the8x3_filename: 01950017 full_filename: mote-genie-2016-289-0-17 96364 78 01950017.mlg LOG FILE OPENED Megabytes used on CF file system = 472.187500 Megabytes available on CF file system = 1525.312500 96367 init_gps_input() 96367 behavior surface_7: SUBSTATE 7 ->10 : Waiting for final gps fix 96368 disabling Iridium console... 96377 81 sensor: m_gps_status = 1 enum 96377 sensor: m_gps_ignored_lat = 2709.3118 lat 96377 sensor: m_gps_ignored_lon = -8256.3266 lon 96384 83 sensor: m_gps_status = 1 enum 96384 sensor: m_gps_ignored_lat = 2709.3111 lat 96385 sensor: m_gps_ignored_lon = -8256.3248 lon 96387 sensor: m_gps_status = 1 enum 96387 sensor: m_gps_ignored_lat = 2709.3115 lat 96387 sensor: m_gps_ignored_lon = -8256.3247 lon 96391 84 sensor: m_gps_status = 1 enum 96391 sensor: m_gps_ignored_lat = 2709.3113 lat 96391 sensor: m_gps_ignored_lon = -8256.3255 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0853 C_FIN:0.0000 96399 86 sensor: m_gps_status = 1 enum 96399 sensor: m_gps_ignored_lat = 2709.3045 lat 96399 sensor: m_gps_ignored_lon = -8256.3277 lon 96406 87 sensor: m_gps_lat = 2709.3038 lat 96406 sensor: m_gps_lon = -8256.3287 lon 96406 sensor: m_gps_status = 0 enum 96407 sensor: m_gps_status = 3 enum 96407 sensor: m_gps_toofar_lat = 2709.3072 lat 96407 sensor: m_gps_toofar_lon = -8256.3263 lat 96411 87 end_gps_input() 96411 behavior surface_7: SUBSTATE 10 ->12 : All done 96411 behavior surface_7: STATE Active -> UnInited 96415 88 behavior surface_7: Reading b_args from surfac50.ma 96415 behavior surface_7: start_when(enum)=13.000000 96415 behavior surface_7: when_utc_min(min)=0.000000 96416 behavior surface_7: when_utc_hour(hour)=5.000000 96416 behavior surface_7: when_utc_day(day)=-1.000000 96416 behavior surface_7: when_utc_month(month)=-1.000000 96416 behavior surface_7: report_all(bool)=0.000000 96416 behavior surface_7: end_action(enum)=1.000000 96416 behavior surface_7: gps_wait_time(s)=600.000000 96416 behavior surface_7: keystroke_wait_time(sec)=300.000000 96416 behavior surface_7: c_use_pitch(enum)=3.000000 96416 behavior surface_7: c_use_bpump(enum)=2.000000 96416 behavior surface_7: c_bpump_value(X)=1000.000000 96416 behavior surface_7: c_pitch_value(X)=0.452800 96416 behavior surface_7: printout_cycle_time(sec)=30.000000 96416 behavior surface_7: force_iridium_use(nodim)=1.000000 96416 behavior surface_7: STATE UnInited -> Waiting for Activation 96416 behavior surface_7: argument: args_from_file = 50.000000 enum 96416 behavior surface_7: argument: start_when = 13.000000 enum 96416 behavior surface_7: argument: when_secs = 1200.000000 sec 96416 behavior surface_7: argument: when_wpt_dist = 10.000000 m 96416 behavior surface_7: argument: end_action = 1.000000 enum 96416 behavior surface_7: argument: report_all = 0.000000 bool 96416 behavior surface_7: argument: gps_wait_time = 600.000000 sec 96416 behavior surface_7: argument: keystroke_wait_time = 300.000000 sec 96416 behavior surface_7: argument: end_wpt_dist = 0.000000 m 96416 behavior surface_7: argument: c_use_bpump = 2.000000 enum 96416 behavior surface_7: argument: c_bpump_value = 1000.000000 X 96416 behavior surface_7: argument: c_use_pitch = 3.000000 enum 96416 behavior surface_7: argument: c_pitch_value = 0.452800 X 96416 behavior surface_7: argument: c_stop_when_air_pump = 0.000000 bool 96416 behavior surface_7: argument: c_use_thruster = 0.000000 enum 96416 behavior surface_7: argument: c_thruster_value = 0.000000 X 96416 behavior surface_7: argument: printout_cycle_time = 30.000000 sec 96416 behavior surface_7: argument: gps_postfix_wait_time = 60.000000 sec 96416 behavior surface_7: argument: force_iridium_use = 1.000000 nodim 96416 behavior surface_7: argument: min_time_between_gps_fixes = 300.000000 sec 96416 behavior surface_7: argument: sensor_input_wait_time = 10.000000 sec 96416 behavior surface_7: argument: when_utc_min = 0.000000 min 96416 behavior surface_7: argument: when_utc_hour = 5.000000 hour 96416 behavior surface_7: argument: when_utc_day = -1.000000 day 96416 behavior surface_7: argument: when_utc_month = -1.000000 month 96416 behavior surface_7: argument: when_utc_on_surface = 1.000000 bool 96416 behavior surface_7: argument: strobe_on = 0.000000 bool 96416 behavior surface_7: argument: thruster_burst = 0.000000 bool :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0825 C_FIN:0.0000 96420 90 behavior sample_18: SUBSTATE 4 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0825 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0626 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0341 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0228 C_FIN:0.0000 AB: Inflected early at Dive depth 22 [m] 96653 40 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 96653 behavior dive_to_1701: STATE Active -> Complete 96653 behavior climb_to_1702: STATE UnInited -> Active 96653 behavior climb_to_1702: argument: target_depth = 3.000000 m 96653 behavior climb_to_1702: argument: target_altitude = -1.000000 m 96653 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 96653 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 96653 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 96653 behavior climb_to_1702: argument: pitch_value = 0.453800 X 96653 behavior climb_to_1702: argument: start_when = 0.000000 enum 96653 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 96653 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 96653 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 96653 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 96653 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 96653 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 96653 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 96653 behavior climb_to_1702: argument: thruster_value = 0.000000 X 96653 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 96653 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 96653 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 96658 41 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 172, Climb: 180 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.047. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 96861 87 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 96861 behavior climb_to_1702: STATE Active -> Complete 96861 behavior dive_to_1701: STATE UnInited -> Active 96861 behavior dive_to_1701: argument: target_depth = 60.000000 m 96861 behavior dive_to_1701: argument: target_altitude = 3.000000 m 96861 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 96861 behavior dive_to_1701: argument: bpump_value = 350.000000 X 96861 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 96861 behavior dive_to_1701: argument: pitch_value = -0.452800 X 96861 behavior dive_to_1701: argument: start_when = 0.000000 enum 96861 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 96861 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 96861 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 96861 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 96861 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 96861 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 96861 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 96861 behavior dive_to_1701: argument: thruster_value = 0.000000 X 96861 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 96861 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 96861 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 96861 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 96861 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 96861 behavior dive_to_1701: argument: time_ratio = 1.100000 X 96861 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 96861 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 96861 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 96861 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 96861 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 96861 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 96861 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 96866 87 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 97055 30 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 97055 behavior dive_to_1701: STATE Active -> Complete 97055 behavior climb_to_1702: STATE UnInited -> Active 97055 behavior climb_to_1702: argument: target_depth = 3.000000 m 97055 behavior climb_to_1702: argument: target_altitude = -1.000000 m 97055 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 97055 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 97055 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 97055 behavior climb_to_1702: argument: pitch_value = 0.453800 X 97055 behavior climb_to_1702: argument: start_when = 0.000000 enum 97055 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 97056 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 97056 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 97056 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 97056 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 97056 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 97056 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 97056 behavior climb_to_1702: argument: thruster_value = 0.000000 X 97056 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 97056 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 97056 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 97060 31 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 156, Climb: 135 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.155556 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 97218 65 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 97218 behavior climb_to_1702: STATE Active -> Complete 97218 behavior dive_to_1701: STATE UnInited -> Active 97218 behavior dive_to_1701: argument: target_depth = 60.000000 m 97218 behavior dive_to_1701: argument: target_altitude = 3.000000 m 97218 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 97218 behavior dive_to_1701: argument: bpump_value = 350.000000 X 97218 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 97218 behavior dive_to_1701: argument: pitch_value = -0.452800 X 97218 behavior dive_to_1701: argument: start_when = 0.000000 enum 97218 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 97218 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 97218 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 97218 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 97218 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 97218 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 97219 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 97219 behavior dive_to_1701: argument: thruster_value = 0.000000 X 97219 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 97219 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 97219 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 97219 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 97219 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 97219 behavior dive_to_1701: argument: time_ratio = 1.100000 X 97219 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 97219 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 97219 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 97219 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 97219 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 97219 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 97219 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 97223 66 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0796 C_FIN:0.1451 97250 69 DRIVER_ODDITY:digifin:12673:xxx_ctrl() ran too long :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0427 C_FIN:0.0069 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.4223 C_FIN:0.4500 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.4291 C_FIN:0.4500 AB: Inflected early at Dive depth 22 [m] 97410 6 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 97410 behavior dive_to_1701: STATE Active -> Complete 97410 behavior climb_to_1702: STATE UnInited -> Active 97410 behavior climb_to_1702: argument: target_depth = 3.000000 m 97410 behavior climb_to_1702: argument: target_altitude = -1.000000 m 97410 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 97410 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 97410 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 97410 behavior climb_to_1702: argument: pitch_value = 0.453800 X 97410 behavior climb_to_1702: argument: start_when = 0.000000 enum 97410 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 97410 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 97410 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 97410 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 97410 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 97410 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 97410 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 97410 behavior climb_to_1702: argument: thruster_value = 0.000000 X 97410 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 97410 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 97410 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 97415 6 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 125, Climb: 197 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.576 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 97640 56 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 97640 behavior climb_to_1702: STATE Active -> Complete 97640 behavior dive_to_1701: STATE UnInited -> Active 97640 behavior dive_to_1701: argument: target_depth = 60.000000 m 97640 behavior dive_to_1701: argument: target_altitude = 3.000000 m 97640 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 97640 behavior dive_to_1701: argument: bpump_value = 350.000000 X 97640 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 97640 behavior dive_to_1701: argument: pitch_value = -0.452800 X 97640 behavior dive_to_1701: argument: start_when = 0.000000 enum 97640 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 97640 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 97640 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 97640 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 97640 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 97640 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 97640 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 97640 behavior dive_to_1701: argument: thruster_value = 0.000000 X 97640 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 97640 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 97640 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 97640 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 97640 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 97640 behavior dive_to_1701: argument: time_ratio = 1.100000 X 97640 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 97640 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 97640 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 97640 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 97640 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 97640 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 97640 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 97644 58 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 97835 0 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 97835 behavior dive_to_1701: STATE Active -> Complete 97835 behavior climb_to_1702: STATE UnInited -> Active 97835 behavior climb_to_1702: argument: target_depth = 3.000000 m 97835 behavior climb_to_1702: argument: target_altitude = -1.000000 m 97835 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 97835 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 97835 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 97835 behavior climb_to_1702: argument: pitch_value = 0.453800 X 97835 behavior climb_to_1702: argument: start_when = 0.000000 enum 97835 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 97835 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 97835 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 97835 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 97835 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 97835 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 97835 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 97835 behavior climb_to_1702: argument: thruster_value = 0.000000 X 97835 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 97835 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 97835 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 97839 0 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 157, Climb: 165 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.051. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 98028 43 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 98028 behavior climb_to_1702: STATE Active -> Complete 98028 behavior dive_to_1701: STATE UnInited -> Active 98028 behavior dive_to_1701: argument: target_depth = 60.000000 m 98028 behavior dive_to_1701: argument: target_altitude = 3.000000 m 98028 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 98028 behavior dive_to_1701: argument: bpump_value = 350.000000 X 98028 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 98028 behavior dive_to_1701: argument: pitch_value = -0.452800 X 98028 behavior dive_to_1701: argument: start_when = 0.000000 enum 98028 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 98028 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 98028 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 98028 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 98028 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 98028 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 98028 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 98028 behavior dive_to_1701: argument: thruster_value = 0.000000 X 98028 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 98028 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 98028 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 98028 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 98028 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 98028 behavior dive_to_1701: argument: time_ratio = 1.100000 X 98028 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 98028 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 98028 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 98028 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 98028 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 98028 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 98028 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 98033 43 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 98215 84 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 98215 behavior dive_to_1701: STATE Active -> Complete 98215 behavior climb_to_1702: STATE UnInited -> Active 98215 behavior climb_to_1702: argument: target_depth = 3.000000 m 98215 behavior climb_to_1702: argument: target_altitude = -1.000000 m 98215 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 98215 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 98215 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 98215 behavior climb_to_1702: argument: pitch_value = 0.453800 X 98215 behavior climb_to_1702: argument: start_when = 0.000000 enum 98215 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 98215 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 98215 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 98215 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 98215 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 98215 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 98215 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 98215 behavior climb_to_1702: argument: thruster_value = 0.000000 X 98215 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 98215 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 98215 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 98219 84 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 144, Climb: 169 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.174 >= 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 98407 27 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 98408 behavior climb_to_1702: STATE Active -> Complete 98408 behavior dive_to_1701: STATE UnInited -> Active 98408 behavior dive_to_1701: argument: target_depth = 60.000000 m 98408 behavior dive_to_1701: argument: target_altitude = 3.000000 m 98408 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 98408 behavior dive_to_1701: argument: bpump_value = 350.000000 X 98408 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 98408 behavior dive_to_1701: argument: pitch_value = -0.452800 X 98408 behavior dive_to_1701: argument: start_when = 0.000000 enum 98408 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 98408 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 98408 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 98408 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 98408 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 98408 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 98408 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 98408 behavior dive_to_1701: argument: thruster_value = 0.000000 X 98408 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 98408 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 98408 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 98408 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 98408 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 98408 behavior dive_to_1701: argument: time_ratio = 1.100000 X 98408 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 98408 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 98408 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 98408 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 98408 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 98408 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 98408 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 98412 28 behavior sample_18: SUBSTATE 3 ->1 : Diving 98456 37 db(#/min/mn/max/sd) buoyancy_pump 1800 -1.440 0.015 1.392 0.806 cc 98456 db(#/min/mn/max/sd) buoyancy_pump 1800 -3 0 3 2 mV AB: Inflected early at Dive depth 22 [m] 98603 69 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 98603 behavior dive_to_1701: STATE Active -> Complete 98603 behavior climb_to_1702: STATE UnInited -> Active 98603 behavior climb_to_1702: argument: target_depth = 3.000000 m 98603 behavior climb_to_1702: argument: target_altitude = -1.000000 m 98603 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 98603 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 98603 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 98603 behavior climb_to_1702: argument: pitch_value = 0.453800 X 98603 behavior climb_to_1702: argument: start_when = 0.000000 enum 98603 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 98603 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 98603 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 98603 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 98603 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 98603 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 98603 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 98603 behavior climb_to_1702: argument: thruster_value = 0.000000 X 98603 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 98603 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 98603 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 98607 71 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 138 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.965. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 98765 6 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 98765 behavior climb_to_1702: STATE Active -> Complete 98765 behavior dive_to_1701: STATE UnInited -> Active 98765 behavior dive_to_1701: argument: target_depth = 60.000000 m 98765 behavior dive_to_1701: argument: target_altitude = 3.000000 m 98765 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 98765 behavior dive_to_1701: argument: bpump_value = 350.000000 X 98765 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 98765 behavior dive_to_1701: argument: pitch_value = -0.452800 X 98765 behavior dive_to_1701: argument: start_when = 0.000000 enum 98765 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 98765 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 98765 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 98765 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 98765 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 98765 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 98765 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 98765 behavior dive_to_1701: argument: thruster_value = 0.000000 X 98765 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 98765 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 98765 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 98765 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 98765 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 98765 behavior dive_to_1701: argument: time_ratio = 1.100000 X 98765 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 98765 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 98765 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 98765 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 98765 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 98765 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 98765 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 98769 6 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 98960 49 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 98960 behavior dive_to_1701: STATE Active -> Complete 98960 behavior climb_to_1702: STATE UnInited -> Active 98960 behavior climb_to_1702: argument: target_depth = 3.000000 m 98960 behavior climb_to_1702: argument: target_altitude = -1.000000 m 98960 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 98960 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 98960 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 98960 behavior climb_to_1702: argument: pitch_value = 0.453800 X 98960 behavior climb_to_1702: argument: start_when = 0.000000 enum 98960 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 98960 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 98960 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 98960 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 98960 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 98960 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 98960 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 98960 behavior climb_to_1702: argument: thruster_value = 0.000000 X 98960 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 98960 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 98960 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 98964 50 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 140 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.979. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 99128 86 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 99128 behavior climb_to_1702: STATE Active -> Complete 99128 behavior dive_to_1701: STATE UnInited -> Active 99128 behavior dive_to_1701: argument: target_depth = 60.000000 m 99128 behavior dive_to_1701: argument: target_altitude = 3.000000 m 99128 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 99128 behavior dive_to_1701: argument: bpump_value = 350.000000 X 99128 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 99128 behavior dive_to_1701: argument: pitch_value = -0.452800 X 99128 behavior dive_to_1701: argument: start_when = 0.000000 enum 99128 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 99128 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 99128 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 99128 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 99128 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 99128 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 99128 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 99128 behavior dive_to_1701: argument: thruster_value = 0.000000 X 99128 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 99128 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 99128 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 99128 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 99128 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 99129 behavior dive_to_1701: argument: time_ratio = 1.100000 X 99129 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 99129 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 99129 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 99129 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 99129 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 99129 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 99129 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 99134 87 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 99311 25 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 99311 behavior dive_to_1701: STATE Active -> Complete 99311 behavior climb_to_1702: STATE UnInited -> Active 99311 behavior climb_to_1702: argument: target_depth = 3.000000 m 99311 behavior climb_to_1702: argument: target_altitude = -1.000000 m 99311 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 99311 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 99311 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 99311 behavior climb_to_1702: argument: pitch_value = 0.453800 X 99311 behavior climb_to_1702: argument: start_when = 0.000000 enum 99311 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 99311 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 99311 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 99311 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 99311 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 99311 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 99311 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 99311 behavior climb_to_1702: argument: thruster_value = 0.000000 X 99311 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 99311 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 99311 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 99315 27 behavior sample_18: SUBSTATE 1 ->3 : Climbing 99369 38 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:0.1195 C_su:0.2268 :OOD: delta:0.1073 limit:0.1000 over:0.0073 99370 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Time to Dive: 129, Climb: 174 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.349 >= 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 99508 69 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 99508 behavior climb_to_1702: STATE Active -> Complete 99508 behavior dive_to_1701: STATE UnInited -> Active 99508 behavior dive_to_1701: argument: target_depth = 60.000000 m 99508 behavior dive_to_1701: argument: target_altitude = 3.000000 m 99508 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 99508 behavior dive_to_1701: argument: bpump_value = 350.000000 X 99508 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 99508 behavior dive_to_1701: argument: pitch_value = -0.452800 X 99508 behavior dive_to_1701: argument: start_when = 0.000000 enum 99508 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 99508 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 99508 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 99508 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 99508 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 99508 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 99508 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 99508 behavior dive_to_1701: argument: thruster_value = 0.000000 X 99508 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 99508 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 99508 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 99508 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 99508 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 99508 behavior dive_to_1701: argument: time_ratio = 1.100000 X 99508 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 99508 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 99508 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 99508 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 99509 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 99509 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 99509 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 99513 71 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 99699 12 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 99699 behavior dive_to_1701: STATE Active -> Complete 99699 behavior climb_to_1702: STATE UnInited -> Active 99699 behavior climb_to_1702: argument: target_depth = 3.000000 m 99699 behavior climb_to_1702: argument: target_altitude = -1.000000 m 99699 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 99699 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 99699 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 99699 behavior climb_to_1702: argument: pitch_value = 0.453800 X 99699 behavior climb_to_1702: argument: start_when = 0.000000 enum 99699 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 99699 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 99699 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 99699 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 99699 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 99699 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 99699 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 99699 behavior climb_to_1702: argument: thruster_value = 0.000000 X 99699 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 99699 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 99699 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 99703 12 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 153, Climb: 157 [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 99883 53 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 99883 behavior climb_to_1702: STATE Active -> Complete 99883 behavior dive_to_1701: STATE UnInited -> Active 99883 behavior dive_to_1701: argument: target_depth = 60.000000 m 99883 behavior dive_to_1701: argument: target_altitude = 3.000000 m 99883 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 99883 behavior dive_to_1701: argument: bpump_value = 350.000000 X 99883 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 99883 behavior dive_to_1701: argument: pitch_value = -0.452800 X 99883 behavior dive_to_1701: argument: start_when = 0.000000 enum 99883 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 99883 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 99884 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 99884 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 99884 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 99884 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 99884 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 99884 behavior dive_to_1701: argument: thruster_value = 0.000000 X 99884 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 99884 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 99884 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 99884 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 99884 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 99884 behavior dive_to_1701: argument: time_ratio = 1.100000 X 99884 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 99884 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 99884 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 99884 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 99884 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 99884 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 99884 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 99888 53 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 100093 99 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 100093 behavior dive_to_1701: STATE Active -> Complete 100093 behavior climb_to_1702: STATE UnInited -> Active 100094 behavior climb_to_1702: argument: target_depth = 3.000000 m 100094 behavior climb_to_1702: argument: target_altitude = -1.000000 m 100094 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 100094 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 100094 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 100094 behavior climb_to_1702: argument: pitch_value = 0.453800 X 100094 behavior climb_to_1702: argument: start_when = 0.000000 enum 100094 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 100094 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 100094 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 100094 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 100094 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 100094 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 100094 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 100094 behavior climb_to_1702: argument: thruster_value = 0.000000 X 100094 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 100094 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 100094 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 100098 0 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 158, Climb: 152 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.962. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 100268 37 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 100268 behavior climb_to_1702: STATE Active -> Complete 100269 behavior dive_to_1701: STATE UnInited -> Active 100269 behavior dive_to_1701: argument: target_depth = 60.000000 m 100269 behavior dive_to_1701: argument: target_altitude = 3.000000 m 100269 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 100269 behavior dive_to_1701: argument: bpump_value = 350.000000 X 100269 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 100269 behavior dive_to_1701: argument: pitch_value = -0.452800 X 100269 behavior dive_to_1701: argument: start_when = 0.000000 enum 100269 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 100269 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 100269 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 100269 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 100269 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 100269 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 100269 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 100269 behavior dive_to_1701: argument: thruster_value = 0.000000 X 100269 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 100269 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 100269 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 100269 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 100269 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 100269 behavior dive_to_1701: argument: time_ratio = 1.100000 X 100269 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 100269 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 100269 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 100269 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 100269 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 100269 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 100269 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 100273 38 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 100478 84 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 100478 behavior dive_to_1701: STATE Active -> Complete 100478 behavior climb_to_1702: STATE UnInited -> Active 100478 behavior climb_to_1702: argument: target_depth = 3.000000 m 100478 behavior climb_to_1702: argument: target_altitude = -1.000000 m 100478 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 100478 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 100478 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 100478 behavior climb_to_1702: argument: pitch_value = 0.453800 X 100478 behavior climb_to_1702: argument: start_when = 0.000000 enum 100478 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 100478 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 100478 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 100478 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 100478 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 100478 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 100478 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 100478 behavior climb_to_1702: argument: thruster_value = 0.000000 X 100478 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 100478 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 100478 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 100482 84 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 171, Climb: 169 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.988. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 100671 27 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 100671 behavior climb_to_1702: STATE Active -> Complete 100671 behavior dive_to_1701: STATE UnInited -> Active 100671 behavior dive_to_1701: argument: target_depth = 60.000000 m 100671 behavior dive_to_1701: argument: target_altitude = 3.000000 m 100671 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 100671 behavior dive_to_1701: argument: bpump_value = 350.000000 X 100671 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 100671 behavior dive_to_1701: argument: pitch_value = -0.452800 X 100671 behavior dive_to_1701: argument: start_when = 0.000000 enum 100671 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 100671 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 100671 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 100671 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 100671 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 100671 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 100671 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 100671 behavior dive_to_1701: argument: thruster_value = 0.000000 X 100671 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 100671 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 100671 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 100671 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 100671 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 100671 behavior dive_to_1701: argument: time_ratio = 1.100000 X 100671 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 100671 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 100671 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 100671 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 100671 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 100671 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 100671 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 100675 28 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 100862 68 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 100862 behavior dive_to_1701: STATE Active -> Complete 100862 behavior climb_to_1702: STATE UnInited -> Active 100862 behavior climb_to_1702: argument: target_depth = 3.000000 m 100862 behavior climb_to_1702: argument: target_altitude = -1.000000 m 100862 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 100862 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 100862 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 100862 behavior climb_to_1702: argument: pitch_value = 0.453800 X 100862 behavior climb_to_1702: argument: start_when = 0.000000 enum 100862 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 100862 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 100862 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 100862 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 100862 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 100862 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 100862 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 100862 behavior climb_to_1702: argument: thruster_value = 0.000000 X 100862 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 100862 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 100862 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 100867 69 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 149, Climb: 159 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.067. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 101049 9 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 101049 behavior climb_to_1702: STATE Active -> Complete 101049 behavior dive_to_1701: STATE UnInited -> Active 101049 behavior dive_to_1701: argument: target_depth = 60.000000 m 101049 behavior dive_to_1701: argument: target_altitude = 3.000000 m 101049 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 101049 behavior dive_to_1701: argument: bpump_value = 350.000000 X 101049 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 101049 behavior dive_to_1701: argument: pitch_value = -0.452800 X 101049 behavior dive_to_1701: argument: start_when = 0.000000 enum 101049 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 101049 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 101049 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 101049 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 101049 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 101049 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 101049 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 101049 behavior dive_to_1701: argument: thruster_value = 0.000000 X 101049 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 101049 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 101049 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 101049 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 101049 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 101049 behavior dive_to_1701: argument: time_ratio = 1.100000 X 101049 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 101049 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 101049 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 101049 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 101049 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 101049 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 101049 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 101054 11 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.2076 C_FIN:0.2281 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.5415 C_FIN:-0.4500 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.4291 C_FIN:-0.4500 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.4933 C_FIN:-0.4500 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.4005 C_FIN:-0.4500 AB: Inflected early at Dive depth 23 [m] 101299 65 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 101299 behavior dive_to_1701: STATE Active -> Complete 101299 behavior climb_to_1702: STATE UnInited -> Active 101299 behavior climb_to_1702: argument: target_depth = 3.000000 m 101299 behavior climb_to_1702: argument: target_altitude = -1.000000 m 101299 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 101299 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 101299 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 101299 behavior climb_to_1702: argument: pitch_value = 0.453800 X 101299 behavior climb_to_1702: argument: start_when = 0.000000 enum 101299 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 101299 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 101299 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 101299 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 101299 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 101299 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 101299 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 101299 behavior climb_to_1702: argument: thruster_value = 0.000000 X 101299 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 101300 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 101300 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 101304 65 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 166, Climb: 169 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.018. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 101496 9 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 101496 behavior climb_to_1702: STATE Active -> Complete 101496 behavior dive_to_1701: STATE UnInited -> Active 101496 behavior dive_to_1701: argument: target_depth = 60.000000 m 101496 behavior dive_to_1701: argument: target_altitude = 3.000000 m 101496 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 101497 behavior dive_to_1701: argument: bpump_value = 350.000000 X 101497 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 101497 behavior dive_to_1701: argument: pitch_value = -0.452800 X 101497 behavior dive_to_1701: argument: start_when = 0.000000 enum 101497 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 101497 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 101497 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 101497 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 101497 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 101497 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 101497 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 101497 behavior dive_to_1701: argument: thruster_value = 0.000000 X 101497 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 101497 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 101497 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 101497 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 101497 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 101497 behavior dive_to_1701: argument: time_ratio = 1.100000 X 101497 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 101497 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 101497 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 101497 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 101497 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 101497 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 101497 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 101501 9 behavior sample_18: SUBSTATE 3 ->1 : Diving 101545 16 DRIVER_ODDITY:digifin:10675:xxx_ctrl() ran too long AB: Inflected early at Dive depth 23 [m] 101677 46 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 101677 behavior dive_to_1701: STATE Active -> Complete 101677 behavior climb_to_1702: STATE UnInited -> Active 101677 behavior climb_to_1702: argument: target_depth = 3.000000 m 101677 behavior climb_to_1702: argument: target_altitude = -1.000000 m 101677 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 101677 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 101677 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 101677 behavior climb_to_1702: argument: pitch_value = 0.453800 X 101677 behavior climb_to_1702: argument: start_when = 0.000000 enum 101677 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 101677 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 101677 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 101677 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 101677 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 101677 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 101677 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 101677 behavior climb_to_1702: argument: thruster_value = 0.000000 X 101677 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 101677 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 101677 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 101682 47 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 142, Climb: 139 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.979. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 101840 83 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 101840 behavior climb_to_1702: STATE Active -> Complete 101840 behavior dive_to_1701: STATE UnInited -> Active 101840 behavior dive_to_1701: argument: target_depth = 60.000000 m 101840 behavior dive_to_1701: argument: target_altitude = 3.000000 m 101840 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 101840 behavior dive_to_1701: argument: bpump_value = 350.000000 X 101840 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 101840 behavior dive_to_1701: argument: pitch_value = -0.452800 X 101840 behavior dive_to_1701: argument: start_when = 0.000000 enum 101840 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 101840 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 101840 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 101840 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 101840 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 101840 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 101840 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 101840 behavior dive_to_1701: argument: thruster_value = 0.000000 X 101840 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 101840 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 101840 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 101840 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 101840 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 101841 behavior dive_to_1701: argument: time_ratio = 1.100000 X 101841 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 101841 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 101841 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 101841 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 101841 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 101841 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 101841 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 101845 84 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 102023 22 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 102023 behavior dive_to_1701: STATE Active -> Complete 102023 behavior climb_to_1702: STATE UnInited -> Active 102023 behavior climb_to_1702: argument: target_depth = 3.000000 m 102023 behavior climb_to_1702: argument: target_altitude = -1.000000 m 102023 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 102023 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 102023 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 102023 behavior climb_to_1702: argument: pitch_value = 0.453800 X 102023 behavior climb_to_1702: argument: start_when = 0.000000 enum 102023 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 102023 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 102023 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 102023 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 102023 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 102023 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 102023 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 102023 behavior climb_to_1702: argument: thruster_value = 0.000000 X 102023 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 102023 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 102023 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 102027 24 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 140, Climb: 170 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.214 >= 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 102216 65 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 102216 behavior climb_to_1702: STATE Active -> Complete 102216 behavior dive_to_1701: STATE UnInited -> Active 102216 behavior dive_to_1701: argument: target_depth = 60.000000 m 102216 behavior dive_to_1701: argument: target_altitude = 3.000000 m 102216 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 102216 behavior dive_to_1701: argument: bpump_value = 350.000000 X 102216 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 102216 behavior dive_to_1701: argument: pitch_value = -0.452800 X 102216 behavior dive_to_1701: argument: start_when = 0.000000 enum 102216 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 102216 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 102216 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 102216 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 102216 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 102216 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 102216 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 102216 behavior dive_to_1701: argument: thruster_value = 0.000000 X 102216 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 102216 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 102216 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 102217 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 102217 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 102217 behavior dive_to_1701: argument: time_ratio = 1.100000 X 102217 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 102217 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 102217 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 102217 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 102217 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 102217 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 102217 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 102221 66 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 102433 13 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 102433 behavior dive_to_1701: STATE Active -> Complete 102433 behavior climb_to_1702: STATE UnInited -> Active 102433 behavior climb_to_1702: argument: target_depth = 3.000000 m 102433 behavior climb_to_1702: argument: target_altitude = -1.000000 m 102433 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 102433 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 102433 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 102433 behavior climb_to_1702: argument: pitch_value = 0.453800 X 102433 behavior climb_to_1702: argument: start_when = 0.000000 enum 102433 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 102433 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 102433 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 102433 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 102433 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 102433 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 102433 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 102433 behavior climb_to_1702: argument: thruster_value = 0.000000 X 102433 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 102433 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 102433 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 102438 15 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 174, Climb: 147 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.183673 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 102609 53 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 102609 behavior climb_to_1702: STATE Active -> Complete 102609 behavior dive_to_1701: STATE UnInited -> Active 102609 behavior dive_to_1701: argument: target_depth = 60.000000 m 102609 behavior dive_to_1701: argument: target_altitude = 3.000000 m 102609 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 102609 behavior dive_to_1701: argument: bpump_value = 350.000000 X 102609 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 102609 behavior dive_to_1701: argument: pitch_value = -0.452800 X 102609 behavior dive_to_1701: argument: start_when = 0.000000 enum 102609 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 102609 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 102609 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 102609 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 102609 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 102609 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 102609 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 102609 behavior dive_to_1701: argument: thruster_value = 0.000000 X 102609 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 102609 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 102609 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 102609 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 102609 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 102609 behavior dive_to_1701: argument: time_ratio = 1.100000 X 102609 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 102609 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 102609 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 102609 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 102609 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 102609 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 102609 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 102613 53 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 24 [m] 102805 96 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 102805 behavior dive_to_1701: STATE Active -> Complete 102805 behavior climb_to_1702: STATE UnInited -> Active 102805 behavior climb_to_1702: argument: target_depth = 3.000000 m 102805 behavior climb_to_1702: argument: target_altitude = -1.000000 m 102805 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 102805 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 102805 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 102805 behavior climb_to_1702: argument: pitch_value = 0.453800 X 102805 behavior climb_to_1702: argument: start_when = 0.000000 enum 102805 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 102805 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 102805 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 102805 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 102805 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 102805 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 102806 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 102806 behavior climb_to_1702: argument: thruster_value = 0.000000 X 102806 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 102806 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 102806 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 102810 96 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 158, Climb: 201 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.272 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 103039 47 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 103039 behavior climb_to_1702: STATE Active -> Complete 103039 behavior dive_to_1701: STATE UnInited -> Active 103039 behavior dive_to_1701: argument: target_depth = 60.000000 m 103039 behavior dive_to_1701: argument: target_altitude = 3.000000 m 103039 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 103039 behavior dive_to_1701: argument: bpump_value = 350.000000 X 103039 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 103039 behavior dive_to_1701: argument: pitch_value = -0.452800 X 103039 behavior dive_to_1701: argument: start_when = 0.000000 enum 103039 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 103039 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 103039 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 103039 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 103039 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 103039 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 103039 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 103039 behavior dive_to_1701: argument: thruster_value = 0.000000 X 103039 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 103039 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 103039 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 103039 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 103039 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 103039 behavior dive_to_1701: argument: time_ratio = 1.100000 X 103039 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 103039 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 103039 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 103039 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 103039 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 103039 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 103039 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 103043 49 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 103238 91 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 103238 behavior dive_to_1701: STATE Active -> Complete 103238 behavior climb_to_1702: STATE UnInited -> Active 103238 behavior climb_to_1702: argument: target_depth = 3.000000 m 103238 behavior climb_to_1702: argument: target_altitude = -1.000000 m 103238 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 103238 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 103238 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 103238 behavior climb_to_1702: argument: pitch_value = 0.453800 X 103238 behavior climb_to_1702: argument: start_when = 0.000000 enum 103238 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 103238 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 103238 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 103238 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 103238 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 103238 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 103238 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 103238 behavior climb_to_1702: argument: thruster_value = 0.000000 X 103238 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 103238 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 103238 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 103243 93 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 156, Climb: 170 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.090. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 103436 36 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 103436 behavior climb_to_1702: STATE Active -> Complete 103436 behavior dive_to_1701: STATE UnInited -> Active 103436 behavior dive_to_1701: argument: target_depth = 60.000000 m 103436 behavior dive_to_1701: argument: target_altitude = 3.000000 m 103436 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 103436 behavior dive_to_1701: argument: bpump_value = 350.000000 X 103436 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 103436 behavior dive_to_1701: argument: pitch_value = -0.452800 X 103436 behavior dive_to_1701: argument: start_when = 0.000000 enum 103436 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 103436 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 103436 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 103436 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 103436 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 103436 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 103436 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 103436 behavior dive_to_1701: argument: thruster_value = 0.000000 X 103436 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 103436 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 103436 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 103436 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 103436 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 103436 behavior dive_to_1701: argument: time_ratio = 1.100000 X 103436 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 103436 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 103436 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 103436 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 103436 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 103436 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 103436 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 103440 37 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 103644 81 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 103644 behavior dive_to_1701: STATE Active -> Complete 103644 behavior climb_to_1702: STATE UnInited -> Active 103644 behavior climb_to_1702: argument: target_depth = 3.000000 m 103644 behavior climb_to_1702: argument: target_altitude = -1.000000 m 103644 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 103644 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 103644 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 103644 behavior climb_to_1702: argument: pitch_value = 0.453800 X 103644 behavior climb_to_1702: argument: start_when = 0.000000 enum 103644 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 103644 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 103644 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 103644 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 103644 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 103644 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 103645 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 103645 behavior climb_to_1702: argument: thruster_value = 0.000000 X 103645 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 103645 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 103645 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 103649 83 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 161, Climb: 174 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.081. