the8x3_filename: 01950059 full_filename: mote-genie-2016-289-0-59 319490 2 01950059.mlg LOG FILE OPENED Megabytes used on CF file system = 515.187500 Megabytes available on CF file system = 1482.312500 319493 init_gps_input() 319493 behavior surface_10: SUBSTATE 7 ->10 : Waiting for final gps fix 319494 disabling Iridium console... 319503 4 sensor: m_gps_status = 1 enum 319503 sensor: m_gps_ignored_lat = 2659.8368 lat 319503 sensor: m_gps_ignored_lon = -8247.2335 lon 319508 5 sensor: m_gps_status = 1 enum 319508 sensor: m_gps_ignored_lat = 2659.8349 lat 319509 sensor: m_gps_ignored_lon = -8247.2336 lon 319513 7 sensor: m_gps_status = 1 enum 319513 sensor: m_gps_ignored_lat = 2659.8336 lat 319513 sensor: m_gps_ignored_lon = -8247.2342 lon 319518 8 sensor: m_gps_status = 1 enum 319518 sensor: m_gps_ignored_lat = 2659.8327 lat 319518 sensor: m_gps_ignored_lon = -8247.2346 lon 319524 9 sensor: m_gps_status = 1 enum 319524 sensor: m_gps_ignored_lat = 2659.8319 lat 319524 sensor: m_gps_ignored_lon = -8247.2349 lon 319528 10 sensor: m_gps_lat = 2659.831 lat 319528 sensor: m_gps_lon = -8247.2351 lon 319528 sensor: m_gps_status = 0 enum 319532 11 end_gps_input() 319532 behavior surface_10: SUBSTATE 10 ->12 : All done 319532 behavior surface_10: STATE Active -> UnInited 319537 12 behavior surface_10: Reading b_args from surfac53.ma 319537 behavior surface_10: start_when(enum)=13.000000 319537 behavior surface_10: when_utc_min(min)=0.000000 319537 behavior surface_10: when_utc_hour(hour)=19.000000 319537 behavior surface_10: when_utc_day(day)=-1.000000 319537 behavior surface_10: when_utc_month(month)=-1.000000 319537 behavior surface_10: report_all(bool)=0.000000 319537 behavior surface_10: end_action(enum)=1.000000 319537 behavior surface_10: gps_wait_time(s)=600.000000 319537 behavior surface_10: keystroke_wait_time(sec)=300.000000 319537 behavior surface_10: c_use_pitch(enum)=3.000000 319537 behavior surface_10: c_use_bpump(enum)=2.000000 319537 behavior surface_10: c_bpump_value(X)=1000.000000 319537 behavior surface_10: c_pitch_value(X)=0.452800 319537 behavior surface_10: printout_cycle_time(sec)=30.000000 319537 behavior surface_10: force_iridium_use(nodim)=1.000000 319537 behavior surface_10: STATE UnInited -> Waiting for Activation 319537 behavior surface_10: argument: args_from_file = 53.000000 enum 319537 behavior surface_10: argument: start_when = 13.000000 enum 319537 behavior surface_10: argument: when_secs = 1200.000000 sec 319537 behavior surface_10: argument: when_wpt_dist = 10.000000 m 319537 behavior surface_10: argument: end_action = 1.000000 enum 319537 behavior surface_10: argument: report_all = 0.000000 bool 319537 behavior surface_10: argument: gps_wait_time = 600.000000 sec 319537 behavior surface_10: argument: keystroke_wait_time = 300.000000 sec 319537 behavior surface_10: argument: end_wpt_dist = 0.000000 m 319538 behavior surface_10: argument: c_use_bpump = 2.000000 enum 319538 behavior surface_10: argument: c_bpump_value = 1000.000000 X 319538 behavior surface_10: argument: c_use_pitch = 3.000000 enum 319538 behavior surface_10: argument: c_pitch_value = 0.452800 X 319538 behavior surface_10: argument: c_stop_when_air_pump = 0.000000 bool 319538 behavior surface_10: argument: c_use_thruster = 0.000000 enum 319538 behavior surface_10: argument: c_thruster_value = 0.000000 X 319538 behavior surface_10: argument: printout_cycle_time = 30.000000 sec 319538 behavior surface_10: argument: gps_postfix_wait_time = 60.000000 sec 319538 behavior surface_10: argument: force_iridium_use = 1.000000 nodim 319538 behavior surface_10: argument: min_time_between_gps_fixes = 300.000000 sec 319538 behavior surface_10: argument: sensor_input_wait_time = 10.000000 sec 319538 behavior surface_10: argument: when_utc_min = 0.000000 min 319538 behavior surface_10: argument: when_utc_hour = 19.000000 hour 319538 behavior surface_10: argument: when_utc_day = -1.000000 day 319538 behavior surface_10: argument: when_utc_month = -1.000000 month 319538 behavior surface_10: argument: when_utc_on_surface = 1.000000 bool 319538 behavior surface_10: argument: strobe_on = 0.000000 bool 319538 behavior surface_10: argument: thruster_burst = 0.000000 bool 319542 12 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:-0.0683 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:-0.0654 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0370 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0597 C_FIN:0.0000 319628 28 DRIVER_ODDITY:digifin:11209:xxx_ctrl() ran too long AB: Inflected early at Dive depth 21 [m] 319757 58 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 319757 behavior dive_to_1701: STATE Active -> Complete 319757 behavior climb_to_1702: STATE UnInited -> Active 319757 behavior climb_to_1702: argument: target_depth = 3.000000 m 319757 behavior climb_to_1702: argument: target_altitude = -1.000000 m 319757 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 319757 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 319757 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 319757 behavior climb_to_1702: argument: pitch_value = 0.453800 X 319757 behavior climb_to_1702: argument: start_when = 0.000000 enum 319757 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 319757 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 319757 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 319757 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 319757 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 319757 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 319757 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 319757 behavior climb_to_1702: argument: thruster_value = 0.000000 X 319757 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 319757 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 319757 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 319761 59 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 154, Climb: 152 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.987. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 319937 98 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 319937 behavior climb_to_1702: STATE Active -> Complete 319937 behavior dive_to_1701: STATE UnInited -> Active 319937 behavior dive_to_1701: argument: target_depth = 60.000000 m 319937 behavior dive_to_1701: argument: target_altitude = 3.000000 m 319937 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 319937 behavior dive_to_1701: argument: bpump_value = 350.000000 X 319937 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 319937 behavior dive_to_1701: argument: pitch_value = -0.452800 X 319937 behavior dive_to_1701: argument: start_when = 0.000000 enum 319937 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 319937 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 319937 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 319937 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 319937 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 319937 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 319937 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 319937 behavior dive_to_1701: argument: thruster_value = 0.000000 X 319937 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 319937 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 319937 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 319937 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 319937 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 319937 behavior dive_to_1701: argument: time_ratio = 1.100000 X 319937 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 319937 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 319937 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 319937 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 319937 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 319937 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 319937 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 319941 99 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 320132 40 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 320132 behavior dive_to_1701: STATE Active -> Complete 320132 behavior climb_to_1702: STATE UnInited -> Active 320132 behavior climb_to_1702: argument: target_depth = 3.000000 m 320132 behavior climb_to_1702: argument: target_altitude = -1.000000 m 320132 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 320132 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 320132 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 320132 behavior climb_to_1702: argument: pitch_value = 0.453800 X 320132 behavior climb_to_1702: argument: start_when = 0.000000 enum 320132 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 320132 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 320132 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 320132 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 320132 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 320132 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 320132 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 320132 behavior climb_to_1702: argument: thruster_value = 0.000000 X 320132 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 320132 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 320132 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 320136 41 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 138, Climb: 139 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.007. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 320299 77 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 320299 behavior climb_to_1702: STATE Active -> Complete 320299 behavior dive_to_1701: STATE UnInited -> Active 320299 behavior dive_to_1701: argument: target_depth = 60.000000 m 320299 behavior dive_to_1701: argument: target_altitude = 3.000000 m 320299 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 320299 behavior dive_to_1701: argument: bpump_value = 350.000000 X 320299 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 320299 behavior dive_to_1701: argument: pitch_value = -0.452800 X 320299 behavior dive_to_1701: argument: start_when = 0.000000 enum 320299 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 320299 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 320299 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 320299 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 320299 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 320299 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 320299 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 320299 behavior dive_to_1701: argument: thruster_value = 0.000000 X 320299 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 320299 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 320299 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 320299 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 320299 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 320299 behavior dive_to_1701: argument: time_ratio = 1.100000 X 320299 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 320299 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 320299 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 320299 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 320299 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 320299 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 320299 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 320304 78 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.1678 C_FIN:0.1146 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.1678 C_FIN:0.1146 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0427 C_FIN:0.1146 AB: Inflected early at Dive depth 21 [m] 320490 20 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 320490 behavior dive_to_1701: STATE Active -> Complete 320490 behavior climb_to_1702: STATE UnInited -> Active 320490 behavior climb_to_1702: argument: target_depth = 3.000000 m 320490 behavior climb_to_1702: argument: target_altitude = -1.000000 m 320490 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 320490 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 320490 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 320490 behavior climb_to_1702: argument: pitch_value = 0.453800 X 320490 behavior climb_to_1702: argument: start_when = 0.000000 enum 320490 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 320490 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 320490 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 320490 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 320490 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 320490 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 320490 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 320490 behavior climb_to_1702: argument: thruster_value = 0.000000 X 320490 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 320490 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 320490 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 320494 21 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 134, Climb: 157 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.172 >= 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 320674 61 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 320674 behavior climb_to_1702: STATE Active -> Complete 320674 behavior dive_to_1701: STATE UnInited -> Active 320674 behavior dive_to_1701: argument: target_depth = 60.000000 m 320674 behavior dive_to_1701: argument: target_altitude = 3.000000 m 320674 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 320674 behavior dive_to_1701: argument: bpump_value = 350.000000 X 320674 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 320674 behavior dive_to_1701: argument: pitch_value = -0.452800 X 320674 behavior dive_to_1701: argument: start_when = 0.000000 enum 320674 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 320674 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 320674 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 320674 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 320674 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 320675 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 320675 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 320675 behavior dive_to_1701: argument: thruster_value = 0.000000 X 320675 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 320675 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 320675 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 320675 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 320675 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 320675 behavior dive_to_1701: argument: time_ratio = 1.100000 X 320675 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 320675 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 320675 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 320675 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 320675 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 320675 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 320675 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 320679 62 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 320869 3 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 320869 behavior dive_to_1701: STATE Active -> Complete 320869 behavior climb_to_1702: STATE UnInited -> Active 320869 behavior climb_to_1702: argument: target_depth = 3.000000 m 320869 behavior climb_to_1702: argument: target_altitude = -1.000000 m 320869 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 320869 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 320869 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 320869 behavior climb_to_1702: argument: pitch_value = 0.453800 X 320869 behavior climb_to_1702: argument: start_when = 0.000000 enum 320869 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 320869 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 320869 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 320869 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 320869 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 320869 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 320869 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 320869 behavior climb_to_1702: argument: thruster_value = 0.000000 X 320869 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 320869 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 320869 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 320873 4 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 156, Climb: 161 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.032. