100000 X 83061 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 83061 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 83061 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 83061 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 83061 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 83061 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 83061 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 83065 68 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 83241 6 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 83241 behavior dive_to_1701: STATE Active -> Complete 83242 behavior climb_to_1702: STATE UnInited -> Active 83242 behavior climb_to_1702: argument: target_depth = 3.000000 m 83242 behavior climb_to_1702: argument: target_altitude = -1.000000 m 83242 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 83242 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 83242 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 83242 behavior climb_to_1702: argument: pitch_value = 0.453800 X 83242 behavior climb_to_1702: argument: start_when = 0.000000 enum 83242 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 83242 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 83242 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 83242 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 83242 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 83242 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 83242 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 83242 behavior climb_to_1702: argument: thruster_value = 0.000000 X 83242 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 83242 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 83242 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 83254 DRIVER_ODDITY:digifin:12207:xxx_ctrl() ran too long 83257 8 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 147 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.028. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 83423 44 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 83423 behavior climb_to_1702: STATE Active -> Complete 83423 behavior dive_to_1701: STATE UnInited -> Active 83423 behavior dive_to_1701: argument: target_depth = 60.000000 m 83423 behavior dive_to_1701: argument: target_altitude = 3.000000 m 83423 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 83423 behavior dive_to_1701: argument: bpump_value = 350.000000 X 83423 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 83423 behavior dive_to_1701: argument: pitch_value = -0.452800 X 83423 behavior dive_to_1701: argument: start_when = 0.000000 enum 83423 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 83423 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 83423 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 83423 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 83423 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 83423 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 83423 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 83423 behavior dive_to_1701: argument: thruster_value = 0.000000 X 83423 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 83423 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 83423 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 83423 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 83423 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 83423 behavior dive_to_1701: argument: time_ratio = 1.100000 X 83423 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 83423 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 83423 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 83423 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 83423 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 83423 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 83423 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 83427 46 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 83605 84 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 83605 behavior dive_to_1701: STATE Active -> Complete 83605 behavior climb_to_1702: STATE UnInited -> Active 83605 behavior climb_to_1702: argument: target_depth = 3.000000 m 83605 behavior climb_to_1702: argument: target_altitude = -1.000000 m 83605 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 83605 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 83605 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 83605 behavior climb_to_1702: argument: pitch_value = 0.453800 X 83605 behavior climb_to_1702: argument: start_when = 0.000000 enum 83605 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 83605 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 83605 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 83605 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 83605 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 83605 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 83605 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 83605 behavior climb_to_1702: argument: thruster_value = 0.000000 X 83605 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 83605 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 83605 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 83609 86 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 139, Climb: 121 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.148760 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 83749 16 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 83750 behavior climb_to_1702: STATE Active -> Complete 83750 behavior dive_to_1701: STATE UnInited -> Active 83750 behavior dive_to_1701: argument: target_depth = 60.000000 m 83750 behavior dive_to_1701: argument: target_altitude = 3.000000 m 83750 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 83750 behavior dive_to_1701: argument: bpump_value = 350.000000 X 83750 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 83750 behavior dive_to_1701: argument: pitch_value = -0.452800 X 83750 behavior dive_to_1701: argument: start_when = 0.000000 enum 83750 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 83750 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 83750 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 83750 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 83750 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 83750 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 