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 103842 25 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 103842 behavior climb_to_1702: STATE Active -> Complete 103842 behavior dive_to_1701: STATE UnInited -> Active 103842 behavior dive_to_1701: argument: target_depth = 60.000000 m 103842 behavior dive_to_1701: argument: target_altitude = 3.000000 m 103842 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 103842 behavior dive_to_1701: argument: bpump_value = 350.000000 X 103842 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 103842 behavior dive_to_1701: argument: pitch_value = -0.452800 X 103842 behavior dive_to_1701: argument: start_when = 0.000000 enum 103842 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 103842 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 103842 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 103842 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 103842 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 103842 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 103842 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 103842 behavior dive_to_1701: argument: thruster_value = 0.000000 X 103842 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 103842 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 103842 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 103842 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 103842 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 103842 behavior dive_to_1701: argument: time_ratio = 1.100000 X 103842 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 103842 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 103842 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 103842 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 103842 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 103842 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 103842 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 103846 27 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 104036 68 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 104036 behavior dive_to_1701: STATE Active -> Complete 104036 behavior climb_to_1702: STATE UnInited -> Active 104036 behavior climb_to_1702: argument: target_depth = 3.000000 m 104036 behavior climb_to_1702: argument: target_altitude = -1.000000 m 104036 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 104036 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 104036 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 104036 behavior climb_to_1702: argument: pitch_value = 0.453800 X 104036 behavior climb_to_1702: argument: start_when = 0.000000 enum 104036 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 104036 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 104036 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 104036 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 104036 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 104036 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 104036 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 104036 behavior climb_to_1702: argument: thruster_value = 0.000000 X 104036 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 104036 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 104036 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 104041 69 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 156, Climb: 183 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.173 >= 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 104243 15 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 104243 behavior climb_to_1702: STATE Active -> Complete 104243 behavior dive_to_1701: STATE UnInited -> Active 104243 behavior dive_to_1701: argument: target_depth = 60.000000 m 104243 behavior dive_to_1701: argument: target_altitude = 3.000000 m 104243 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 104243 behavior dive_to_1701: argument: bpump_value = 350.000000 X 104243 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 104243 behavior dive_to_1701: argument: pitch_value = -0.452800 X 104243 behavior dive_to_1701: argument: start_when = 0.000000 enum 104243 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 104243 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 104243 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 104243 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 104243 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 104243 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 104243 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 104243 behavior dive_to_1701: argument: thruster_value = 0.000000 X 104243 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 104243 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 104243 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 104243 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 104243 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 104243 behavior dive_to_1701: argument: time_ratio = 1.100000 X 104243 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 104243 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 104243 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 104243 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 104243 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 104243 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 104243 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 104248 15 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 24 [m] 104428 56 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 104428 behavior dive_to_1701: STATE Active -> Complete 104428 behavior climb_to_1702: STATE UnInited -> Active 104428 behavior climb_to_1702: argument: target_depth = 3.000000 m 104428 behavior climb_to_1702: argument: target_altitude = -1.000000 m 104428 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 104428 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 104428 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 104428 behavior climb_to_1702: argument: pitch_value = 0.453800 X 104428 behavior climb_to_1702: argument: start_when = 0.000000 enum 104428 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 104428 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 104428 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 104428 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 104428 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 104428 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 104428 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 104428 behavior climb_to_1702: argument: thruster_value = 0.000000 X 104428 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 104428 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 104428 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 104433 56 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 147, Climb: 183 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.245 >= 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 104635 2 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 104635 behavior climb_to_1702: STATE Active -> Complete 104635 behavior dive_to_1701: STATE UnInited -> Active 104635 behavior dive_to_1701: argument: target_depth = 60.000000 m 104635 behavior dive_to_1701: argument: target_altitude = 3.000000 m 104635 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 104635 behavior dive_to_1701: argument: bpump_value = 350.000000 X 104635 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 104635 behavior dive_to_1701: argument: pitch_value = -0.452800 X 104635 behavior dive_to_1701: argument: start_when = 0.000000 enum 104635 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 104635 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 104635 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 104635 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 104635 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 104635 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 104635 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 104635 behavior dive_to_1701: argument: thruster_value = 0.000000 X 104635 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 104635 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 104635 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 104635 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 104635 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 104635 behavior dive_to_1701: argument: time_ratio = 1.100000 X 104635 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 104635 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 104635 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 104635 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 104635 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 104635 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 104635 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 104639 3 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 104852 50 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 104852 behavior dive_to_1701: STATE Active -> Complete 104852 behavior climb_to_1702: STATE UnInited -> Active 104852 behavior climb_to_1702: argument: target_depth = 3.000000 m 104852 behavior climb_to_1702: argument: target_altitude = -1.000000 m 104852 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 104852 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 104852 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 104852 behavior climb_to_1702: argument: pitch_value = 0.453800 X 104852 behavior climb_to_1702: argument: start_when = 0.000000 enum 104852 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 104852 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 104852 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 104852 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 104852 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 104852 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 104852 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 104852 behavior climb_to_1702: argument: thruster_value = 0.000000 X 104852 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 104852 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 104852 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 104856 50 behavior sample_18: SUBSTATE 1 ->3 : Climbing 104879 56 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:0.0927 C_su:0.1999 :OOD: delta:0.1072 limit:0.1000 over:0.0072 104880 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Time to Dive: 184, Climb: 174 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.946. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 105049 93 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 105049 behavior climb_to_1702: STATE Active -> Complete 105049 behavior dive_to_1701: STATE UnInited -> Active 105049 behavior dive_to_1701: argument: target_depth = 60.000000 m 105049 behavior dive_to_1701: argument: target_altitude = 3.000000 m 105049 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 105049 behavior dive_to_1701: argument: bpump_value = 350.000000 X 105049 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 105049 behavior dive_to_1701: argument: pitch_value = -0.452800 X 105049 behavior dive_to_1701: argument: start_when = 0.000000 enum 105049 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 105049 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 105049 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 105049 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 105049 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 105049 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 105049 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 105049 behavior dive_to_1701: argument: thruster_value = 0.000000 X 105049 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 105049 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 105049 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 105049 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 105049 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 105049 behavior dive_to_1701: argument: time_ratio = 1.100000 X 105049 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 105049 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 105049 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 105050 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 105050 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 105050 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 105050 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 105054 94 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.1536 C_FIN:0.1913 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.2732 C_FIN:0.1913 AB: Inflected early at Dive depth 23 [m] 105249 37 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 105249 behavior dive_to_1701: STATE Active -> Complete 105249 behavior climb_to_1702: STATE UnInited -> Active 105249 behavior climb_to_1702: argument: target_depth = 3.000000 m 105249 behavior climb_to_1702: argument: target_altitude = -1.000000 m 105249 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 105249 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 105249 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 105249 behavior climb_to_1702: argument: pitch_value = 0.453800 X 105249 behavior climb_to_1702: argument: start_when = 0.000000 enum 105249 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 105249 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 105249 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 105249 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 105249 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 105249 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 105249 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 105249 behavior climb_to_1702: argument: thruster_value = 0.000000 X 105249 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 105249 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 105249 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 105255 38 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 153, Climb: 161 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.052. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 105439 80 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 105439 behavior climb_to_1702: STATE Active -> Complete 105439 behavior dive_to_1701: STATE UnInited -> Active 105439 behavior dive_to_1701: argument: target_depth = 60.000000 m 105439 behavior dive_to_1701: argument: target_altitude = 3.000000 m 105439 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 105439 behavior dive_to_1701: argument: bpump_value = 350.000000 X 105439 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 105439 behavior dive_to_1701: argument: pitch_value = -0.452800 X 105439 behavior dive_to_1701: argument: start_when = 0.000000 enum 105439 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 105439 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 105439 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 105439 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 105439 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 105439 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 105439 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 105439 behavior dive_to_1701: argument: thruster_value = 0.000000 X 105439 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 105439 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 105439 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 105439 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 105439 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 105439 behavior dive_to_1701: argument: time_ratio = 1.100000 X 105439 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 105439 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 105439 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 105439 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 105439 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 105439 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 105439 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 105443 81 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.5335 C_FIN:-0.4500 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.3970 C_FIN:-0.4500 AB: Inflected early at Dive depth 24 [m] 105693 36 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 105693 behavior dive_to_1701: STATE Active -> Complete 105693 behavior climb_to_1702: STATE UnInited -> Active 105693 behavior climb_to_1702: argument: target_depth = 3.000000 m 105693 behavior climb_to_1702: argument: target_altitude = -1.000000 m 105693 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 105693 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 105693 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 105693 behavior climb_to_1702: argument: pitch_value = 0.453800 X 105693 behavior climb_to_1702: argument: start_when = 0.000000 enum 105693 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 105693 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 105693 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 105693 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 105693 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 105693 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 105693 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 105693 behavior climb_to_1702: argument: thruster_value = 0.000000 X 105693 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 105693 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 105693 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 105697 37 behavior sample_18: SUBSTATE 1 ->3 : Climbing 105840 65 DRIVER_ODDITY:digifin:12064:xxx_ctrl() ran too long AB: Time to Dive: 175, Climb: 149 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.174497 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 105869 72 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 105869 behavior climb_to_1702: STATE Active -> Complete 105869 behavior dive_to_1701: STATE UnInited -> Active 105869 behavior dive_to_1701: argument: target_depth = 60.000000 m 105869 behavior dive_to_1701: argument: target_altitude = 3.000000 m 105869 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 105869 behavior dive_to_1701: argument: bpump_value = 350.000000 X 105869 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 105869 behavior dive_to_1701: argument: pitch_value = -0.452800 X 105869 behavior dive_to_1701: argument: start_when = 0.000000 enum 105869 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 105869 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 105869 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 105870 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 105870 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 105870 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 105870 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 105870 behavior dive_to_1701: argument: thruster_value = 0.000000 X 105870 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 105870 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 105870 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 105870 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 105870 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 105870 behavior dive_to_1701: argument: time_ratio = 1.100000 X 105870 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 105870 