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 321059 46 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 321059 behavior climb_to_1702: STATE Active -> Complete 321059 behavior dive_to_1701: STATE UnInited -> Active 321059 behavior dive_to_1701: argument: target_depth = 60.000000 m 321059 behavior dive_to_1701: argument: target_altitude = 3.000000 m 321059 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 321059 behavior dive_to_1701: argument: bpump_value = 350.000000 X 321059 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 321059 behavior dive_to_1701: argument: pitch_value = -0.452800 X 321059 behavior dive_to_1701: argument: start_when = 0.000000 enum 321059 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 321059 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 321059 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 321059 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 321059 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 321059 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 321059 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 321059 behavior dive_to_1701: argument: thruster_value = 0.000000 X 321059 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 321059 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 321059 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 321059 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 321059 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 321059 behavior dive_to_1701: argument: time_ratio = 1.100000 X 321059 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 321059 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 321059 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 321059 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 321059 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 321059 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 321059 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 321063 47 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 321263 90 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 321263 behavior dive_to_1701: STATE Active -> Complete 321263 behavior climb_to_1702: STATE UnInited -> Active 321263 behavior climb_to_1702: argument: target_depth = 3.000000 m 321263 behavior climb_to_1702: argument: target_altitude = -1.000000 m 321263 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 321263 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 321263 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 321263 behavior climb_to_1702: argument: pitch_value = 0.453800 X 321263 behavior climb_to_1702: argument: start_when = 0.000000 enum 321263 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 321264 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 321264 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 321264 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 321264 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 321264 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 321264 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 321264 behavior climb_to_1702: argument: thruster_value = 0.000000 X 321264 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 321264 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 321264 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 321268 91 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 162, Climb: 164 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.012. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 321451 33 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 321452 behavior climb_to_1702: STATE Active -> Complete 321452 behavior dive_to_1701: STATE UnInited -> Active 321452 behavior dive_to_1701: argument: target_depth = 60.000000 m 321452 behavior dive_to_1701: argument: target_altitude = 3.000000 m 321452 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 321452 behavior dive_to_1701: argument: bpump_value = 350.000000 X 321452 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 321452 behavior dive_to_1701: argument: pitch_value = -0.452800 X 321452 behavior dive_to_1701: argument: start_when = 0.000000 enum 321452 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 321452 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 321452 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 321452 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 321452 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 321452 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 321452 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 321452 behavior dive_to_1701: argument: thruster_value = 0.000000 X 321452 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 321452 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 321452 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 321452 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 321452 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 321452 behavior dive_to_1701: argument: time_ratio = 1.100000 X 321452 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 321452 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 321452 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 321452 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 321452 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 321452 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 321452 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 321456 34 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 321648 75 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 321648 behavior dive_to_1701: STATE Active -> Complete 321648 behavior climb_to_1702: STATE UnInited -> Active 321648 behavior climb_to_1702: argument: target_depth = 3.000000 m 321648 behavior climb_to_1702: argument: target_altitude = -1.000000 m 321648 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 321648 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 321648 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 321648 behavior climb_to_1702: argument: pitch_value = 0.453800 X 321648 behavior climb_to_1702: argument: start_when = 0.000000 enum 321648 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 321648 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 321648 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 321648 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 321648 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 321648 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 321648 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 321648 behavior climb_to_1702: argument: thruster_value = 0.000000 X 321648 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 321648 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 321648 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 321652 76 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 157, Climb: 174 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Climb/Dive times 1.108 >= 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 321845 20 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 321845 behavior climb_to_1702: STATE Active -> Complete 321845 behavior dive_to_1701: STATE UnInited -> Active 321845 behavior dive_to_1701: argument: target_depth = 60.000000 m 321845 behavior dive_to_1701: argument: target_altitude = 3.000000 m 321845 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 321845 behavior dive_to_1701: argument: bpump_value = 350.000000 X 321845 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 321845 behavior dive_to_1701: argument: pitch_value = -0.452800 X 321845 behavior dive_to_1701: argument: start_when = 0.000000 enum 321845 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 321845 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 321845 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 321845 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 321845 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 321845 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 321845 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 321845 behavior dive_to_1701: argument: thruster_value = 0.000000 X 321845 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 321845 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 321845 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 321845 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 321846 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 321846 behavior dive_to_1701: argument: time_ratio = 1.100000 X 321846 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 321846 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 321846 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 321846 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 321846 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 321846 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 321846 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 321850 21 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 322049 64 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 322049 behavior dive_to_1701: STATE Active -> Complete 322049 behavior climb_to_1702: STATE UnInited -> Active 322049 behavior climb_to_1702: argument: target_depth = 3.000000 m 322049 behavior climb_to_1702: argument: target_altitude = -1.000000 m 322049 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 322049 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 322049 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 322049 behavior climb_to_1702: argument: pitch_value = 0.453800 X 322049 behavior climb_to_1702: argument: start_when = 0.000000 enum 322049 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 322049 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 322049 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 322049 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 322049 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 322049 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 322049 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 322049 behavior climb_to_1702: argument: thruster_value = 0.000000 X 322049 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 322049 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 322049 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 322053 65 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 170, Climb: 165 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.971. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 322237 7 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 322237 behavior climb_to_1702: STATE Active -> Complete 322237 behavior dive_to_1701: STATE UnInited -> Active 322237 behavior dive_to_1701: argument: target_depth = 60.000000 m 322237 behavior dive_to_1701: argument: target_altitude = 3.000000 m 322237 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 322237 behavior dive_to_1701: argument: bpump_value = 350.000000 X 322237 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 322237 behavior dive_to_1701: argument: pitch_value = -0.452800 X 322237 behavior dive_to_1701: argument: start_when = 0.000000 enum 322237 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 322237 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 322237 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 322237 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 322237 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 322237 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 322237 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 322237 behavior dive_to_1701: argument: thruster_value = 0.000000 X 322237 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 322237 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 322237 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 322237 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 322237 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 322237 behavior dive_to_1701: argument: time_ratio = 1.100000 X 322237 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 322237 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 322237 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 322237 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 322237 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 322237 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 322237 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 322242 8 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 322450 53 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 322450 behavior dive_to_1701: STATE Active -> Complete 322450 behavior climb_to_1702: STATE UnInited -> Active 322450 behavior climb_to_1702: argument: target_depth = 3.000000 m 322450 behavior climb_to_1702: argument: target_altitude = -1.000000 m 322450 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 322450 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 322450 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 322450 behavior climb_to_1702: argument: pitch_value = 0.453800 X 322450 behavior climb_to_1702: argument: start_when = 0.000000 enum 322450 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 322450 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 322450 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 322450 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 322450 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 322450 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 322450 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 322450 behavior climb_to_1702: argument: thruster_value = 0.000000 X 322450 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 322450 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 322450 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 322454 54 behavior sample_18: SUBSTATE 1 ->3 : Climbing 322477 60 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:0.0579 C_su:0.1679 :OOD: delta:0.1101 limit:0.1000 over:0.0101 322478 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Time to Dive: 170, Climb: 169 [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 322643 97 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 322643 behavior climb_to_1702: STATE Active -> Complete 322643 behavior dive_to_1701: STATE UnInited -> Active 322643 behavior dive_to_1701: argument: target_depth = 60.000000 m 322643 behavior dive_to_1701: argument: target_altitude = 3.000000 m 322643 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 322643 behavior dive_to_1701: argument: bpump_value = 350.000000 X 322643 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 322643 behavior dive_to_1701: argument: pitch_value = -0.452800 X 322643 behavior dive_to_1701: argument: start_when = 0.000000 enum 322643 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 322643 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 322643 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 322643 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 322643 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 322643 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 322643 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 322643 behavior dive_to_1701: argument: thruster_value = 0.000000 X 322643 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 322643 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 322643 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 322643 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 322643 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 322643 behavior dive_to_1701: argument: time_ratio = 1.100000 X 322643 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 322643 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 322643 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 322643 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 322643 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 322643 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 322643 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 322647 98 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 322856 44 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 322856 behavior dive_to_1701: STATE Active -> Complete 322856 behavior climb_to_1702: STATE UnInited -> Active 322856 behavior climb_to_1702: argument: target_depth = 3.000000 m 322856 behavior climb_to_1702: argument: target_altitude = -1.000000 m 322856 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 322856 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 322856 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 322856 behavior climb_to_1702: argument: pitch_value = 0.453800 X 322856 behavior climb_to_1702: argument: start_when = 0.000000 enum 322856 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 322856 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 322856 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 322857 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 322857 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 322857 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 322857 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 322857 behavior climb_to_1702: argument: thruster_value = 0.000000 X 322857 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 322857 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 322857 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 322861 45 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 157, Climb: 163 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.038. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 323048 86 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 323048 behavior climb_to_1702: STATE Active -> Complete 323048 behavior dive_to_1701: STATE UnInited -> Active 323048 behavior dive_to_1701: argument: target_depth = 60.000000 m 323048 behavior dive_to_1701: argument: target_altitude = 3.000000 m 323048 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 323048 behavior dive_to_1701: argument: bpump_value = 350.000000 X 323048 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 323048 behavior dive_to_1701: argument: pitch_value = -0.452800 X 323048 behavior dive_to_1701: argument: start_when = 0.000000 enum 323048 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 323048 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 323048 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 323048 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 323048 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 323048 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 323048 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 323048 behavior dive_to_1701: argument: thruster_value = 0.000000 X 323048 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 323048 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 323048 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 323048 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 323048 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 323048 behavior dive_to_1701: argument: time_ratio = 1.100000 X 323048 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 323048 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 323048 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 323048 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 323048 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 323048 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 323048 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 323053 87 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.1081 C_FIN:0.1329 AB: Inflected early at Dive depth 22 [m] 323291 38 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 323291 behavior dive_to_1701: STATE Active -> Complete 323291 behavior climb_to_1702: STATE UnInited -> Active 323291 behavior climb_to_1702: argument: target_depth = 3.000000 m 323291 behavior climb_to_1702: argument: target_altitude = -1.000000 m 323291 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 323291 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 323291 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 323291 behavior climb_to_1702: argument: pitch_value = 0.453800 X 323291 behavior climb_to_1702: argument: start_when = 0.000000 enum 323291 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 323291 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 323291 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 323291 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 323291 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 323291 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 323291 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 323291 behavior climb_to_1702: argument: thruster_value = 0.000000 X 323291 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 323291 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 323291 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 323295 39 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 158, Climb: 170 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.076. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 323493 84 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 323493 behavior climb_to_1702: STATE Active -> Complete 323493 behavior dive_to_1701: STATE UnInited -> Active 323493 behavior dive_to_1701: argument: target_depth = 60.000000 m 323493 behavior dive_to_1701: argument: target_altitude = 3.000000 m 323493 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 323493 behavior dive_to_1701: argument: bpump_value = 350.000000 X 323493 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 323493 behavior dive_to_1701: argument: pitch_value = -0.452800 X 323493 behavior dive_to_1701: argument: start_when = 0.000000 enum 323493 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 323493 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 323493 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 323493 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 323493 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 323493 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 323493 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 323493 behavior dive_to_1701: argument: thruster_value = 0.000000 X 323493 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 323493 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 323494 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 323494 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 323494 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 323494 behavior dive_to_1701: argument: time_ratio = 1.100000 X 323494 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 323494 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 323494 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 323494 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 323494 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 323494 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 323494 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 323498 85 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0796 C_FIN:0.1333 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.1081 C_FIN:0.1333 AB: Inflected early at Dive depth 22 [m] 323716 33 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 323716 behavior dive_to_1701: STATE Active -> Complete 323716 behavior climb_to_1702: STATE UnInited -> Active 323716 behavior climb_to_1702: argument: target_depth = 3.000000 m 323716 behavior climb_to_1702: argument: target_altitude = -1.000000 m 323716 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 323716 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 323716 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 323716 behavior climb_to_1702: argument: pitch_value = 0.453800 X 323716 behavior climb_to_1702: argument: start_when = 0.000000 enum 323716 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 323716 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 323716 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 323716 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 323716 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 323716 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 323716 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 323717 behavior climb_to_1702: argument: thruster_value = 0.000000 X 323717 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 323717 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 323717 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 323721 34 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 166, Climb: 148 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.121622 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 323896 73 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 323896 behavior climb_to_1702: STATE Active -> Complete 323896 behavior dive_to_1701: STATE UnInited -> Active 323896 behavior dive_to_1701: argument: target_depth = 60.000000 m 323896 behavior dive_to_1701: argument: target_altitude = 3.000000 m 323896 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 323896 behavior dive_to_1701: argument: bpump_value = 350.000000 X 323896 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 323896 behavior dive_to_1701: argument: pitch_value = -0.452800 X 323896 behavior dive_to_1701: argument: start_when = 0.000000 enum 323896 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 323896 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 323896 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 323897 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 323897 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 323897 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 323897 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 323897 behavior dive_to_1701: argument: thruster_value = 0.000000 X 323897 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 323897 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 323897 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 323897 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 323897 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 323897 behavior dive_to_1701: argument: time_ratio = 1.100000 X 323897 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 323897 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 323897 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 323897 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 323897 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 323897 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 323897 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 323901 74 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0085 C_FIN:0.0681 323923 75 DRIVER_ODDITY:digifin:12253:xxx_ctrl() ran too long :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0910 C_FIN:0.0681 AB: Inflected early at Dive depth 22 [m] 324080 11 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 324080 behavior dive_to_1701: STATE Active -> Complete 324080 behavior climb_to_1702: STATE UnInited -> Active 324080 behavior climb_to_1702: argument: target_depth = 3.000000 m 324080 behavior climb_to_1702: argument: target_altitude = -1.000000 m 324080 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 324080 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 324080 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 324080 behavior climb_to_1702: argument: pitch_value = 0.453800 X 324080 behavior climb_to_1702: argument: start_when = 0.000000 enum 324080 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 324080 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 324080 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 324080 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 324080 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 324080 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 324080 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 324080 behavior climb_to_1702: argument: thruster_value = 0.000000 X 324080 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 324080 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 324080 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 324084 12 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 140, Climb: 180 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.286 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 324288 57 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 324288 behavior climb_to_1702: STATE Active -> Complete 324288 behavior dive_to_1701: STATE UnInited -> Active 324288 behavior dive_to_1701: argument: target_depth = 60.000000 m 324288 behavior dive_to_1701: argument: target_altitude = 3.000000 m 324288 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 324288 behavior dive_to_1701: argument: bpump_value = 350.000000 X 324288 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 324288 behavior dive_to_1701: argument: pitch_value = -0.452800 X 324288 behavior dive_to_1701: argument: start_when = 0.000000 enum 324288 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 324288 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 324288 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 324288 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 324288 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 324288 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 324288 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 324288 behavior dive_to_1701: argument: thruster_value = 0.000000 X 324288 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 324288 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 324288 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 324288 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 324288 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 324288 behavior dive_to_1701: argument: time_ratio = 1.100000 X 324288 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 324288 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 324288 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 324288 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 324288 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 324288 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 324288 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 324293 58 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 324501 3 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 324501 behavior dive_to_1701: STATE Active -> Complete 324501 behavior climb_to_1702: STATE UnInited -> Active 324501 behavior climb_to_1702: argument: target_depth = 3.000000 m 324501 behavior climb_to_1702: argument: target_altitude = -1.000000 m 324501 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 324501 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 324501 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 324501 behavior climb_to_1702: argument: pitch_value = 0.453800 X 324501 behavior climb_to_1702: argument: start_when = 0.000000 enum 324501 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 324501 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 324501 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 324501 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 324501 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 324501 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 324501 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 324501 behavior climb_to_1702: argument: thruster_value = 0.000000 X 324501 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 324501 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 324501 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 324505 4 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 165, Climb: 161 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.976. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 324685 45 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 324685 behavior climb_to_1702: STATE Active -> Complete 324685 behavior dive_to_1701: STATE UnInited -> Active 324685 behavior dive_to_1701: argument: target_depth = 60.000000 m 324685 behavior dive_to_1701: argument: target_altitude = 3.000000 m 324685 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 324685 behavior dive_to_1701: argument: bpump_value = 350.000000 X 324685 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 324685 behavior dive_to_1701: argument: pitch_value = -0.452800 X 324685 behavior dive_to_1701: argument: start_when = 0.000000 enum 324685 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 324685 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 324685 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 324685 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 324685 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 324685 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 324685 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 324685 behavior dive_to_1701: argument: thruster_value = 0.000000 X 324685 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 324685 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 324685 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 324685 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 324685 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 324686 behavior dive_to_1701: argument: time_ratio = 1.100000 X 324686 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 324686 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 324686 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 324686 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 324686 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 324686 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 324686 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 324690 46 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 324877 87 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 324877 behavior dive_to_1701: STATE Active -> Complete 324877 behavior climb_to_1702: STATE UnInited -> Active 324877 behavior climb_to_1702: argument: target_depth = 3.000000 m 324877 behavior climb_to_1702: argument: target_altitude = -1.000000 m 324877 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 324877 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 324877 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 324877 behavior climb_to_1702: argument: pitch_value = 0.453800 X 324877 behavior climb_to_1702: argument: start_when = 0.000000 enum 324877 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 324877 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 324877 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 324877 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 324877 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 324877 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 324877 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 324877 behavior climb_to_1702: argument: thruster_value = 0.000000 X 324877 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 324877 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 324877 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 324882 87 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 154, Climb: 147 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.955. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 325057 26 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 325057 behavior climb_to_1702: STATE Active -> Complete 325057 behavior dive_to_1701: STATE UnInited -> Active 325057 behavior dive_to_1701: argument: target_depth = 60.000000 m 325057 behavior dive_to_1701: argument: target_altitude = 3.000000 m 325057 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 325057 behavior dive_to_1701: argument: bpump_value = 350.000000 X 325057 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 325057 behavior dive_to_1701: argument: pitch_value = -0.452800 X 325057 behavior dive_to_1701: argument: start_when = 0.000000 enum 325057 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 325057 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 325057 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 325057 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 325057 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 325057 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 325057 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 325057 behavior dive_to_1701: argument: thruster_value = 0.000000 X 325057 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 325057 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 325057 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 325057 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 325057 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 325057 behavior dive_to_1701: argument: time_ratio = 1.100000 X 325057 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 325057 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 325057 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 325057 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 325057 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 325057 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 325057 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 325061 27 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0256 C_FIN:0.0477 AB: Inflected early at Dive depth 22 [m] 325257 71 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 325257 behavior dive_to_1701: STATE Active -> Complete 325257 behavior climb_to_1702: STATE UnInited -> Active 325257 behavior climb_to_1702: argument: target_depth = 3.000000 m 325257 behavior climb_to_1702: argument: target_altitude = -1.000000 m 325257 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 325257 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 325257 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 325257 behavior climb_to_1702: argument: pitch_value = 0.453800 X 325257 behavior climb_to_1702: argument: start_when = 0.000000 enum 325257 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 325257 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 325257 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 325257 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 325257 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 325257 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 325257 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 325257 behavior climb_to_1702: argument: thruster_value = 0.000000 X 325257 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 325257 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 325257 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 325261 72 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 157, Climb: 135 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.162963 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 325419 7 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 325419 behavior climb_to_1702: STATE Active -> Complete 325419 behavior dive_to_1701: STATE UnInited -> Active 325419 behavior dive_to_1701: argument: target_depth = 60.000000 m 325419 behavior dive_to_1701: argument: target_altitude = 3.000000 m 325419 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 325419 behavior dive_to_1701: argument: bpump_value = 350.000000 X 325419 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 325419 behavior dive_to_1701: argument: pitch_value = -0.452800 X 325419 behavior dive_to_1701: argument: start_when = 0.000000 enum 325419 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 325419 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 325419 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 325420 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 325420 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 325420 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 325420 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 325420 behavior dive_to_1701: argument: thruster_value = 0.000000 X 325420 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 325420 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 325420 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 325420 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 325420 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 325420 behavior dive_to_1701: argument: time_ratio = 1.100000 X 325420 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 325420 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 325420 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 325420 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 325420 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 325420 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 325420 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 325424 8 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0313 C_FIN:0.1058 AB: Inflected early at Dive depth 22 [m] 325596 46 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 325596 behavior dive_to_1701: STATE Active -> Complete 325596 behavior climb_to_1702: STATE UnInited -> Active 325596 behavior climb_to_1702: argument: target_depth = 3.000000 m 325596 behavior climb_to_1702: argument: target_altitude = -1.000000 m 325596 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 325596 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 325596 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 325596 behavior climb_to_1702: argument: pitch_value = 0.453800 X 325596 behavior climb_to_1702: argument: start_when = 0.000000 enum 325596 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 325596 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 325596 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 325596 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 325596 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 325596 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 325596 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 325596 behavior climb_to_1702: argument: thruster_value = 0.000000 X 325596 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 325596 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 325596 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 325601 47 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 134, Climb: 174 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.299 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 325803 91 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 325803 behavior climb_to_1702: STATE Active -> Complete 325803 behavior dive_to_1701: STATE UnInited -> Active 325803 behavior dive_to_1701: argument: target_depth = 60.000000 m 325803 behavior dive_to_1701: argument: target_altitude = 3.000000 m 325803 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 325803 behavior dive_to_1701: argument: bpump_value = 350.000000 X 325803 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 325803 behavior dive_to_1701: argument: pitch_value = -0.452800 X 325803 behavior dive_to_1701: argument: start_when = 0.000000 enum 325803 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 325803 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 325803 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 325803 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 325803 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 325803 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 325803 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 325803 behavior dive_to_1701: argument: thruster_value = 0.000000 X 325803 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 325803 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 325803 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 325803 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 325803 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 325803 behavior dive_to_1701: argument: time_ratio = 1.100000 X 325803 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 325803 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 325803 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 325803 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 325803 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 325803 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 325803 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 325807 92 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 326008 37 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 326008 behavior dive_to_1701: STATE Active -> Complete 326008 behavior climb_to_1702: STATE UnInited -> Active 326008 behavior climb_to_1702: argument: target_depth = 3.000000 m 326008 behavior climb_to_1702: argument: target_altitude = -1.000000 m 326008 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 326008 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 326008 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 326008 behavior climb_to_1702: argument: pitch_value = 0.453800 X 326008 behavior climb_to_1702: argument: start_when = 0.000000 enum 326008 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 326008 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 326008 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 326008 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 326008 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 326008 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 326008 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 326008 behavior climb_to_1702: argument: thruster_value = 0.000000 X 326008 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 326008 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 326008 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 326013 37 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 158, Climb: 171 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.082. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 326203 79 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 326203 behavior climb_to_1702: STATE Active -> Complete 326203 behavior dive_to_1701: STATE UnInited -> Active 326203 behavior dive_to_1701: argument: target_depth = 60.000000 m 326203 behavior dive_to_1701: argument: target_altitude = 3.000000 m 326203 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 326203 behavior dive_to_1701: argument: bpump_value = 350.000000 X 326203 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 326203 behavior dive_to_1701: argument: pitch_value = -0.452800 X 326203 behavior dive_to_1701: argument: start_when = 0.000000 enum 326203 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 326203 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 326203 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 326203 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 326203 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 326203 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 326203 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 326203 behavior dive_to_1701: argument: thruster_value = 0.000000 X 326203 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 326203 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 326203 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 326203 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 326203 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 326203 behavior dive_to_1701: argument: time_ratio = 1.100000 X 326203 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 326203 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 326203 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 326203 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 326203 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 326203 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 326203 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 326208 80 behavior sample_18: SUBSTATE 3 ->1 : Diving 326380 19 db(#/min/mn/max/sd) pitch_motor 1800 -0.110 -0.008 0.100 0.048 in 326380 db(#/min/mn/max/sd) pitch_motor 1800 -50 -4 45 22 mV AB: Inflected early at Dive depth 21 [m] 326403 24 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 326403 behavior dive_to_1701: STATE Active -> Complete 326403 behavior climb_to_1702: STATE UnInited -> Active 326403 behavior climb_to_1702: argument: target_depth = 3.000000 m 326403 behavior climb_to_1702: argument: target_altitude = -1.000000 m 326403 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 326403 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 326403 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 326403 behavior climb_to_1702: argument: pitch_value = 0.453800 X 326403 behavior climb_to_1702: argument: start_when = 0.000000 enum 326403 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 326403 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 326403 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 326403 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 326403 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 326403 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 326403 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 326403 behavior climb_to_1702: argument: thruster_value = 0.000000 X 326403 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 326403 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 326403 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 326408 25 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 326596 66 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 326596 behavior climb_to_1702: STATE Active -> Complete 326596 behavior dive_to_1701: STATE UnInited -> Active 326596 behavior dive_to_1701: argument: target_depth = 60.000000 m 326596 behavior dive_to_1701: argument: target_altitude = 3.000000 m 326596 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 326596 behavior dive_to_1701: argument: bpump_value = 350.000000 X 326596 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 326596 behavior dive_to_1701: argument: pitch_value = -0.452800 X 326597 behavior dive_to_1701: argument: start_when = 0.000000 enum 326597 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 326597 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 326597 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 326597 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 326597 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 326597 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 326597 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 326597 behavior dive_to_1701: argument: thruster_value = 0.000000 X 326597 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 326597 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 326597 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 326597 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 326597 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 326597 behavior dive_to_1701: argument: time_ratio = 1.100000 X 326597 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 326597 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 326597 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 326597 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 326597 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 326597 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 326597 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 326601 67 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 326783 8 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 326783 behavior dive_to_1701: STATE Active -> Complete 326783 behavior climb_to_1702: STATE UnInited -> Active 326783 behavior climb_to_1702: argument: target_depth = 3.000000 m 326783 behavior climb_to_1702: argument: target_altitude = -1.000000 m 326783 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 326783 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 326783 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 326783 behavior climb_to_1702: argument: pitch_value = 0.453800 X 326783 behavior climb_to_1702: argument: start_when = 0.000000 enum 326783 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 326783 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 326783 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 326783 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 326783 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 326783 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 326783 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 326783 behavior climb_to_1702: argument: thruster_value = 0.000000 X 326783 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 326783 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 326783 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 326787 9 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 148, Climb: 139 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.939. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 326950 45 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 326950 behavior climb_to_1702: STATE Active -> Complete 326950 behavior dive_to_1701: STATE UnInited -> Active 326950 behavior dive_to_1701: argument: target_depth = 60.000000 m 326950 behavior dive_to_1701: argument: target_altitude = 3.000000 m 326950 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 326950 behavior dive_to_1701: argument: bpump_value = 350.000000 X 326950 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 326950 behavior dive_to_1701: argument: pitch_value = -0.452800 X 326950 behavior dive_to_1701: argument: start_when = 0.000000 enum 326950 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 326950 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 326950 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 326950 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 326950 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 326950 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 326950 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 326950 behavior dive_to_1701: argument: thruster_value = 0.000000 X 326950 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 326950 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 326950 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 326950 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 326950 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 326950 behavior dive_to_1701: argument: time_ratio = 1.100000 X 326950 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 326950 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 326950 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 326950 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 326950 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 326950 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 326950 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 326955 46 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 327142 87 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 327142 behavior dive_to_1701: STATE Active -> Complete 327142 behavior climb_to_1702: STATE UnInited -> Active 327142 behavior climb_to_1702: argument: target_depth = 3.000000 m 327142 behavior climb_to_1702: argument: target_altitude = -1.000000 m 327142 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 327142 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 327142 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 327142 behavior climb_to_1702: argument: pitch_value = 0.453800 X 327142 behavior climb_to_1702: argument: start_when = 0.000000 enum 327142 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 327142 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 327142 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 327142 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 327142 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 327142 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 327142 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 327142 behavior climb_to_1702: argument: thruster_value = 0.000000 X 327142 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 327142 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 327142 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 327146 87 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 145, Climb: 153 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.055. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 327327 27 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 327327 behavior climb_to_1702: STATE Active -> Complete 327327 behavior dive_to_1701: STATE UnInited -> Active 327327 behavior dive_to_1701: argument: target_depth = 60.000000 m 327327 behavior dive_to_1701: argument: target_altitude = 3.000000 m 327327 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 327327 behavior dive_to_1701: argument: bpump_value = 350.000000 X 327327 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 327327 behavior dive_to_1701: argument: pitch_value = -0.452800 X 327327 behavior dive_to_1701: argument: start_when = 0.000000 enum 327327 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 327327 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 327327 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 327327 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 327327 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 327327 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 327327 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 327327 behavior dive_to_1701: argument: thruster_value = 0.000000 X 327327 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 327327 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 327327 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 327327 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 327327 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 327327 behavior dive_to_1701: argument: time_ratio = 1.100000 X 327327 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 327327 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 327327 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 327327 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 327327 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 327327 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 327327 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 327332 28 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0000 C_FIN:0.0832 AB: Inflected early at Dive depth 21 [m] 327529 72 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 327529 behavior dive_to_1701: STATE Active -> Complete 327529 behavior climb_to_1702: STATE UnInited -> Active 327529 behavior climb_to_1702: argument: target_depth = 3.000000 m 327529 behavior climb_to_1702: argument: target_altitude = -1.000000 m 327529 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 327529 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 327529 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 327529 behavior climb_to_1702: argument: pitch_value = 0.453800 X 327529 behavior climb_to_1702: argument: start_when = 0.000000 enum 327529 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 327529 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 327529 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 327529 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 327529 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 327529 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 327529 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 327529 behavior climb_to_1702: argument: thruster_value = 0.000000 X 327529 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 327529 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 327529 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 327533 73 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 154, Climb: 156 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.013. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 327713 12 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 327713 behavior climb_to_1702: STATE Active -> Complete 327713 behavior dive_to_1701: STATE UnInited -> Active 327713 behavior dive_to_1701: argument: target_depth = 60.000000 m 327713 behavior dive_to_1701: argument: target_altitude = 3.000000 m 327713 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 327713 behavior dive_to_1701: argument: bpump_value = 350.000000 X 327713 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 327713 behavior dive_to_1701: argument: pitch_value = -0.452800 X 327713 behavior dive_to_1701: argument: start_when = 0.000000 enum 327713 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 327713 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 327713 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 327713 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 327713 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 327713 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 327713 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 327713 behavior dive_to_1701: argument: thruster_value = 0.000000 X 327713 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 327713 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 327713 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 327713 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 327713 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 327713 behavior dive_to_1701: argument: time_ratio = 1.100000 X 327713 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 327713 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 327713 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 327713 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 327713 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 327713 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 327713 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 327717 13 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0455 C_FIN:0.0666 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.1138 C_FIN:0.0666 AB: Inflected early at Dive depth 21 [m] 327935 62 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 327935 behavior dive_to_1701: STATE Active -> Complete 327935 behavior climb_to_1702: STATE UnInited -> Active 327935 behavior climb_to_1702: argument: target_depth = 3.000000 m 327935 behavior climb_to_1702: argument: target_altitude = -1.000000 m 327935 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 327935 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 327935 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 327935 behavior climb_to_1702: argument: pitch_value = 0.453800 X 327935 behavior climb_to_1702: argument: start_when = 0.000000 enum 327935 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 327935 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 327935 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 327935 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 327935 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 327935 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 327935 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 327935 behavior climb_to_1702: argument: thruster_value = 0.000000 X 327935 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 327935 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 327935 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 327940 62 behavior sample_18: SUBSTATE 1 ->3 : Climbing 328089 96 db(#/min/mn/max/sd) buoyancy_pump 1800 -1.742 -0.036 1.392 0.863 cc 328089 db(#/min/mn/max/sd) buoyancy_pump 1800 -4 0 3 2 mV AB: Time to Dive: 152, Climb: 152 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.000. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 328111 0 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 328111 behavior climb_to_1702: STATE Active -> Complete 328111 behavior dive_to_1701: STATE UnInited -> Active 328111 behavior dive_to_1701: argument: target_depth = 60.000000 m 328111 behavior dive_to_1701: argument: target_altitude = 3.000000 m 328111 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 328111 behavior dive_to_1701: argument: bpump_value = 350.000000 X 328111 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 328111 behavior dive_to_1701: argument: pitch_value = -0.452800 X 328111 behavior dive_to_1701: argument: start_when = 0.000000 enum 328111 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 328111 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 328111 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 328111 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 328111 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 328111 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 328111 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 328111 behavior dive_to_1701: argument: thruster_value = 0.000000 X 328111 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 328111 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 328111 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 328111 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 328111 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 328111 behavior dive_to_1701: argument: time_ratio = 1.100000 X 328111 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 328111 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 328111 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 328111 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 328111 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 328111 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 328111 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 328115 1 behavior sample_18: SUBSTATE 3 ->1 : Diving 328218 22 DRIVER_ODDITY:digifin:10205:xxx_ctrl() ran too long AB: Inflected early at Dive depth 21 [m] 328296 39 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 328296 behavior dive_to_1701: STATE Active -> Complete 328296 behavior climb_to_1702: STATE UnInited -> Active 328296 behavior climb_to_1702: argument: target_depth = 3.000000 m 328296 behavior climb_to_1702: argument: target_altitude = -1.000000 m 328296 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 328296 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 328296 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 328296 behavior climb_to_1702: argument: pitch_value = 0.453800 X 