83750 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 83750 behavior dive_to_1701: argument: thruster_value = 0.000000 X 83750 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 83750 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 83750 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 83750 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 83750 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 83750 behavior dive_to_1701: argument: time_ratio = 1.100000 X 83750 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 83750 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 83750 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 83750 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 83750 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 83750 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 83750 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 83754 18 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 83922 55 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 83922 behavior dive_to_1701: STATE Active -> Complete 83922 behavior climb_to_1702: STATE UnInited -> Active 83922 behavior climb_to_1702: argument: target_depth = 3.000000 m 83922 behavior climb_to_1702: argument: target_altitude = -1.000000 m 83923 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 83923 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 83923 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 83923 behavior climb_to_1702: argument: pitch_value = 0.453800 X 83923 behavior climb_to_1702: argument: start_when = 0.000000 enum 83923 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 83923 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 83923 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 83923 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 83923 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 83923 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 83923 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 83923 behavior climb_to_1702: argument: thruster_value = 0.000000 X 83923 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 83923 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 83923 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 83927 56 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 135, Climb: 156 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.156 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 84111 96 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 84111 behavior climb_to_1702: STATE Active -> Complete 84111 behavior dive_to_1701: STATE UnInited -> Active 84111 behavior dive_to_1701: argument: target_depth = 60.000000 m 84111 behavior dive_to_1701: argument: target_altitude = 3.000000 m 84111 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 84111 behavior dive_to_1701: argument: bpump_value = 350.000000 X 84111 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 84111 behavior dive_to_1701: argument: pitch_value = -0.452800 X 84111 behavior dive_to_1701: argument: start_when = 0.000000 enum 84111 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 84111 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 84111 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 84111 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 84111 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 84111 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 84111 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 84111 behavior dive_to_1701: argument: thruster_value = 0.000000 X 84111 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 84111 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 84111 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 84111 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 84111 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 84111 behavior dive_to_1701: argument: time_ratio = 1.100000 X 84111 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 84111 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 84111 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 84111 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 84111 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 84111 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 84111 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 84115 97 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 84292 37 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 84292 behavior dive_to_1701: STATE Active -> Complete 84292 behavior climb_to_1702: STATE UnInited -> Active 84292 behavior climb_to_1702: argument: target_depth = 3.000000 m 84292 behavior climb_to_1702: argument: target_altitude = -1.000000 m 84292 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 84292 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 84292 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 84292 behavior climb_to_1702: argument: pitch_value = 0.453800 X 84292 behavior climb_to_1702: argument: start_when = 0.000000 enum 84292 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 84292 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 84292 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 84292 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 84292 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 84292 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 84292 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 84292 behavior climb_to_1702: argument: thruster_value = 0.000000 X 84292 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 84292 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 84292 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 84296 37 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 138, Climb: 121 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.140496 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 84441 69 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 84441 behavior climb_to_1702: STATE Active -> Complete 84441 behavior dive_to_1701: STATE UnInited -> Active 84441 behavior dive_to_1701: argument: target_depth = 60.000000 m 84441 behavior dive_to_1701: argument: target_altitude = 3.000000 m 84441 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 84441 behavior dive_to_1701: argument: bpump_value = 350.000000 X 84441 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 84441 behavior