the8x3_filename: 01950061 full_filename: mote-genie-2016-289-0-61 333782 23 01950061.mlg LOG FILE OPENED Megabytes used on CF file system = 517.906250 Megabytes available on CF file system = 1479.593750 333784 init_gps_input() 333784 behavior surface_11: SUBSTATE 7 ->10 : Waiting for final gps fix 333787 disabling Iridium console... 333799 25 sensor: m_gps_status = 1 enum 333799 sensor: m_gps_ignored_lat = 2658.9176 lat 333799 sensor: m_gps_ignored_lon = -8245.8131 lon 333803 26 sensor: m_gps_status = 1 enum 333803 sensor: m_gps_ignored_lat = 2658.9184 lat 333803 sensor: m_gps_ignored_lon = -8245.8143 lon 333808 27 sensor: m_gps_status = 1 enum 333808 sensor: m_gps_ignored_lat = 2658.9174 lat 333808 sensor: m_gps_ignored_lon = -8245.8153 lon 333813 28 sensor: m_gps_status = 1 enum 333813 sensor: m_gps_ignored_lat = 2658.9165 lat 333813 sensor: m_gps_ignored_lon = -8245.8152 lon 333818 29 sensor: m_gps_status = 1 enum 333818 sensor: m_gps_ignored_lat = 2658.9162 lat 333818 sensor: m_gps_ignored_lon = -8245.816 lon 333823 30 sensor: m_gps_lat = 2658.9154 lat 333823 sensor: m_gps_lon = -8245.8163 lon 333823 sensor: m_gps_status = 0 enum 333827 32 end_gps_input() 333827 behavior surface_11: SUBSTATE 10 ->12 : All done 333827 behavior surface_11: STATE Active -> UnInited 333832 33 behavior surface_11: Reading b_args from surfac54.ma 333832 behavior surface_11: start_when(enum)=13.000000 333832 behavior surface_11: when_utc_min(min)=0.000000 333832 behavior surface_11: when_utc_hour(hour)=23.000000 333832 behavior surface_11: when_utc_day(day)=-1.000000 333832 behavior surface_11: when_utc_month(month)=-1.000000 333832 behavior surface_11: report_all(bool)=0.000000 333832 behavior surface_11: end_action(enum)=1.000000 333832 behavior surface_11: gps_wait_time(s)=600.000000 333832 behavior surface_11: keystroke_wait_time(sec)=300.000000 333832 behavior surface_11: c_use_pitch(enum)=3.000000 333832 behavior surface_11: c_use_bpump(enum)=2.000000 333832 behavior surface_11: c_bpump_value(X)=1000.000000 333832 behavior surface_11: c_pitch_value(X)=0.452800 333832 behavior surface_11: printout_cycle_time(sec)=30.000000 333832 behavior surface_11: force_iridium_use(nodim)=1.000000 333832 behavior surface_11: STATE UnInited -> Waiting for Activation 333832 behavior surface_11: argument: args_from_file = 54.000000 enum 333832 behavior surface_11: argument: start_when = 13.000000 enum 333832 behavior surface_11: argument: when_secs = 1200.000000 sec 333832 behavior surface_11: argument: when_wpt_dist = 10.000000 m 333832 behavior surface_11: argument: end_action = 1.000000 enum 333832 behavior surface_11: argument: report_all = 0.000000 bool 333832 behavior surface_11: argument: gps_wait_time = 600.000000 sec 333832 behavior surface_11: argument: keystroke_wait_time = 300.000000 sec 333832 behavior surface_11: argument: end_wpt_dist = 0.000000 m 333832 behavior surface_11: argument: c_use_bpump = 2.000000 enum 333832 behavior surface_11: argument: c_bpump_value = 1000.000000 X 333832 behavior surface_11: argument: c_use_pitch = 3.000000 enum 333832 behavior surface_11: argument: c_pitch_value = 0.452800 X 333832 behavior surface_11: argument: c_stop_when_air_pump = 0.000000 bool 333832 behavior surface_11: argument: c_use_thruster = 0.000000 enum 333832 behavior surface_11: argument: c_thruster_value = 0.000000 X 333832 behavior surface_11: argument: printout_cycle_time = 30.000000 sec 333832 behavior surface_11: argument: gps_postfix_wait_time = 60.000000 sec 333832 behavior surface_11: argument: force_iridium_use = 1.000000 nodim 333832 behavior surface_11: argument: min_time_between_gps_fixes = 300.000000 sec 333832 behavior surface_11: argument: sensor_input_wait_time = 10.000000 sec 333832 behavior surface_11: argument: when_utc_min = 0.000000 min 333832 behavior surface_11: argument: when_utc_hour = 23.000000 hour 333832 behavior surface_11: argument: when_utc_day = -1.000000 day 333832 behavior surface_11: argument: when_utc_month = -1.000000 month 333832 behavior surface_11: argument: when_utc_on_surface = 1.000000 bool 333832 behavior surface_11: argument: strobe_on = 0.000000 bool 333833 behavior surface_11: argument: thruster_burst = 0.000000 bool :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0313 C_FIN:0.0000 333837 34 behavior sample_18: SUBSTATE 4 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0626 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0370 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0796 C_FIN:0.0000 AB: Inflected early at Dive depth 21 [m] 334042 78 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 334042 behavior dive_to_1701: STATE Active -> Complete 334042 behavior climb_to_1702: STATE UnInited -> Active 334042 behavior climb_to_1702: argument: target_depth = 3.000000 m 334042 behavior climb_to_1702: argument: target_altitude = -1.000000 m 334042 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 334042 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 334042 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 334042 behavior climb_to_1702: argument: pitch_value = 0.453800 X 334042 behavior climb_to_1702: argument: start_when = 0.000000 enum 334042 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 334042 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 334042 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 334042 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 334042 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 334042 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 334042 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 334042 behavior climb_to_1702: argument: thruster_value = 0.000000 X 334042 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 334042 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 334042 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 334047 79 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 144, Climb: 122 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.180328 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 334197 12 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 334197 behavior climb_to_1702: STATE Active -> Complete 334197 behavior dive_to_1701: STATE UnInited -> Active 334197 behavior dive_to_1701: argument: target_depth = 60.000000 m 