328296 behavior climb_to_1702: argument: start_when = 0.000000 enum 328296 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 328296 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 328296 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 328296 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 328296 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 328296 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 328296 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 328296 behavior climb_to_1702: argument: thruster_value = 0.000000 X 328296 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 328296 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 328296 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 328300 40 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 147, Climb: 156 [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 328475 79 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 328475 behavior climb_to_1702: STATE Active -> Complete 328475 behavior dive_to_1701: STATE UnInited -> Active 328475 behavior dive_to_1701: argument: target_depth = 60.000000 m 328475 behavior dive_to_1701: argument: target_altitude = 3.000000 m 328475 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 328475 behavior dive_to_1701: argument: bpump_value = 350.000000 X 328475 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 328475 behavior dive_to_1701: argument: pitch_value = -0.452800 X 328475 behavior dive_to_1701: argument: start_when = 0.000000 enum 328475 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 328475 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 328475 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 328475 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 328475 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 328475 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 328475 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 328475 behavior dive_to_1701: argument: thruster_value = 0.000000 X 328475 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 328475 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 328475 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 328475 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 328475 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 328475 behavior dive_to_1701: argument: time_ratio = 1.100000 X 328475 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 328475 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 328475 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 328476 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 328476 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 328476 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 328476 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 328480 80 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 328671 23 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 328671 behavior dive_to_1701: STATE Active -> Complete 328671 behavior climb_to_1702: STATE UnInited -> Active 328671 behavior climb_to_1702: argument: target_depth = 3.000000 m 328671 behavior climb_to_1702: argument: target_altitude = -1.000000 m 328671 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 328671 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 328671 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 328671 behavior climb_to_1702: argument: pitch_value = 0.453800 X 328671 behavior climb_to_1702: argument: start_when = 0.000000 enum 328671 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 328671 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 328671 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 328671 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 328671 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 328671 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 328671 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 328671 behavior climb_to_1702: argument: thruster_value = 0.000000 X 328671 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 328671 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 328671 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 328675 24 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 153, Climb: 151 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.987. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 328850 62 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 328850 behavior climb_to_1702: STATE Active -> Complete 328850 behavior dive_to_1701: STATE UnInited -> Active 328850 behavior dive_to_1701: argument: target_depth = 60.000000 m 328850 behavior dive_to_1701: argument: target_altitude = 3.000000 m 328850 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 328850 behavior dive_to_1701: argument: bpump_value = 350.000000 X 328850 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 328850 behavior dive_to_1701: argument: pitch_value = -0.452800 X 328850 behavior dive_to_1701: argument: start_when = 0.000000 enum 328850 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 328850 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 328850 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 328850 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 328850 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 328850 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 328850 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 328850 behavior dive_to_1701: argument: thruster_value = 0.000000 X 328850 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 328850 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 328850 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 328850 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 328850 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 328850 behavior dive_to_1701: argument: time_ratio = 1.100000 X 328850 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 328850 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 328851 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 328851 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 328851 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 328851 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 328851 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 328855 63 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 329049 7 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 329050 behavior dive_to_1701: STATE Active -> Complete 329050 behavior climb_to_1702: STATE UnInited -> Active 329050 behavior climb_to_1702: argument: target_depth = 3.000000 m 329050 behavior climb_to_1702: argument: target_altitude = -1.000000 m 329050 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 329050 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 329050 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 329050 behavior climb_to_1702: argument: pitch_value = 0.453800 X 329050 behavior climb_to_1702: argument: start_when = 0.000000 enum 329050 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 329050 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 329050 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 329050 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 329050 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 329050 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 329050 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 329050 behavior climb_to_1702: argument: thruster_value = 0.000000 X 329050 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 329050 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 329050 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 329054 8 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 157, Climb: 162 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.032. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 329240 49 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 329240 behavior climb_to_1702: STATE Active -> Complete 329240 behavior dive_to_1701: STATE UnInited -> Active 329240 behavior dive_to_1701: argument: target_depth = 60.000000 m 329240 behavior dive_to_1701: argument: target_altitude = 3.000000 m 329240 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 329240 behavior dive_to_1701: argument: bpump_value = 350.000000 X 329240 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 329240 behavior dive_to_1701: argument: pitch_value = -0.452800 X 329240 behavior dive_to_1701: argument: start_when = 0.000000 enum 329240 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 329240 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 329240 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 329240 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 329240 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 329240 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 329240 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 329240 behavior dive_to_1701: argument: thruster_value = 0.000000 X 329240 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 329240 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 329240 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 329240 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 329240 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 329240 behavior dive_to_1701: argument: time_ratio = 1.100000 X 329240 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 329240 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 329240 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 329240 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 329240 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 329240 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 329240 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 329244 50 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 329444 94 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 329444 behavior dive_to_1701: STATE Active -> Complete 329444 behavior climb_to_1702: STATE UnInited -> Active 329444 behavior climb_to_1702: argument: target_depth = 3.000000 m 329444 behavior climb_to_1702: argument: target_altitude = -1.000000 m 329444 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 329444 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 329444 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 329444 behavior climb_to_1702: argument: pitch_value = 0.453800 X 329444 behavior climb_to_1702: argument: start_when = 0.000000 enum 329444 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 329444 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 329444 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 329444 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 329444 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 329444 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 329444 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 329444 behavior climb_to_1702: argument: thruster_value = 0.000000 X 329444 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 329444 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 329444 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 329449 95 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 161, Climb: 156 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.969. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 329623 34 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 329623 behavior climb_to_1702: STATE Active -> Complete 329623 behavior dive_to_1701: STATE UnInited -> Active 329623 behavior dive_to_1701: argument: target_depth = 60.000000 m 329623 behavior dive_to_1701: argument: target_altitude = 3.000000 m 329623 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 329623 behavior dive_to_1701: argument: bpump_value = 350.000000 X 329624 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 329624 behavior dive_to_1701: argument: pitch_value = -0.452800 X 329624 behavior dive_to_1701: argument: start_when = 0.000000 enum 329624 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 329624 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 329624 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 329624 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 329624 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 329624 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 329624 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 329624 behavior dive_to_1701: argument: thruster_value = 0.000000 X 329624 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 329624 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 329624 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 329624 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 329624 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 329624 behavior dive_to_1701: argument: time_ratio = 1.100000 X 329624 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 329624 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 329624 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 329624 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 329624 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 329624 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 329624 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 329628 35 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 329816 75 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 329816 behavior dive_to_1701: STATE Active -> Complete 329816 behavior climb_to_1702: STATE UnInited -> Active 329816 behavior climb_to_1702: argument: target_depth = 3.000000 m 329816 behavior climb_to_1702: argument: target_altitude = -1.000000 m 329816 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 329816 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 329816 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 329816 behavior climb_to_1702: argument: pitch_value = 0.453800 X 329816 behavior climb_to_1702: argument: start_when = 0.000000 enum 329816 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 329816 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 329816 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 329816 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 329816 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 329816 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 329816 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 329816 behavior climb_to_1702: argument: thruster_value = 0.000000 X 329816 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 329816 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 329816 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 329820 76 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 149, Climb: 158 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:1.060. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 330001 16 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 330001 behavior climb_to_1702: STATE Active -> Complete 330001 behavior dive_to_1701: STATE UnInited -> Active 330001 behavior dive_to_1701: argument: target_depth = 60.000000 m 330001 behavior dive_to_1701: argument: target_altitude = 3.000000 m 330001 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 330001 behavior dive_to_1701: argument: bpump_value = 350.000000 X 330001 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 330001 behavior dive_to_1701: argument: pitch_value = -0.452800 X 330001 behavior dive_to_1701: argument: start_when = 0.000000 enum 330001 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 330001 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 330001 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 330001 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 330001 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 330002 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 330002 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 330002 behavior dive_to_1701: argument: thruster_value = 0.000000 X 330002 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 330002 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 330002 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 330002 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 330002 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 330002 behavior dive_to_1701: argument: time_ratio = 1.100000 X 330002 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 330002 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 330002 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 330002 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 330002 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 330002 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 330002 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 330006 17 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 330196 60 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 330196 behavior dive_to_1701: STATE Active -> Complete 330197 behavior climb_to_1702: STATE UnInited -> Active 330197 behavior climb_to_1702: argument: target_depth = 3.000000 m 330197 behavior climb_to_1702: argument: target_altitude = -1.000000 m 330197 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 330197 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 330197 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 330197 behavior climb_to_1702: argument: pitch_value = 0.453800 X 330197 behavior climb_to_1702: argument: start_when = 0.000000 enum 330197 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 330197 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 330197 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 330197 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 330197 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 330197 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 330197 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 330197 behavior climb_to_1702: argument: thruster_value = 0.000000 X 330197 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 330197 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 330197 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 330201 61 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 148 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.974. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 330372 99 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 330372 behavior climb_to_1702: STATE Active -> Complete 330372 behavior dive_to_1701: STATE UnInited -> Active 330372 behavior dive_to_1701: argument: target_depth = 60.000000 m 330372 behavior dive_to_1701: argument: target_altitude = 3.000000 m 330372 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 330372 behavior dive_to_1701: argument: bpump_value = 350.000000 X 330372 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 330372 behavior dive_to_1701: argument: pitch_value = -0.452800 X 330372 behavior dive_to_1701: argument: start_when = 0.000000 enum 330372 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 330372 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 330372 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 330372 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 330372 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 330372 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 330372 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 330372 behavior dive_to_1701: argument: thruster_value = 0.000000 X 330372 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 330372 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 330372 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 330372 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 330373 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 330373 behavior dive_to_1701: argument: time_ratio = 1.100000 X 330373 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 330373 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 330373 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 330373 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 330373 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 330373 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 330373 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 330377 0 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 330576 44 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 330576 behavior dive_to_1701: STATE Active -> Complete 330576 behavior climb_to_1702: STATE UnInited -> Active 330576 behavior climb_to_1702: argument: target_depth = 3.000000 m 330576 behavior climb_to_1702: argument: target_altitude = -1.000000 m 330576 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 330576 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 330576 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 330576 behavior climb_to_1702: argument: pitch_value = 0.453800 X 330576 behavior climb_to_1702: argument: start_when = 0.000000 enum 330576 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 330576 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 330576 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 330576 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 330576 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 330576 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 330576 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 330576 behavior climb_to_1702: argument: thruster_value = 0.000000 X 330576 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 330576 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 330576 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 330581 45 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 330773 87 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 330773 behavior climb_to_1702: STATE Active -> Complete 330773 behavior dive_to_1701: STATE UnInited -> Active 330774 behavior dive_to_1701: argument: target_depth = 60.000000 m 330774 behavior dive_to_1701: argument: target_altitude = 3.000000 m 330774 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 330774 behavior dive_to_1701: argument: bpump_value = 350.000000 X 330774 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 330774 behavior dive_to_1701: argument: pitch_value = -0.452800 X 330774 behavior dive_to_1701: argument: start_when = 0.000000 enum 330774 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 330774 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 330774 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 330774 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 330774 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 330774 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 330774 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 330774 behavior dive_to_1701: argument: thruster_value = 0.000000 X 330774 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 330774 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 330774 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 330774 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 330774 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 330774 behavior dive_to_1701: argument: time_ratio = 1.100000 X 330774 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 330774 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 330774 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 330774 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 330774 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 330774 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 330774 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 330778 88 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 330992 36 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 330992 behavior dive_to_1701: STATE Active -> Complete 330992 behavior climb_to_1702: STATE UnInited -> Active 330992 behavior climb_to_1702: argument: target_depth = 3.000000 m 330992 behavior climb_to_1702: argument: target_altitude = -1.000000 m 330992 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 330992 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 330992 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 330992 behavior climb_to_1702: argument: pitch_value = 0.453800 X 330992 behavior climb_to_1702: argument: start_when = 0.000000 enum 330992 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 330992 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 330992 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 330992 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 330992 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 330992 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 330992 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 330992 behavior climb_to_1702: argument: thruster_value = 0.000000 X 330992 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 330992 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 330992 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 330997 37 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 162, Climb: 134 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.208955 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 331159 73 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 331159 behavior climb_to_1702: STATE Active -> Complete 331159 behavior dive_to_1701: STATE UnInited -> Active 331159 behavior dive_to_1701: argument: target_depth = 60.000000 m 331159 behavior dive_to_1701: argument: target_altitude = 3.000000 m 331159 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 331159 behavior dive_to_1701: argument: bpump_value = 350.000000 X 331159 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 331159 behavior dive_to_1701: argument: pitch_value = -0.452800 X 331159 behavior dive_to_1701: argument: start_when = 0.000000 enum 331159 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 331159 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 331159 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 331159 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 331159 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 331159 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 331159 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 331159 behavior dive_to_1701: argument: thruster_value = 0.000000 X 331159 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 331159 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 331159 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 331159 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 331159 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 331159 behavior dive_to_1701: argument: time_ratio = 1.100000 X 331159 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 331159 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 331159 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 331159 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 331159 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 331159 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 331159 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 331164 74 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 331341 12 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 331341 behavior dive_to_1701: STATE Active -> Complete 331341 behavior climb_to_1702: STATE UnInited -> Active 331341 behavior climb_to_1702: argument: target_depth = 3.000000 m 331341 behavior climb_to_1702: argument: target_altitude = -1.000000 m 331341 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 331341 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 331341 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 331341 behavior climb_to_1702: argument: pitch_value = 0.453800 X 331341 behavior climb_to_1702: argument: start_when = 0.000000 enum 331341 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 331341 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 331341 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 331341 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 331341 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 331341 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 331341 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 331341 behavior climb_to_1702: argument: thruster_value = 0.000000 X 331341 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 331341 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 331341 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 331346 13 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 144, Climb: 178 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.236 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 331548 59 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 331548 behavior climb_to_1702: STATE Active -> Complete 331548 behavior dive_to_1701: STATE UnInited -> Active 331548 behavior dive_to_1701: argument: target_depth = 60.000000 m 331548 behavior dive_to_1701: argument: target_altitude = 3.000000 m 331548 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 331548 behavior dive_to_1701: argument: bpump_value = 350.000000 X 331548 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 331548 behavior dive_to_1701: argument: pitch_value = -0.452800 X 331548 behavior dive_to_1701: argument: start_when = 0.000000 enum 331548 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 331548 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 331548 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 331548 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 331548 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 331548 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 331548 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 331548 behavior dive_to_1701: argument: thruster_value = 0.000000 X 331548 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 331548 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 331548 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 331548 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 331548 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 331548 behavior dive_to_1701: argument: time_ratio = 1.100000 X 331548 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 331548 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 331548 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 331548 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 331548 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 331548 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 331548 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 331552 60 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0939 C_FIN:0.1175 AB: Inflected early at Dive depth 21 [m] 331738 0 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 331738 behavior dive_to_1701: STATE Active -> Complete 331738 behavior climb_to_1702: STATE UnInited -> Active 331738 behavior climb_to_1702: argument: target_depth = 3.000000 m 331738 behavior climb_to_1702: argument: target_altitude = -1.000000 m 331738 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 331738 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 331738 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 331738 behavior climb_to_1702: argument: pitch_value = 0.453800 X 331738 behavior climb_to_1702: argument: start_when = 0.000000 enum 331738 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 331738 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 331738 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 331738 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 331738 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 331738 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 331738 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 331738 behavior climb_to_1702: argument: thruster_value = 0.000000 X 331738 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 331738 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 331738 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 331743 1 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 148, Climb: 143 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.966. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 331913 39 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 331913 behavior climb_to_1702: STATE Active -> Complete 331913 behavior dive_to_1701: STATE UnInited -> Active 331913 behavior dive_to_1701: argument: target_depth = 60.000000 m 331913 behavior dive_to_1701: argument: target_altitude = 3.000000 m 331913 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 331913 behavior dive_to_1701: argument: bpump_value = 350.000000 X 331913 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 331914 behavior dive_to_1701: argument: pitch_value = -0.452800 X 331914 behavior dive_to_1701: argument: start_when = 0.000000 enum 331914 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 331914 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 331914 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 331914 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 331914 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 331914 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 331914 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 331914 behavior dive_to_1701: argument: thruster_value = 0.000000 X 331914 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 331914 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 331914 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 331914 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 331914 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 331914 behavior dive_to_1701: argument: time_ratio = 1.100000 X 331914 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 331914 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 331914 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 331914 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 331914 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 331914 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 331914 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 331918 40 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0569 C_FIN:0.1140 AB: Inflected early at Dive depth 22 [m] 332131 87 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 332131 behavior dive_to_1701: STATE Active -> Complete 332131 behavior climb_to_1702: STATE UnInited -> Active 332131 behavior climb_to_1702: argument: target_depth = 3.000000 m 332131 behavior climb_to_1702: argument: target_altitude = -1.000000 m 332131 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 332131 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 332131 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 332131 behavior climb_to_1702: argument: pitch_value = 0.453800 X 332131 behavior climb_to_1702: argument: start_when = 0.000000 enum 332131 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 332131 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 332132 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 332132 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 332132 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 332132 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 332132 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 332132 behavior climb_to_1702: argument: thruster_value = 0.000000 X 332132 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 332132 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 332132 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 332136 88 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 170, Climb: 166 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.976. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 332325 30 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 332325 behavior climb_to_1702: STATE Active -> Complete 332325 behavior dive_to_1701: STATE UnInited -> Active 332325 behavior dive_to_1701: argument: target_depth = 60.000000 m 332325 behavior dive_to_1701: argument: target_altitude = 3.000000 m 332325 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 332325 behavior dive_to_1701: argument: bpump_value = 350.000000 X 332325 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 332325 behavior dive_to_1701: argument: pitch_value = -0.452800 X 332325 behavior dive_to_1701: argument: start_when = 0.000000 enum 332325 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 332325 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 332325 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 332325 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 332325 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 332325 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 332325 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 332325 behavior dive_to_1701: argument: thruster_value = 0.000000 X 332325 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 332325 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 332326 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 332326 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 332326 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 332326 behavior dive_to_1701: argument: time_ratio = 1.100000 X 332326 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 332326 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 332326 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 332326 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 332326 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 332326 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 332326 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 332330 32 behavior sample_18: SUBSTATE 3 ->1 : Diving 332513 70 DRIVER_ODDITY:digifin:10202:xxx_ctrl() ran too long AB: Inflected early at Dive depth 21 [m] 332519 72 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 332519 behavior dive_to_1701: STATE Active -> Complete 332520 behavior climb_to_1702: STATE UnInited -> Active 332520 behavior climb_to_1702: argument: target_depth = 3.000000 m 332520 behavior climb_to_1702: argument: target_altitude = -1.000000 m 332520 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 332520 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 332520 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 332520 behavior climb_to_1702: argument: pitch_value = 0.453800 X 332520 behavior climb_to_1702: argument: start_when = 0.000000 enum 332520 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 332520 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 332520 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 332520 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 332520 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 332520 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 332520 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 332520 behavior climb_to_1702: argument: thruster_value = 0.000000 X 332520 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 332520 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 332520 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 332524 73 behavior sample_18: SUBSTATE 1 ->3 : Climbing 332640 99 behavior surface_11: STATE Waiting for Activation -> Active 332640 behavior surface_11: SUBSTATE 0 UnInited->1 : climb_to the surface 332642 behavior climb_to_1101: STATE UnInited -> Active 332642 behavior climb_to_1101: argument: target_depth = 4.000000 m 332642 behavior climb_to_1101: argument: target_altitude = -1.000000 m 332642 behavior climb_to_1101: argument: use_bpump = 2.000000 enum 332642 behavior climb_to_1101: argument: bpump_value = 1000.000000 X 332642 behavior climb_to_1101: argument: use_pitch = 3.000000 enum 332642 behavior climb_to_1101: argument: pitch_value = 0.452800 X 332642 behavior climb_to_1101: argument: start_when = 0.000000 enum 332642 behavior climb_to_1101: argument: stop_when_hover_for = -1.000000 sec 332642 behavior climb_to_1101: argument: stop_when_stalled_for = -1.000000 sec 332642 behavior climb_to_1101: argument: stop_when_air_pump = 0.000000 bool 332642 behavior climb_to_1101: argument: initial_inflection = 1.000000 bool 332642 behavior climb_to_1101: argument: speed_min = 100.000000 m/s 332642 behavior climb_to_1101: argument: speed_max = -100.000000 m/s 332642 behavior climb_to_1101: argument: use_thruster = 0.000000 enum 332642 behavior climb_to_1101: argument: thruster_value = 0.000000 X 332642 behavior climb_to_1101: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 332642 behavior climb_to_1101: SUBSTATE 1 ->3 : Starting the climb 332642 behavior climb_to_1101: SUBSTATE 3 ->4 : climbing 332695 11 behavior climb_to_1101: SUBSTATE 4 ->5 : Complete reached depth 332695 behavior climb_to_1101: STATE Active -> Complete 332695 behavior surface_11: SUBSTATE 1 ->2 : waiting for various sensors 332695 behavior surface_11: SUBSTATE 2 ->3 : waiting for GPS fix 332695 init_gps_input() 332697 sensor: m_gps_status = 2 enum 332697 sensor: m_gps_invalid_lat = 2659.1424 lat 332697 sensor: m_gps_invalid_lon = -8245.8657 lon 332700 12 behavior sample_18: SUBSTATE 3 ->4 : On Surface 332702 sensor: m_gps_status = 2 enum 332702 sensor: m_gps_invalid_lat = 2659.1424 lat 332702 sensor: m_gps_invalid_lon = -8245.8657 lon AB: Another behavior changed the climb bpump. Discount. 332704 12 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 332704 behavior climb_to_1702: STATE Active -> Complete 332704 behavior dive_to_1701: STATE UnInited -> Active 332704 behavior dive_to_1701: argument: target_depth = 60.000000 m 332704 behavior dive_to_1701: argument: target_altitude = 3.000000 m 332704 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 332704 behavior dive_to_1701: argument: bpump_value = 350.000000 X 332704 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 332704 behavior dive_to_1701: argument: pitch_value = -0.452800 X 332704 behavior dive_to_1701: argument: start_when = 0.000000 enum 332704 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 332704 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 332704 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 332704 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 332704 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 332704 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 332704 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 332704 behavior dive_to_1701: argument: thruster_value = 0.000000 X 332704 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 332704 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 332704 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 332704 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 332705 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 332705 behavior dive_to_1701: argument: time_ratio = 1.100000 X 332705 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 332705 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 332705 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 332705 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 332705 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 332705 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 332705 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 332707 sensor: m_gps_status = 2 enum 332707 sensor: m_gps_invalid_lat = 2659.1424 lat 332707 sensor: m_gps_invalid_lon = -8245.8657 lon 332713 14 sensor: m_gps_status = 2 enum 332713 sensor: m_gps_invalid_lat = 2659.1424 lat 332713 sensor: m_gps_invalid_lon = -8245.8657 lon 332718 15 sensor: m_gps_status = 2 enum 332718 sensor: m_gps_invalid_lat = 2659.1424 lat 332718 sensor: m_gps_invalid_lon = -8245.8657 lon 332722 16 sensor: m_gps_status = 2 enum 332722 sensor: m_gps_invalid_lat = 2659.1424 lat 332723 sensor: m_gps_invalid_lon = -8245.8657 lon 332727 17 sensor: m_gps_status = 2 enum 332727 sensor: m_gps_invalid_lat = 2659.1424 lat 332727 sensor: m_gps_invalid_lon = -8245.8657 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0455 C_FIN:0.0000 332733 19 sensor: m_gps_status = 2 enum 332733 sensor: m_gps_invalid_lat = 2659.1424 lat 332733 sensor: m_gps_invalid_lon = -8245.8657 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0796 C_FIN:0.0000 332737 20 sensor: m_gps_status = 2 enum 332737 sensor: m_gps_invalid_lat = 2659.1424 lat 332737 sensor: m_gps_invalid_lon = -8245.8657 lon 332743 21 sensor: m_gps_status = 2 enum 332743 sensor: m_gps_invalid_lat = 2659.1424 lat 332743 sensor: m_gps_invalid_lon = -8245.8657 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0768 C_FIN:0.0000 332747 22 sensor: m_gps_status = 2 enum 332747 sensor: m_gps_invalid_lat = 2659.1424 lat 332747 sensor: m_gps_invalid_lon = -8245.8657 lon 332750 23 sensor: m_gps_status = 1 enum 332750 sensor: m_gps_ignored_lat = 2659.062 lat 332750 sensor: m_gps_ignored_lon = -8245.677 lon 332754 24 sensor: m_gps_status = 1 enum 332754 sensor: m_gps_ignored_lat = 2659.0678 lat 332754 sensor: m_gps_ignored_lon = -8245.7121 lon 332759 25 sensor: m_gps_status = 1 enum 332759 sensor: m_gps_ignored_lat = 2659.0667 lat 332759 sensor: m_gps_ignored_lon = -8245.7133 lon 332763 25 sensor: m_gps_status = 1 enum 332763 sensor: m_gps_ignored_lat = 2659.066 lat 332763 sensor: m_gps_ignored_lon = -8245.7145 lon 332768 26 sensor: m_gps_status = 1 enum 332768 sensor: m_gps_ignored_lat = 2659.0648 lat 332768 sensor: m_gps_ignored_lon = -8245.7156 lon 332773 27 sensor: m_gps_lat = 2659.0637 lat 332773 sensor: m_gps_lon = -8245.7166 lon 332773 sensor: m_gps_status = 0 enum 332777 28 end_gps_input() 332777 init_gps_input() 332777 behavior surface_11: SUBSTATE 3 ->4 : Picking iridium or freewave 332777 behavior surface_11: SUBSTATE 4 ->5 : Waiting for more gps fixes 332778 Pressure sensor has been re-calibrated, i.e. ZEROed F_OCEAN_PRESSURE_MIN: 0.115 ==> 0.115 delta volts: 0.000, delta bar: -0.027, delta meters: -0.110 auto deadband(bar)+-: 0.025(bar) max allowed+-(bar): 0.200 332778 sensor: m_gps_lat = 2659.063 lat 332778 sensor: m_gps_lon = -8245.717 lon 332778 sensor: m_gps_status = 0 enum 332783 29 sensor: m_gps_lat = 2659.0621 lat 332783 sensor: m_gps_lon = -8245.718 lon 332783 sensor: m_gps_status = 0 enum 332788 30 sensor: m_gps_lat = 2659.0614 lat 332788 sensor: m_gps_lon = -8245.7187 lon 332788 sensor: m_gps_status = 0 enum 332793 32 sensor: m_gps_lat = 2659.0609 lat 332793 sensor: m_gps_lon = -8245.7189 lon 332793 sensor: m_gps_status = 0 enum 332800 34 sensor: m_gps_lat = 2659.0604 lat 332800 sensor: m_gps_lon = -8245.7193 lon 332800 sensor: m_gps_status = 0 enum 332805 35 sensor: m_gps_lat = 2659.0599 lat 332805 sensor: m_gps_lon = -8245.7201 lon 332805 sensor: m_gps_status = 0 enum 332810 36 sensor: m_gps_lat = 2659.0595 lat 332810 sensor: m_gps_lon = -8245.7207 lon 332810 sensor: m_gps_status = 0 enum 332814 37 sensor: m_gps_lat = 2659.0592 lat 332814 sensor: m_gps_lon = -8245.721 lon 332814 sensor: m_gps_status = 0 enum 332819 37 sensor: m_gps_lat = 2659.0583 lat 332819 sensor: m_gps_lon = -8245.7218 lon 332819 sensor: m_gps_status = 0 enum 332824 38 sensor: m_gps_lat = 2659.0575 lat 332824 sensor: m_gps_lon = -8245.7228 lon 332824 sensor: m_gps_status = 0 enum 332829 39 sensor: m_gps_lat = 2659.0568 lat 332829 sensor: m_gps_lon = -8245.723 lon 332829 sensor: m_gps_status = 0 enum 332833 40 sensor: m_gps_lat = 2659.0558 lat 332833 sensor: m_gps_lon = -8245.723 lon 332833 sensor: m_gps_status = 0 enum 332838 41 end_gps_input() 332838 behavior surface_11: SUBSTATE 5 ->7 : waiting for control-C to exit/resume 332848 44 Iridium has been powered on for 4.4 secs 332848 Waking up Iridium... sending:ATE1 332848 Iridium, modem making attempt #1 at primary number (881600005112) 332853 45 Iridium driver received:[ATE1[0D][0D]] 332853 Iridium modem matched: OK 332853 Waking up Iridium... sending:AT+cbst=6,0,1 332858 46 Iridium driver received:[AT+cbst=6,0,1[0D][0D]] 332858 Iridium modem matched: OK 332858 Waking up Iridium... sending:AT+CSQ 332862 47 Iridium driver received:[AT+CSQ[0D][0D][0A]+CSQ:5[0D][0A][0D]] 332863 Iridium modem matched: OK 332867 48 Iridium waiting for registration... 332877 50 Obtaining Iridium RSSI... 332877 Iridium dialing [ATD00881600005112]........... 332877 Iridium waiting for connection... 332885 50 Iridium driver received:[ATD00881600005112[0D]] 332890 51 Iridium driver received:[[0D]] 332890 Iridium modem matched: CONNECT 4800 332890 Iridium connected... 332890 Iridium console active and ready... Vehicle Name: mote-genie Curr Time: Wed Oct 19 23:03:12 2016 MT: 332890 DR Location: 2659.054 N -8245.724 E measured 44.691 secs ago GPS TooFar: 2701.240 N -8251.589 E measured 56031.8 secs ago GPS Invalid : 2659.142 N -8245.866 E measured 143.185 secs ago GPS Location: 2659.054 N -8245.724 E measured 47.082 secs ago sensor:c_wpt_lat(lat)=2659 159379 secs ago sensor:c_wpt_lon(lon)=-8238 159380 secs ago sensor:m_avg_climb_rate(m/s)=-0.122423574372061 197.446 secs ago sensor:m_avg_dive_rate(m/s)=0.0870202946395133 372.963 secs ago sensor:m_battery(volts)=11.3117365916268 65.853 secs ago sensor:m_coulomb_amphr(amp-hrs)=25.9551887512207 5.071 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=31.5109387513734 5.091 secs ago sensor:m_final_water_vx(m/s)=-0.0380100865277164 13360.8 secs ago sensor:m_final_water_vy(m/s)=-0.0556417461892167 13360.8 secs ago sensor:m_iridium_signal_strength(nodim)=5 14.147 secs ago sensor:m_leakdetect_voltage(volts)=2.48101343101343 5.138 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48693528693529 5.16 secs ago sensor:m_tot_num_inflections(nodim)=5498 184.108 secs ago sensor:m_vacuum(inHg)=7.19515018315018 118.187 secs ago sensor:m_water_vx(m/s)=-0.03785804165278 116.439 secs ago sensor:m_water_vy(m/s)=-0.0663781617370185 116.481 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 332891 No login script found for processing. :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0483 C_FIN:0.0000 332996 74 01950059.mlg LOG FILE CLOSED