dive_to_1701: argument: pitch_value = -0.452800 X 84441 behavior dive_to_1701: argument: start_when = 0.000000 enum 84441 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 84441 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 84441 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 84441 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 84441 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 84441 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 84441 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 84441 behavior dive_to_1701: argument: thruster_value = 0.000000 X 84441 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 84441 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 84441 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 84441 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 84441 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 84441 behavior dive_to_1701: argument: time_ratio = 1.100000 X 84441 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 84441 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 84441 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 84441 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 84441 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 84441 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 84441 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 84446 71 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 84622 9 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 84622 behavior dive_to_1701: STATE Active -> Complete 84622 behavior climb_to_1702: STATE UnInited -> Active 84622 behavior climb_to_1702: argument: target_depth = 3.000000 m 84622 behavior climb_to_1702: argument: target_altitude = -1.000000 m 84622 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 84622 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 84622 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 84622 behavior climb_to_1702: argument: pitch_value = 0.453800 X 84622 behavior climb_to_1702: argument: start_when = 0.000000 enum 84622 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 84622 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 84622 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 84622 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 84623 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 84623 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 84623 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 84623 behavior climb_to_1702: argument: thruster_value = 0.000000 X 84623 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 84623 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 84623 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 84627 11 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 138, Climb: 169 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.225 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 84820 53 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 84820 behavior climb_to_1702: STATE Active -> Complete 84820 behavior dive_to_1701: STATE UnInited -> Active 84820 behavior dive_to_1701: argument: target_depth = 60.000000 m 84820 behavior dive_to_1701: argument: target_altitude = 3.000000 m 84820 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 84820 behavior dive_to_1701: argument: bpump_value = 350.000000 X 84820 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 84820 behavior dive_to_1701: argument: pitch_value = -0.452800 X 84820 behavior dive_to_1701: argument: start_when = 0.000000 enum 84820 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 84820 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 84820 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 84820 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 84820 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 84820 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 84820 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 84820 behavior dive_to_1701: argument: thruster_value = 0.000000 X 84820 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 84820 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 84820 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 84820 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 84820 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 84820 behavior dive_to_1701: argument: time_ratio = 1.100000 X 84820 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 84820 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 84820 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 84820 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 84820 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 84820 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 84820 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 84825 55 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 85016 96 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 85016 behavior dive_to_1701: STATE Active -> Complete 85016 behavior climb_to_1702: STATE UnInited -> Active 85016 behavior climb_to_1702: argument: target_depth = 3.000000 m 85016 behavior climb_to_1702: argument: target_altitude = -1.000000 m 85016 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 85016 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 85016 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 85016 behavior climb_to_1702: argument: pitch_value = 0.453800 X 85016 behavior climb_to_1702: argument: start_when = 0.000000 enum 85016 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 85016 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 85016 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 85016 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 85016 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 85016 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 85016 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 85016 behavior climb_to_1702: argument: thruster_value = 0.000000 X 85016 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 85016 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 85016 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 85020 97 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 162, Climb: 161 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.994. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 85201 37 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 85201 behavior climb_to_1702: STATE Active -> Complete 85201 behavior dive_to_1701: STATE UnInited -> Active 85201 behavior dive_to_1701: argument: target_depth = 60.000000 m 85201 behavior dive_to_1701: argument: target_altitude = 3.000000 m 85201 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 85201 behavior dive_to_1701: argument: bpump_value = 350.000000 X 85201 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 85201 behavior dive_to_1701: argument: pitch_value = -0.452800 X 85201 behavior dive_to_1701: argument: start_when = 0.000000 enum 85201 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 85201 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 85201 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 85201 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 85201 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 85201 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 85201 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 85201 behavior dive_to_1701: argument: thruster_value = 0.000000 X 85201 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 85201 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 85201 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 85201 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 85201 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 85201 behavior dive_to_1701: argument: time_ratio = 1.100000 X 85201 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 85201 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 85201 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 85201 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 85201 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 85201 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 85201 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 85205 38 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 85393 80 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 85393 behavior dive_to_1701: STATE Active -> Complete 85393 behavior climb_to_1702: STATE UnInited -> Active 85393 behavior climb_to_1702: argument: target_depth = 3.000000 m 85393 behavior climb_to_1702: argument: target_altitude = -1.000000 m 85393 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 85393 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 85393 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 85393 behavior climb_to_1702: argument: pitch_value = 0.453800 X 85393 behavior climb_to_1702: argument: start_when = 0.000000 enum 85393 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 85393 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 85393 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 85393 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 85393 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 85393 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 85393 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 85393 behavior climb_to_1702: argument: thruster_value = 0.000000 X 85393 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 85393 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 85393 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 85397 81 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 154, Climb: 165 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.071. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 85582 21 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 85582 behavior climb_to_1702: STATE Active -> Complete 85582 behavior dive_to_1701: STATE UnInited -> Active 85582 behavior dive_to_1701: argument: target_depth = 60.000000 m 85582 behavior dive_to_1701: argument: target_altitude = 3.000000 m 85582 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 85582 behavior dive_to_1701: argument: bpump_value = 350.000000 X 85582 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 85582 behavior dive_to_1701: argument: pitch_value = -0.452800 X 85582 behavior dive_to_1701: argument: start_when = 0.000000 enum 85582 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 85582 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 85582 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 85582 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 85582 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 85582 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 85582 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 85582 behavior dive_to_1701: argument: thruster_value = 0.000000 X 85582 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 85582 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 85582 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 85582 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 85582 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 85582 behavior dive_to_1701: argument: time_ratio = 1.100000 X 85582 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 85582 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 85582 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 85582 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 85582 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 85582 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 85582 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 85587 22 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 85781 65 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 85781 behavior dive_to_1701: STATE Active -> Complete 85781 behavior climb_to_1702: STATE UnInited -> Active 85781 behavior climb_to_1702: argument: target_depth = 3.000000 m 85781 behavior climb_to_1702: argument: target_altitude = -1.000000 m 85781 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 85781 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 85781 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 85781 behavior climb_to_1702: argument: pitch_value = 0.453800 X 85781 behavior climb_to_1702: argument: start_when = 0.000000 enum 85781 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 85782 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 85782 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 85782 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 85782 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 85782 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 85782 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 85782 behavior climb_to_1702: argument: thruster_value = 0.000000 X 85782 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 85782 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 85782 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 85786 66 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 156 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.026. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 85961 6 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 85961 behavior climb_to_1702: STATE Active -> Complete 85961 behavior dive_to_1701: STATE UnInited -> Active 85961 behavior dive_to_1701: argument: target_depth = 60.000000 m 85961 behavior dive_to_1701: argument: target_altitude = 3.000000 m 85961 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 85961 behavior dive_to_1701: argument: bpump_value = 350.000000 X 85961 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 85961 behavior dive_to_1701: argument: pitch_value = -0.452800 X 85961 behavior dive_to_1701: argument: start_when = 0.000000 enum 85961 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 85961 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 85961 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 85961 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 85961 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 85961 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 85961 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 85961 behavior dive_to_1701: argument: thruster_value = 0.000000 X 85961 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 85961 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 85961 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 85961 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 85961 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 85961 behavior dive_to_1701: argument: time_ratio = 1.100000 X 85961 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 85961 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 85961 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 85961 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 85961 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 85961 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 85961 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 85966 6 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 86160 50 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 86160 behavior dive_to_1701: STATE Active -> Complete 86160 behavior climb_to_1702: STATE UnInited -> Active 86160 behavior climb_to_1702: argument: target_depth = 3.000000 m 86160 behavior climb_to_1702: argument: target_altitude = -1.000000 m 86160 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 86160 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 86160 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 86160 behavior climb_to_1702: argument: pitch_value = 0.453800 X 86160 behavior climb_to_1702: argument: start_when = 0.000000 enum 86160 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 86160 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 86160 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 86161 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 86161 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 86161 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 86161 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 86161 behavior climb_to_1702: argument: thruster_value = 0.000000 X 86161 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 86161 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 86161 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 86165 50 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 161, Climb: 121 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.330579 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 86309 83 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 86310 behavior climb_to_1702: STATE Active -> Complete 86310 behavior dive_to_1701: STATE UnInited -> Active 86310 behavior dive_to_1701: argument: target_depth = 60.000000 m 86310 behavior dive_to_1701: argument: target_altitude = 3.000000 m 86310 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 86310 behavior dive_to_1701: argument: bpump_value = 350.000000 X 86310 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 86310 behavior dive_to_1701: argument: pitch_value = -0.452800 X 86310 behavior dive_to_1701: argument: start_when = 0.000000 enum 86310 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 86310 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 86310 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 86310 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 86310 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 86310 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 86310 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 86310 behavior dive_to_1701: argument: thruster_value = 0.000000 X 86310 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 86310 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 86310 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 86310 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 86310 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 86310 behavior dive_to_1701: argument: time_ratio = 1.100000 X 86310 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 86310 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 86310 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 86310 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 86310 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 86310 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 86310 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 86314 84 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.1024 C_FIN:0.0505 AB: Inflected early at Dive depth 21 [m] 86487 21 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 86487 behavior dive_to_1701: STATE Active -> Complete 86487 behavior climb_to_1702: STATE UnInited -> Active 86487 behavior climb_to_1702: argument: target_depth = 3.000000 m 86487 behavior climb_to_1702: argument: target_altitude = -1.000000 m 86487 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 86487 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 86487 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 86487 behavior climb_to_1702: argument: pitch_value = 0.453800 X 86487 behavior climb_to_1702: argument: start_when = 0.000000 enum 86487 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 86487 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 86487 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 86487 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 86487 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 86487 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 86487 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 86487 behavior climb_to_1702: argument: thruster_value = 0.000000 X 86487 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 86487 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 86487 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 86492 22 behavior sample_18: SUBSTATE 1 ->3 : Climbing 86505 25 behavior surface_15: STATE Waiting for Activation -> Active 86505 behavior surface_15: SUBSTATE 0 UnInited->1 : climb_to the surface 86507 behavior climb_to_1501: STATE UnInited -> Active 86507 behavior climb_to_1501: argument: target_depth = 4.000000 m 86507 behavior climb_to_1501: argument: target_altitude = -1.000000 m 86507 behavior climb_to_1501: argument: use_bpump = 2.000000 enum 86507 behavior climb_to_1501: argument: bpump_value = 1000.000000 X 86507 behavior climb_to_1501: argument: use_pitch = 3.000000 enum 86507 behavior climb_to_1501: argument: pitch_value = 0.452800 X 86507 behavior climb_to_1501: argument: start_when = 0.000000 enum 86507 behavior climb_to_1501: argument: stop_when_hover_for = -1.000000 sec 86507 behavior climb_to_1501: argument: stop_when_stalled_for = -1.000000 sec 86507 behavior climb_to_1501: argument: stop_when_air_pump = 0.000000 bool 86507 behavior climb_to_1501: argument: initial_inflection = 1.000000 bool 86507 behavior climb_to_1501: argument: speed_min = 100.000000 m/s 86507 behavior climb_to_1501: argument: speed_max = -100.000000 m/s 86507 behavior climb_to_1501: argument: use_thruster = 0.000000 enum 86507 behavior climb_to_1501: argument: thruster_value = 0.000000 X 86507 behavior climb_to_1501: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 86507 behavior climb_to_1501: SUBSTATE 1 ->3 : Starting the climb 86507 behavior climb_to_1501: SUBSTATE 3 ->4 : climbing 86644 56 behavior climb_to_1501: SUBSTATE 4 ->5 : Complete reached depth 86644 behavior climb_to_1501: STATE Active -> Complete 86644 behavior surface_15: SUBSTATE 1 ->2 : waiting for various sensors 86644 behavior surface_15: SUBSTATE 2 ->3 : waiting for GPS fix 86644 init_gps_input() 86647 sensor: m_gps_status = 2 enum 86647 sensor: m_gps_invalid_lat = 2710.3375 lat 86647 sensor: m_gps_invalid_lon = -8256.2491 lon 86649 58 behavior sample_18: SUBSTATE 3 ->4 : On Surface 86650 sensor: m_gps_status = 2 enum 86650 sensor: m_gps_invalid_lat = 2710.3375 lat 86650 sensor: m_gps_invalid_lon = -8256.2491 lon AB: Another behavior changed the climb bpump. Discount. 86654 59 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 86654 behavior climb_to_1702: STATE Active -> Complete 86654 behavior dive_to_1701: STATE UnInited -> Active 86654 behavior dive_to_1701: argument: target_depth = 60.000000 m 86654 behavior dive_to_1701: argument: target_altitude = 3.000000 m 86654 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 86654 behavior dive_to_1701: argument: bpump_value = 350.000000 X 86654 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 86654 behavior dive_to_1701: argument: pitch_value = -0.452800 X 86654 behavior dive_to_1701: argument: start_when = 0.000000 enum 86654 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 86654 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 86654 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 86654 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 86654 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 86654 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 86654 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 86654 behavior dive_to_1701: argument: thruster_value = 0.000000 X 86654 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 86654 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 86654 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 86654 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 86654 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 86654 behavior dive_to_1701: argument: time_ratio = 1.100000 X 86654 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 86654 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 86654 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 86654 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 86654 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 86654 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 86654 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 86655 sensor: m_gps_status = 2 enum 86655 sensor: m_gps_invalid_lat = 2710.3375 lat 86655 sensor: m_gps_invalid_lon = -8256.2491 lon 86660 59 sensor: m_gps_status = 2 enum 86660 sensor: m_gps_invalid_lat = 2710.3375 lat 86660 sensor: m_gps_invalid_lon = -8256.2491 lon 86667 62 sensor: m_gps_status = 2 enum 86667 sensor: m_gps_invalid_lat = 2710.3375 lat 86667 sensor: m_gps_invalid_lon = -8256.2491 lon 86672 62 sensor: m_gps_status = 2 enum 86672 sensor: m_gps_invalid_lat = 2710.3375 lat 86672 sensor: m_gps_invalid_lon = -8256.2491 lon 86676 63 sensor: m_gps_status = 2 enum 86676 sensor: m_gps_invalid_lat = 2710.3375 lat 86676 sensor: m_gps_invalid_lon = -8256.2491 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0228 C_FIN:0.0000 86681 65 sensor: m_gps_status = 2 enum 86681 sensor: m_gps_invalid_lat = 2710.3375 lat 86681 sensor: m_gps_invalid_lon = -8256.2491 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0768 C_FIN:0.0000 86686 65 sensor: m_gps_status = 2 enum 86686 sensor: m_gps_invalid_lat = 2710.3375 lat 86686 sensor: m_gps_invalid_lon = -8256.2491 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0882 C_FIN:0.0000 86691 66 sensor: m_gps_status = 2 enum 86691 sensor: m_gps_invalid_lat = 2710.3375 lat 86691 sensor: m_gps_invalid_lon = -8256.2491 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0882 C_FIN:0.0000 86695 68 sensor: m_gps_status = 2 enum 86695 sensor: m_gps_invalid_lat = 2710.3375 lat 86695 sensor: m_gps_invalid_lon = -8256.2491 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0427 C_FIN:0.0000 86701 68 sensor: m_gps_status = 2 enum 86701 sensor: m_gps_invalid_lat = 2710.3375 lat 86701 sensor: m_gps_invalid_lon = -8256.2491 lon 86702 sensor: m_gps_status = 2 enum 86702 sensor: m_gps_invalid_lat = 2710.3375 lat 86702 sensor: m_gps_invalid_lon = -8256.2491 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0256 C_FIN:0.0000 86706 69 sensor: m_gps_status = 2 enum 86706 sensor: m_gps_invalid_lat = 2710.3375 lat 86706 sensor: m_gps_invalid_lon = -8256.2491 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0313 C_FIN:0.0000 86713 71 sensor: m_gps_status = 2 enum 86713 sensor: m_gps_invalid_lat = 2710.3375 lat 86713 sensor: m_gps_invalid_lon = -8256.2491 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0284 C_FIN:0.0000 86718 72 sensor: m_gps_status = 2 enum 86718 sensor: m_gps_invalid_lat = 2710.3375 lat 86718 sensor: m_gps_invalid_lon = -8256.2491 lon 86719 DRIVER_WARNING:digifin:-1:digifin_mgr_ctrl() Digifin movement warning. Couldn't reach or maintain commanded position!!! 