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 105870 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 105870 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 105870 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 105870 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 105870 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 105874 74 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 24 [m] 106065 15 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 106065 behavior dive_to_1701: STATE Active -> Complete 106065 behavior climb_to_1702: STATE UnInited -> Active 106065 behavior climb_to_1702: argument: target_depth = 3.000000 m 106065 behavior climb_to_1702: argument: target_altitude = -1.000000 m 106065 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 106065 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 106065 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 106065 behavior climb_to_1702: argument: pitch_value = 0.453800 X 106065 behavior climb_to_1702: argument: start_when = 0.000000 enum 106065 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 106065 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 106065 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 106065 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 106065 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 106065 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 106065 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 106065 behavior climb_to_1702: argument: thruster_value = 0.000000 X 106065 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 106065 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 106065 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 106069 16 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 174 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.145 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 106271 62 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 106271 behavior climb_to_1702: STATE Active -> Complete 106271 behavior dive_to_1701: STATE UnInited -> Active 106271 behavior dive_to_1701: argument: target_depth = 60.000000 m 106271 behavior dive_to_1701: argument: target_altitude = 3.000000 m 106271 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 106271 behavior dive_to_1701: argument: bpump_value = 350.000000 X 106271 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 106271 behavior dive_to_1701: argument: pitch_value = -0.452800 X 106272 behavior dive_to_1701: argument: start_when = 0.000000 enum 106272 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 106272 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 106272 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 106272 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 106272 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 106272 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 106272 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 106272 behavior dive_to_1701: argument: thruster_value = 0.000000 X 106272 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 106272 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 106272 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 106272 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 106272 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 106272 behavior dive_to_1701: argument: time_ratio = 1.100000 X 106272 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 106272 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 106272 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 106272 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 106272 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 106272 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 106272 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 106276 62 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 24 [m] 106493 11 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 106493 behavior dive_to_1701: STATE Active -> Complete 106493 behavior climb_to_1702: STATE UnInited -> Active 106493 behavior climb_to_1702: argument: target_depth = 3.000000 m 106493 behavior climb_to_1702: argument: target_altitude = -1.000000 m 106493 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 106493 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 106493 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 106493 behavior climb_to_1702: argument: pitch_value = 0.453800 X 106493 behavior climb_to_1702: argument: start_when = 0.000000 enum 106493 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 106493 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 106493 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 106493 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 106493 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 106493 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 106493 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 106493 behavior climb_to_1702: argument: thruster_value = 0.000000 X 106493 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 106493 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 106493 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 106497 12 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 179, Climb: 192 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.073. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 106708 59 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 106708 behavior climb_to_1702: STATE Active -> Complete 106708 behavior dive_to_1701: STATE UnInited -> Active 106708 behavior dive_to_1701: argument: target_depth = 60.000000 m 106708 behavior dive_to_1701: argument: target_altitude = 3.000000 m 106708 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 106708 behavior dive_to_1701: argument: bpump_value = 350.000000 X 106708 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 106708 behavior dive_to_1701: argument: pitch_value = -0.452800 X 106708 behavior dive_to_1701: argument: start_when = 0.000000 enum 106708 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 106708 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 106708 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 106708 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 106708 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 106708 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 106708 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 106708 behavior dive_to_1701: argument: thruster_value = 0.000000 X 106708 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 106708 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 106709 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 106709 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 106709 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 106709 behavior dive_to_1701: argument: time_ratio = 1.100000 X 106709 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 106709 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 106709 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 106709 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 106709 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 106709 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 106709 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 106713 59 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0995 C_FIN:0.1728 AB: Inflected early at Dive depth 24 [m] 106917 5 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 106917 behavior dive_to_1701: STATE Active -> Complete 106917 behavior climb_to_1702: STATE UnInited -> Active 106917 behavior climb_to_1702: argument: target_depth = 3.000000 m 106917 behavior climb_to_1702: argument: target_altitude = -1.000000 m 106917 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 106917 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 106917 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 106917 behavior climb_to_1702: argument: pitch_value = 0.453800 X 106917 behavior climb_to_1702: argument: start_when = 0.000000 enum 106917 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 106917 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 106917 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 106917 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 106917 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 106917 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 106917 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 106917 behavior climb_to_1702: argument: thruster_value = 0.000000 X 106917 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 106917 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 106917 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 106921 6 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 161, Climb: 196 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.217 >= 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 107136 53 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 107136 behavior climb_to_1702: STATE Active -> Complete 107136 behavior dive_to_1701: STATE UnInited -> Active 107136 behavior dive_to_1701: argument: target_depth = 60.000000 m 107136 behavior dive_to_1701: argument: target_altitude = 3.000000 m 107136 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 107136 behavior dive_to_1701: argument: bpump_value = 350.000000 X 107136 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 107136 behavior dive_to_1701: argument: pitch_value = -0.452800 X 107136 behavior dive_to_1701: argument: start_when = 0.000000 enum 107136 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 107136 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 107136 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 107136 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 107136 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 107136 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 107136 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 107136 behavior dive_to_1701: argument: thruster_value = 0.000000 X 107136 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 107136 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 107136 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 107136 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 107136 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 107136 behavior dive_to_1701: argument: time_ratio = 1.100000 X 107136 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 107136 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 107137 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 107137 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 107137 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 107137 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 107137 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 107141 55 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 24 [m] 107344 0 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 107344 behavior dive_to_1701: STATE Active -> Complete 107344 behavior climb_to_1702: STATE UnInited -> Active 107344 behavior climb_to_1702: argument: target_depth = 3.000000 m 107344 behavior climb_to_1702: argument: target_altitude = -1.000000 m 107344 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 107344 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 107344 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 107344 behavior climb_to_1702: argument: pitch_value = 0.453800 X 107344 behavior climb_to_1702: argument: start_when = 0.000000 enum 107344 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 107344 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 107344 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 107344 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 107344 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 107344 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 107344 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 107344 behavior climb_to_1702: argument: thruster_value = 0.000000 X 107344 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 107344 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 107344 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 107349 0 behavior sample_18: SUBSTATE 1 ->3 : Climbing 107380 8 db(#/min/mn/max/sd) pitch_motor 1800 -0.107 -0.008 0.100 0.052 in 107380 db(#/min/mn/max/sd) pitch_motor 1800 -49 -4 46 24 mV AB: Time to Dive: 165, Climb: 175 [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 107542 43 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 107542 behavior climb_to_1702: STATE Active -> Complete 107542 behavior dive_to_1701: STATE UnInited -> Active 107542 behavior dive_to_1701: argument: target_depth = 60.000000 m 107542 behavior dive_to_1701: argument: target_altitude = 3.000000 m 107542 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 107542 behavior dive_to_1701: argument: bpump_value = 350.000000 X 107542 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 107542 behavior dive_to_1701: argument: pitch_value = -0.452800 X 107542 behavior dive_to_1701: argument: start_when = 0.000000 enum 107542 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 107542 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 107542 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 107542 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 107542 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 107542 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 107542 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 107542 behavior dive_to_1701: argument: thruster_value = 0.000000 X 107542 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 107542 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 107543 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 107543 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 107543 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 107543 behavior dive_to_1701: argument: time_ratio = 1.100000 X 107543 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 107543 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 107543 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 107543 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 107543 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 107543 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 107543 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 107547 44 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0910 C_FIN:0.1249 AB: Inflected early at Dive depth 23 [m] 107760 91 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 107760 behavior dive_to_1701: STATE Active -> Complete 107760 behavior climb_to_1702: STATE UnInited -> Active 107760 behavior climb_to_1702: argument: target_depth = 3.000000 m 107760 behavior climb_to_1702: argument: target_altitude = -1.000000 m 107760 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 107760 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 107760 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 107760 behavior climb_to_1702: argument: pitch_value = 0.453800 X 107760 behavior climb_to_1702: argument: start_when = 0.000000 enum 107760 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 107760 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 107760 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 107760 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 107760 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 107760 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 107760 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 107760 behavior climb_to_1702: argument: thruster_value = 0.000000 X 107760 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 107760 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 107760 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 107764 93 behavior sample_18: SUBSTATE 1 ->3 : Climbing 107788 97 db(#/min/mn/max/sd) buoyancy_pump 1800 -1.560 0.038 1.392 0.831 cc 107788 db(#/min/mn/max/sd) buoyancy_pump 1800 -3 0 3 2 mV AB: Time to Dive: 175, Climb: 174 [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 107957 36 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 107957 behavior climb_to_1702: STATE Active -> Complete 107957 behavior dive_to_1701: STATE UnInited -> Active 107957 behavior dive_to_1701: argument: target_depth = 60.000000 m 107957 behavior dive_to_1701: argument: target_altitude = 3.000000 m 107957 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 107957 behavior dive_to_1701: argument: bpump_value = 350.000000 X 107957 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 107957 behavior dive_to_1701: argument: pitch_value = -0.452800 X 107957 behavior dive_to_1701: argument: start_when = 0.000000 enum 107957 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 107957 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 107957 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 107957 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 107957 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 107957 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 107957 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 107957 behavior dive_to_1701: argument: thruster_value = 0.000000 X 107957 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 107957 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 107957 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 107957 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 107957 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 107957 behavior dive_to_1701: argument: time_ratio = 1.100000 X 107957 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 107957 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 107957 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 