86722 74 sensor: m_gps_status = 1 enum 86722 sensor: m_gps_ignored_lat = 2710.0467 lat 86722 sensor: m_gps_ignored_lon = -8256.2259 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0683 C_FIN:0.0000 86727 75 sensor: m_gps_status = 1 enum 86727 sensor: m_gps_ignored_lat = 2710.0457 lat 86727 sensor: m_gps_ignored_lon = -8256.2286 lon 86728 Pressure sensor has been re-calibrated, i.e. ZEROed F_OCEAN_PRESSURE_MIN: 0.115 ==> 0.115 delta volts: 0.000, delta bar: -0.026, delta meters: 0.000 auto deadband(bar)+-: 0.025(bar) max allowed+-(bar): 0.200 86731 75 sensor: m_gps_status = 1 enum 86731 sensor: m_gps_ignored_lat = 2710.0458 lat 86731 sensor: m_gps_ignored_lon = -8256.2282 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0398 C_FIN:0.0000 86737 77 sensor: m_gps_status = 1 enum 86737 sensor: m_gps_ignored_lat = 2710.0452 lat 86737 sensor: m_gps_ignored_lon = -8256.2274 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0597 C_FIN:0.0000 86742 78 sensor: m_gps_status = 1 enum 86742 sensor: m_gps_ignored_lat = 2710.0444 lat 86742 sensor: m_gps_ignored_lon = -8256.2274 lon 86746 78 sensor: m_gps_lat = 2710.0443 lat 86746 sensor: m_gps_lon = -8256.2275 lon 86746 sensor: m_gps_status = 0 enum 86750 80 end_gps_input() 86750 init_gps_input() 86750 behavior surface_15: SUBSTATE 3 ->4 : Picking iridium or freewave 86750 behavior surface_15: SUBSTATE 4 ->5 : Waiting for more gps fixes 86751 sensor: m_gps_lat = 2710.0442 lat 86751 sensor: m_gps_lon = -8256.2269 lon 86751 sensor: m_gps_status = 0 enum 86757 81 sensor: m_gps_lat = 2710.0442 lat 86757 sensor: m_gps_lon = -8256.2266 lon 86757 sensor: m_gps_status = 0 enum 86762 81 sensor: m_gps_lat = 2710.0436 lat 86762 sensor: m_gps_lon = -8256.2266 lon 86762 sensor: m_gps_status = 0 enum 86766 83 sensor: m_gps_lat = 2710.0434 lat 86766 sensor: m_gps_lon = -8256.2262 lon 86767 sensor: m_gps_status = 0 enum 86771 84 sensor: m_gps_lat = 2710.0432 lat 86771 sensor: m_gps_lon = -8256.2259 lon 86771 sensor: m_gps_status = 0 enum 86776 84 sensor: m_gps_lat = 2710.0425 lat 86776 sensor: m_gps_lon = -8256.2257 lon 86776 sensor: m_gps_status = 0 enum 86783 87 sensor: m_gps_lat = 2710.0422 lat 86783 sensor: m_gps_lon = -8256.2252 lon 86784 sensor: m_gps_status = 0 enum 86788 87 sensor: m_gps_lat = 2710.0414 lat 86788 sensor: m_gps_lon = -8256.2248 lon 86788 sensor: m_gps_status = 0 enum 86793 88 sensor: m_gps_lat = 2710.041 lat 86793 sensor: m_gps_lon = -8256.2248 lon 86793 sensor: m_gps_status = 0 enum 86798 90 sensor: m_gps_lat = 2710.0406 lat 86798 sensor: m_gps_lon = -8256.2246 lon 86798 sensor: m_gps_status = 0 enum 86803 90 sensor: m_gps_lat = 2710.0401 lat 86803 sensor: m_gps_lon = -8256.2243 lon 86803 sensor: m_gps_status = 0 enum 86807 91 sensor: m_gps_lat = 2710.0396 lat 86807 sensor: m_gps_lon = -8256.2237 lon 86807 sensor: m_gps_status = 0 enum 86812 93 end_gps_input() 86812 behavior surface_15: SUBSTATE 5 ->7 : waiting for control-C to exit/resume 86822 94 Iridium has been powered on for 4.5 secs 86822 Waking up Iridium... sending:ATE1 86822 Iridium, modem making attempt #1 at primary number (881600005112) 86831 96 Iridium driver received:[ATE1[0D][0D]] 86831 Iridium modem matched: OK 86831 Waking up Iridium... sending:AT+cbst=6,0,1 86836 96 Iridium driver received:[AT+cbst=6,0,1[0D][0D]] 86836 Iridium modem matched: OK 86836 Waking up Iridium... sending:AT+CSQ 86840 97 Iridium driver received:[AT+CSQ[0D][0D][0A]+CSQ:5[0D][0A][0D]] 86840 Iridium modem matched: OK 86845 99 Iridium waiting for registration... 86850 0 Obtaining Iridium RSSI... 86850 Iridium dialing [ATD00881600005112]........... 86850 Iridium waiting for connection... 86854 0 Iridium driver received:[ATD00881600005112[0D]] 86864 3 Iridium driver received:[[0D]] 86864 Iridium modem matched: CONNECT 4800 86864 Iridium connected... 86864 Iridium console active and ready... Vehicle Name: mote-genie Curr Time: Mon Oct 17 02:42:47 2016 MT: 86863 DR Location: 2710.039 N -8256.223 E measured 44.33 secs ago GPS TooFar: 2716.902 N -8253.604 E measured 1e+308 secs ago GPS Invalid : 2710.338 N -8256.249 E measured 145.966 secs ago GPS Location: 2710.039 N -8256.223 E measured 46.725 secs ago sensor:c_wpt_lat(lat)=2644 86686.3 secs ago sensor:c_wpt_lon(lon)=-8333 86686.3 secs ago sensor:m_avg_climb_rate(m/s)=-0.152908656138216 221.669 secs ago sensor:m_avg_dive_rate(m/s)=0.0969476875575861 383.481 secs ago sensor:m_battery(volts)=11.3118213023047 41.728 secs ago sensor:m_coulomb_amphr(amp-hrs)=9.73750019073486 5.275 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=15.2932501908876 5.296 secs ago sensor:m_final_water_vx(m/s)=0.133222993591289 11987.9 secs ago sensor:m_final_water_vy(m/s)=-0.0721170751017683 11988 secs ago sensor:m_iridium_signal_strength(nodim)=5 14.849 secs ago sensor:m_leakdetect_voltage(volts)=2.47796092796093 14.699 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48614163614164 14.722 secs ago sensor:m_tot_num_inflections(nodim)=4492 208.404 secs ago sensor:m_vacuum(inHg)=7.76695531135531 80.321 secs ago sensor:m_water_vx(m/s)=0.17974373407299 116.903 secs ago sensor:m_water_vy(m/s)=-0.0582388075406093 116.944 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 86865 No login script found for processing. :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0626 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0313 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0228 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0939 C_FIN:0.0000 87031 37 01950013.mlg LOG FILE CLOSED