107957 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 107957 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 107957 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 107958 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 107962 37 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 108154 78 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 108154 behavior dive_to_1701: STATE Active -> Complete 108154 behavior climb_to_1702: STATE UnInited -> Active 108154 behavior climb_to_1702: argument: target_depth = 3.000000 m 108154 behavior climb_to_1702: argument: target_altitude = -1.000000 m 108154 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 108154 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 108154 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 108154 behavior climb_to_1702: argument: pitch_value = 0.453800 X 108154 behavior climb_to_1702: argument: start_when = 0.000000 enum 108154 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 108154 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 108154 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 108154 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 108154 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 108154 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 108154 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 108154 behavior climb_to_1702: argument: thruster_value = 0.000000 X 108154 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 108154 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 108154 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 108158 80 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 158, Climb: 180 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.139 >= 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 108357 24 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 108357 behavior climb_to_1702: STATE Active -> Complete 108357 behavior dive_to_1701: STATE UnInited -> Active 108357 behavior dive_to_1701: argument: target_depth = 60.000000 m 108357 behavior dive_to_1701: argument: target_altitude = 3.000000 m 108357 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 108357 behavior dive_to_1701: argument: bpump_value = 350.000000 X 108357 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 108357 behavior dive_to_1701: argument: pitch_value = -0.452800 X 108357 behavior dive_to_1701: argument: start_when = 0.000000 enum 108357 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 108357 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 108357 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 108357 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 108357 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 108357 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 108357 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 108357 behavior dive_to_1701: argument: thruster_value = 0.000000 X 108357 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 108357 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 108357 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 108357 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 108357 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 108357 behavior dive_to_1701: argument: time_ratio = 1.100000 X 108357 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 108357 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 108357 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 108357 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 108358 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 108358 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 108358 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 108362 25 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 108547 65 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 108547 behavior dive_to_1701: STATE Active -> Complete 108547 behavior climb_to_1702: STATE UnInited -> Active 108547 behavior climb_to_1702: argument: target_depth = 3.000000 m 108547 behavior climb_to_1702: argument: target_altitude = -1.000000 m 108547 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 108547 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 108547 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 108547 behavior climb_to_1702: argument: pitch_value = 0.453800 X 108547 behavior climb_to_1702: argument: start_when = 0.000000 enum 108547 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 108547 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 108547 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 108547 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 108547 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 108547 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 108547 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 108547 behavior climb_to_1702: argument: thruster_value = 0.000000 X 108547 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 108547 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 108547 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 108552 66 behavior sample_18: SUBSTATE 1 ->3 : Climbing 108575 71 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:0.0940 C_su:0.1964 :OOD: delta:0.1024 limit:0.1000 over:0.0024 108576 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Time to Dive: 152, Climb: 161 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.059. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 108731 6 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 108731 behavior climb_to_1702: STATE Active -> Complete 108731 behavior dive_to_1701: STATE UnInited -> Active 108731 behavior dive_to_1701: argument: target_depth = 60.000000 m 108731 behavior dive_to_1701: argument: target_altitude = 3.000000 m 108731 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 108731 behavior dive_to_1701: argument: bpump_value = 350.000000 X 108731 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 108731 behavior dive_to_1701: argument: pitch_value = -0.452800 X 108731 behavior dive_to_1701: argument: start_when = 0.000000 enum 108731 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 108731 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 108732 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 108732 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 108732 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 108732 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 108732 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 108732 behavior dive_to_1701: argument: thruster_value = 0.000000 X 108732 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 108732 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 108732 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 108732 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 108732 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 108732 behavior dive_to_1701: argument: time_ratio = 1.100000 X 108732 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 108732 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 108732 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 108732 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 108732 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 108732 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 108732 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 108736 8 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 108935 52 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 108935 behavior dive_to_1701: STATE Active -> Complete 108935 behavior climb_to_1702: STATE UnInited -> Active 108935 behavior climb_to_1702: argument: target_depth = 3.000000 m 108935 behavior climb_to_1702: argument: target_altitude = -1.000000 m 108935 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 108935 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 108935 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 108935 behavior climb_to_1702: argument: pitch_value = 0.453800 X 108935 behavior climb_to_1702: argument: start_when = 0.000000 enum 108935 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 108935 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 108935 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 108935 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 108935 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 108935 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 108935 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 108935 behavior climb_to_1702: argument: thruster_value = 0.000000 X 108935 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 108935 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 108935 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 108940 53 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 161, Climb: 160 [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 109119 93 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 109119 behavior climb_to_1702: STATE Active -> Complete 109119 behavior dive_to_1701: STATE UnInited -> Active 109119 behavior dive_to_1701: argument: target_depth = 60.000000 m 109119 behavior dive_to_1701: argument: target_altitude = 3.000000 m 109119 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 109119 behavior dive_to_1701: argument: bpump_value = 350.000000 X 109119 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 109119 behavior dive_to_1701: argument: pitch_value = -0.452800 X 109119 behavior dive_to_1701: argument: start_when = 0.000000 enum 109119 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 109119 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 109119 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 109119 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 109119 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 109119 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 109119 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 109120 behavior dive_to_1701: argument: thruster_value = 0.000000 X 109120 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 109120 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 109120 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 109120 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 109120 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 109120 behavior dive_to_1701: argument: time_ratio = 1.100000 X 109120 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 109120 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 109120 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 109120 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 109120 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 109120 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 109120 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 109124 93 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 109315 36 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 109315 behavior dive_to_1701: STATE Active -> Complete 109315 behavior climb_to_1702: STATE UnInited -> Active 109315 behavior climb_to_1702: argument: target_depth = 3.000000 m 109315 behavior climb_to_1702: argument: target_altitude = -1.000000 m 109315 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 109315 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 109315 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 109315 behavior climb_to_1702: argument: pitch_value = 0.453800 X 109315 behavior climb_to_1702: argument: start_when = 0.000000 enum 109315 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 109315 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 109315 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 109315 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 109315 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 109315 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 109315 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 109315 behavior climb_to_1702: argument: thruster_value = 0.000000 X 109315 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 109315 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 109315 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 109319 37 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 169 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.112 >= 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 109508 78 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 109508 behavior climb_to_1702: STATE Active -> Complete 109508 behavior dive_to_1701: STATE UnInited -> Active 109508 behavior dive_to_1701: argument: target_depth = 60.000000 m 109508 behavior dive_to_1701: argument: target_altitude = 3.000000 m 109508 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 109508 behavior dive_to_1701: argument: bpump_value = 350.000000 X 109508 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 109508 behavior dive_to_1701: argument: pitch_value = -0.452800 X 109508 behavior dive_to_1701: argument: start_when = 0.000000 enum 109508 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 109508 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 109508 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 109508 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 109508 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 109508 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 109508 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 109508 behavior dive_to_1701: argument: thruster_value = 0.000000 X 109508 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 109508 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 109508 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 109508 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 109508 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 109508 behavior dive_to_1701: argument: time_ratio = 1.100000 X 109508 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 109508 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 109508 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 109508 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 109508 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 109508 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 109508 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 109513 80 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 109716 25 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 109716 behavior dive_to_1701: STATE Active -> Complete 109716 behavior climb_to_1702: STATE UnInited -> Active 109716 behavior climb_to_1702: argument: target_depth = 3.000000 m 109716 behavior climb_to_1702: argument: target_altitude = -1.000000 m 109716 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 109716 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 109716 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 109716 behavior climb_to_1702: argument: pitch_value = 0.453800 X 109716 behavior climb_to_1702: argument: start_when = 0.000000 enum 109716 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 109716 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 109716 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 109716 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 109716 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 109716 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 109716 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 109716 behavior climb_to_1702: argument: thruster_value = 0.000000 X 109716 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 109716 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 109716 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 109720 25 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 174, Climb: 180 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.034. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 109919 69 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 109919 behavior climb_to_1702: STATE Active -> Complete 109919 behavior dive_to_1701: STATE UnInited -> Active 109919 behavior dive_to_1701: argument: target_depth = 60.000000 m 109919 behavior dive_to_1701: argument: target_altitude = 3.000000 m 109919 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 109919 behavior dive_to_1701: argument: bpump_value = 350.000000 X 109919 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 109919 behavior dive_to_1701: argument: pitch_value = -0.452800 X 109919 behavior dive_to_1701: argument: start_when = 0.000000 enum 109919 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 109919 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 109919 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 109919 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 109919 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 109919 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 109920 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 109920 behavior dive_to_1701: argument: thruster_value = 0.000000 X 109920 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 109920 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 109920 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 109920 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 109920 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 109920 behavior dive_to_1701: argument: time_ratio = 1.100000 X 109920 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 109920 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 109920 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 109920 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 109920 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 109920 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 109920 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 109924 71 behavior sample_18: SUBSTATE 3 ->1 : Diving 110135 15 DRIVER_ODDITY:digifin:10658:xxx_ctrl() ran too long AB: Inflected early at Dive depth 24 [m] 110137 15 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 110137 behavior dive_to_1701: STATE Active -> Complete 110137 behavior climb_to_1702: STATE UnInited -> Active 110137 behavior climb_to_1702: argument: target_depth = 3.000000 m 110137 behavior climb_to_1702: argument: target_altitude = -1.000000 m 110137 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 110137 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 110137 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 110137 behavior climb_to_1702: argument: pitch_value = 0.453800 X 110137 behavior climb_to_1702: argument: start_when = 0.000000 enum 110137 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 110137 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 110137 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 110137 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 110137 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 110137 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 110137 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 110137 behavior climb_to_1702: argument: thruster_value = 0.000000 X 110137 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 110137 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 110137 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 110142 16 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 154, Climb: 179 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.162 >= 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 110344 62 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 110344 behavior climb_to_1702: STATE Active -> Complete 110344 behavior dive_to_1701: STATE UnInited -> Active 110344 behavior dive_to_1701: argument: target_depth = 60.000000 m 110344 behavior dive_to_1701: argument: target_altitude = 3.000000 m 110344 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 110344 behavior dive_to_1701: argument: bpump_value = 350.000000 X 110344 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 110344 behavior dive_to_1701: argument: pitch_value = -0.452800 X 110345 behavior dive_to_1701: argument: start_when = 0.000000 enum 110345 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 110345 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 110345 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 110345 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 110345 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 110345 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 110345 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 110345 behavior dive_to_1701: argument: thruster_value = 0.000000 X 110345 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 110345 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 110345 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 110345 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 110345 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 110345 behavior dive_to_1701: argument: time_ratio = 1.100000 X 110345 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 110345 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 110345 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 110345 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 110345 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 110345 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 110345 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 110349 62 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 23 [m] 110553 8 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 110553 behavior dive_to_1701: STATE Active -> Complete 110553 behavior climb_to_1702: STATE UnInited -> Active 110553 behavior climb_to_1702: argument: target_depth = 3.000000 m 110553 behavior climb_to_1702: argument: target_altitude = -1.000000 m 110553 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 110553 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 110553 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 110553 behavior climb_to_1702: argument: pitch_value = 0.453800 X 110553 behavior climb_to_1702: argument: start_when = 0.000000 enum 110553 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 110553 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 110553 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 110553 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 110553 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 110553 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 110553 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 110553 behavior climb_to_1702: argument: thruster_value = 0.000000 X 110553 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 110553 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 110553 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 110557 9 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 166, Climb: 152 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.916. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 110733 47 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 110733 behavior climb_to_1702: STATE Active -> Complete 110733 behavior dive_to_1701: STATE UnInited -> Active 110733 behavior dive_to_1701: argument: target_depth = 60.000000 m 110733 behavior dive_to_1701: argument: target_altitude = 3.000000 m 110733 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 110733 behavior dive_to_1701: argument: bpump_value = 350.000000 X 110733 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 110733 behavior dive_to_1701: argument: pitch_value = -0.452800 X 110733 behavior dive_to_1701: argument: start_when = 0.000000 enum 110733 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 110733 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 110733 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 110733 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 110733 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 110733 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 110733 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 110733 behavior dive_to_1701: argument: thruster_value = 0.000000 X 110733 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 110733 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 110733 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 110733 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 110733 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 110733 behavior dive_to_1701: argument: time_ratio = 1.100000 X 110733 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 110733 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 110733 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 110733 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 110733 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 110733 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 110733 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 110737 49 behavior sample_18: SUBSTATE 3 ->1 : Diving 110771 56 behavior surface_2: STATE Waiting for Activation -> Active 110771 behavior surface_2: SUBSTATE 0 UnInited->1 : climb_to the surface 110772 behavior climb_to_201: STATE UnInited -> Active 110772 behavior climb_to_201: argument: target_depth = 4.000000 m 110772 behavior climb_to_201: argument: target_altitude = -1.000000 m 110772 behavior climb_to_201: argument: use_bpump = 2.000000 enum 110772 behavior climb_to_201: argument: bpump_value = 1000.000000 X 110772 behavior climb_to_201: argument: use_pitch = 3.000000 enum 110772 behavior climb_to_201: argument: pitch_value = 0.452800 X 110772 behavior climb_to_201: argument: start_when = 0.000000 enum 110772 behavior climb_to_201: argument: stop_when_hover_for = -1.000000 sec 110772 behavior climb_to_201: argument: stop_when_stalled_for = -1.000000 sec 110772 behavior climb_to_201: argument: stop_when_air_pump = 0.000000 bool 110772 behavior climb_to_201: argument: initial_inflection = 1.000000 bool 110772 behavior climb_to_201: argument: speed_min = 100.000000 m/s 110772 behavior climb_to_201: argument: speed_max = -100.000000 m/s 110772 behavior climb_to_201: argument: use_thruster = 0.000000 enum 110772 behavior climb_to_201: argument: thruster_value = 0.000000 X 110772 behavior climb_to_201: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 110772 behavior climb_to_201: SUBSTATE 1 ->3 : Starting the climb 110772 behavior climb_to_201: SUBSTATE 3 ->4 : climbing 110772 behavior climb_to_201: SUBSTATE 4 ->5 : Complete reached depth 110772 behavior climb_to_201: STATE Active -> Complete 110772 behavior surface_2: SUBSTATE 1 ->2 : waiting for various sensors 110772 behavior surface_2: SUBSTATE 2 ->3 : waiting for GPS fix 110772 init_gps_input() 110773 sensor: m_gps_status = 2 enum 110773 sensor: m_gps_invalid_lat = 2708.1955 lat 110773 sensor: m_gps_invalid_lon = -8257.6988 lon 110776 56 behavior sample_18: SUBSTATE 1 ->4 : On Surface 110776 sensor: m_gps_status = 2 enum 110776 sensor: m_gps_invalid_lat = 2708.1955 lat 110776 sensor: m_gps_invalid_lon = -8257.6988 lon 110780 58 sensor: m_gps_status = 2 enum 110780 sensor: m_gps_invalid_lat = 2708.1955 lat 110780 sensor: m_gps_invalid_lon = -8257.6988 lon 110785 59 sensor: m_gps_status = 2 enum 110785 sensor: m_gps_invalid_lat = 2708.1955 lat 110785 sensor: m_gps_invalid_lon = -8257.6988 lon 110791 59 sensor: m_gps_status = 2 enum 110791 sensor: m_gps_invalid_lat = 2708.1955 lat 110791 sensor: m_gps_invalid_lon = -8257.6988 lon 110795 61 sensor: m_gps_status = 2 enum 110795 sensor: m_gps_invalid_lat = 2708.1955 lat 110795 sensor: m_gps_invalid_lon = -8257.6988 lon 110800 62 sensor: m_gps_status = 2 enum 110800 sensor: m_gps_invalid_lat = 2708.1955 lat 110800 sensor: m_gps_invalid_lon = -8257.6988 lon 110806 62 sensor: m_gps_status = 2 enum 110806 sensor: m_gps_invalid_lat = 2708.1955 lat 110806 sensor: m_gps_invalid_lon = -8257.6988 lon 110810 63 sensor: m_gps_status = 2 enum 110810 sensor: m_gps_invalid_lat = 2708.1955 lat 110810 sensor: m_gps_invalid_lon = -8257.6988 lon 110817 65 sensor: m_gps_status = 2 enum 110817 sensor: m_gps_invalid_lat = 2708.1955 lat 110817 sensor: m_gps_invalid_lon = -8257.6988 lon 110822 66 sensor: m_gps_status = 2 enum 110822 sensor: m_gps_invalid_lat = 2708.1955 lat 110822 sensor: m_gps_invalid_lon = -8257.6988 lon 110826 68 sensor: m_gps_status = 2 enum 110827 sensor: m_gps_invalid_lat = 2708.1955 lat 110827 sensor: m_gps_invalid_lon = -8257.6988 lon 110831 68 sensor: m_gps_status = 2 enum 110831 sensor: m_gps_invalid_lat = 2708.1955 lat 110831 sensor: m_gps_invalid_lon = -8257.6988 lon 110836 69 sensor: m_gps_status = 2 enum 110836 sensor: m_gps_invalid_lat = 2708.1955 lat 110836 sensor: m_gps_invalid_lon = -8257.6988 lon 110840 71 sensor: m_gps_status = 2 enum 110840 sensor: m_gps_invalid_lat = 2708.1955 lat 110840 sensor: m_gps_invalid_lon = -8257.6988 lon 110845 71 sensor: m_gps_status = 2 enum 110845 sensor: m_gps_invalid_lat = 2708.1955 lat 110845 sensor: m_gps_invalid_lon = -8257.6988 lon 110851 72 sensor: m_gps_status = 2 enum 110851 sensor: m_gps_invalid_lat = 2708.1955 lat 110851 sensor: m_gps_invalid_lon = -8257.6988 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0398 C_FIN:0.0000 110855 74 sensor: m_gps_status = 2 enum 110855 sensor: m_gps_invalid_lat = 2708.1955 lat 110855 sensor: m_gps_invalid_lon = -8257.6988 lon 110860 75 sensor: m_gps_status = 2 enum 110860 sensor: m_gps_invalid_lat = 2708.1955 lat 110860 sensor: m_gps_invalid_lon = -8257.6988 lon 110866 75 sensor: m_gps_status = 2 enum 110866 sensor: m_gps_invalid_lat = 2708.1955 lat 110866 sensor: m_gps_invalid_lon = -8257.6988 lon 110870 77 sensor: m_gps_status = 2 enum 110870 sensor: m_gps_invalid_lat = 2708.1955 lat 110870 sensor: m_gps_invalid_lon = -8257.6988 lon 110875 78 sensor: m_gps_status = 2 enum 110875 sensor: m_gps_invalid_lat = 2708.1955 lat 110875 sensor: m_gps_invalid_lon = -8257.6988 lon 110882 80 sensor: m_gps_status = 2 enum 110882 sensor: m_gps_invalid_lat = 2708.1955 lat 110882 sensor: m_gps_invalid_lon = -8257.6988 lon 110887 81 sensor: m_gps_status = 2 enum 110887 sensor: m_gps_invalid_lat = 2708.1955 lat 110887 sensor: m_gps_invalid_lon = -8257.6988 lon 110887 sensor: m_gps_status = 1 enum 110887 sensor: m_gps_ignored_lat = 2708.1353 lat 110887 sensor: m_gps_ignored_lon = -8257.8306 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0739 C_FIN:0.0000 110893 81 sensor: m_gps_status = 1 enum 110893 sensor: m_gps_ignored_lat = 2708.1341 lat 110893 sensor: m_gps_ignored_lon = -8257.8307 lon 110898 83 sensor: m_gps_status = 1 enum 110898 sensor: m_gps_ignored_lat = 2708.1337 lat 110898 sensor: m_gps_ignored_lon = -8257.8304 lon 110901 84 sensor: m_gps_status = 1 enum 110901 sensor: m_gps_ignored_lat = 2708.1333 lat 110901 sensor: m_gps_ignored_lon = -8257.8298 lon 110907 84 sensor: m_gps_status = 1 enum 110907 sensor: m_gps_ignored_lat = 2708.1329 lat 110907 sensor: m_gps_ignored_lon = -8257.8298 lon 110912 86 sensor: m_gps_lat = 2708.1325 lat 110912 sensor: m_gps_lon = -8257.8306 lon 110912 sensor: m_gps_status = 0 enum 110915 87 end_gps_input() 110915 init_gps_input() 110915 behavior surface_2: SUBSTATE 3 ->4 : Picking iridium or freewave 110915 behavior surface_2: SUBSTATE 4 ->5 : Waiting for more gps fixes 110918 sensor: m_gps_lat = 2708.1321 lat 110918 sensor: m_gps_lon = -8257.8313 lon 110918 sensor: m_gps_status = 0 enum 110922 87 sensor: m_gps_lat = 2708.1317 lat 110922 sensor: m_gps_lon = -8257.8314 lon 110922 sensor: m_gps_status = 0 enum 110926 88 sensor: m_gps_lat = 2708.1316 lat 110927 sensor: m_gps_lon = -8257.8324 lon 110927 sensor: m_gps_status = 0 enum 110931 90 sensor: m_gps_lat = 2708.131 lat 110931 sensor: m_gps_lon = -8257.8331 lon 110931 sensor: m_gps_status = 0 enum 110937 90 sensor: m_gps_lat = 2708.1307 lat 110937 sensor: m_gps_lon = -8257.8335 lon 110937 sensor: m_gps_status = 0 enum 110942 91 sensor: m_gps_lat = 2708.1304 lat 110942 sensor: m_gps_lon = -8257.8339 lon 110942 sensor: m_gps_status = 0 enum 110946 93 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 110947 sensor: m_gps_lat = 2708.1302 lat 110947 sensor: m_gps_lon = -8257.8347 lon 110947 sensor: m_gps_status = 0 enum 110951 93 sensor: m_gps_lat = 2708.1301 lat 110951 sensor: m_gps_lon = -8257.8346 lon 110951 sensor: m_gps_status = 0 enum 110957 94 sensor: m_gps_lat = 2708.1299 lat 110957 sensor: m_gps_lon = -8257.8353 lon 110957 sensor: m_gps_status = 0 enum :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0427 C_FIN:0.0000 110962 96 sensor: m_gps_lat = 2708.1297 lat 110962 sensor: m_gps_lon = -8257.8361 lon 110962 sensor: m_gps_status = 0 enum :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0739 C_FIN:0.0000 110967 96 sensor: m_gps_lat = 2708.1292 lat 110967 sensor: m_gps_lon = -8257.8361 lon 110967 sensor: m_gps_status = 0 enum 110971 97 sensor: m_gps_lat = 2708.129 lat 110971 sensor: m_gps_lon = -8257.8366 lon 110971 sensor: m_gps_status = 0 enum 110979 0 end_gps_input() 110979 behavior surface_2: SUBSTATE 5 ->7 : waiting for control-C to exit/resume :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0398 C_FIN:0.0000 110989 2 Iridium has been powered on for 4.3 secs 110989 Waking up Iridium... sending:ATE1 110989 Iridium, modem making attempt #1 at primary number (881600005112) 110994 3 Iridium driver received:[ATE1[0D][0D]] 110994 Iridium modem matched: OK 110994 Waking up Iridium... sending:AT+cbst=6,0,1 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0455 C_FIN:0.0000 110999 3 Iridium driver received:[AT+cbst=6,0,1[0D][0D]] 110999 Iridium modem matched: OK 110999 Waking up Iridium... sending:AT+CSQ 111003 5 Iridium driver received:[AT+CSQ[0D][0D][0A]+CSQ:5[0D][0A][0D]] 111003 Iridium modem matched: OK 111012 6 Iridium waiting for registration... 111017 6 Obtaining Iridium RSSI... 111017 Iridium dialing [ATD00881600005112]........... 111017 Iridium waiting for connection... 111021 8 Iridium driver received:[ATD00881600005112[0D]] 111031 9 Iridium driver received:[[0D]] 111031 Iridium modem matched: CONNECT 4800 111031 Iridium connected... 111031 Iridium console active and ready... Vehicle Name: mote-genie Curr Time: Mon Oct 17 09:25:34 2016 MT: 111030 DR Location: 2708.128 N -8257.837 E measured 44.807 secs ago GPS TooFar: 2709.307 N -8256.326 E measured 14623.7 secs ago GPS Invalid : 2708.196 N -8257.699 E measured 143.736 secs ago GPS Location: 2708.128 N -8257.837 E measured 47.2 secs ago sensor:c_wpt_lat(lat)=2644 110853 secs ago sensor:c_wpt_lon(lon)=-8333 110853 secs ago sensor:m_avg_climb_rate(m/s)=-0.115660408456614 309.786 secs ago sensor:m_avg_dive_rate(m/s)=0.113884674912481 480.369 secs ago sensor:m_battery(volts)=11.3014134440948 46.55 secs ago sensor:m_coulomb_amphr(amp-hrs)=11.3952503204346 5.218 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=16.9510003205873 5.239 secs ago sensor:m_final_water_vx(m/s)=0.177809578712662 15751.6 secs ago sensor:m_final_water_vy(m/s)=-0.0578882696344367 15751.6 secs ago sensor:m_iridium_signal_strength(nodim)=5 14.778 secs ago sensor:m_leakdetect_voltage(volts)=2.48107448107448 37.695 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48675213675214 37.718 secs ago sensor:m_tot_num_inflections(nodim)=4605 258.021 secs ago sensor:m_vacuum(inHg)=7.08029157509158 112.406 secs ago sensor:m_water_vx(m/s)=0.165078456765746 118.743 secs ago sensor:m_water_vy(m/s)=-0.0580208112407469 118.783 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 111032 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:-0.0284 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0540 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0341 C_FIN:0.0000 111185 40 01950017.mlg LOG FILE CLOSED