334197 behavior dive_to_1701: argument: target_altitude = 3.000000 m 334197 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 334197 behavior dive_to_1701: argument: bpump_value = 350.000000 X 334197 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 334197 behavior dive_to_1701: argument: pitch_value = -0.452800 X 334197 behavior dive_to_1701: argument: start_when = 0.000000 enum 334197 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 334197 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 334197 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 334197 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 334197 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 334197 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 334197 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 334197 behavior dive_to_1701: argument: thruster_value = 0.000000 X 334197 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 334197 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 334197 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 334197 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 334197 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 334197 behavior dive_to_1701: argument: time_ratio = 1.100000 X 334197 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 334197 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 334197 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 334197 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 334197 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 334198 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 334198 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 334202 13 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 334407 59 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 334407 behavior dive_to_1701: STATE Active -> Complete 334407 behavior climb_to_1702: STATE UnInited -> Active 334407 behavior climb_to_1702: argument: target_depth = 3.000000 m 334407 behavior climb_to_1702: argument: target_altitude = -1.000000 m 334407 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 334407 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 334407 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 334407 behavior climb_to_1702: argument: pitch_value = 0.453800 X 334407 behavior climb_to_1702: argument: start_when = 0.000000 enum 334407 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 334407 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 334407 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 334407 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 334407 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 334407 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 334407 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 334407 behavior climb_to_1702: argument: thruster_value = 0.000000 X 334407 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 334407 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 334407 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 334412 60 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 130, Climb: 154 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.185 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 334593 0 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 334593 behavior climb_to_1702: STATE Active -> Complete 334593 behavior dive_to_1701: STATE UnInited -> Active 334593 behavior dive_to_1701: argument: target_depth = 60.000000 m 334593 behavior dive_to_1701: argument: target_altitude = 3.000000 m 334593 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 334593 behavior dive_to_1701: argument: bpump_value = 350.000000 X 334593 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 334593 behavior dive_to_1701: argument: pitch_value = -0.452800 X 334593 behavior dive_to_1701: argument: start_when = 0.000000 enum 334593 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 334593 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 334593 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 334593 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 334593 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 334593 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 334593 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 334593 behavior dive_to_1701: argument: thruster_value = 0.000000 X 334593 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 334593 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 334593 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 334594 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 334594 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 334594 behavior dive_to_1701: argument: time_ratio = 1.100000 X 334594 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 334594 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 334594 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 334594 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 334594 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 334594 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 334594 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 334598 0 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 334788 42 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 334788 behavior dive_to_1701: STATE Active -> Complete 334788 behavior climb_to_1702: STATE UnInited -> Active 334788 behavior climb_to_1702: argument: target_depth = 3.000000 m 334788 behavior climb_to_1702: argument: target_altitude = -1.000000 m 334788 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 334788 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 334788 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 334788 behavior climb_to_1702: argument: pitch_value = 0.453800 X 334788 behavior climb_to_1702: argument: start_when = 0.000000 enum 334788 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 334788 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 334788 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 334788 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 334788 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 334788 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 334788 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 334788 behavior climb_to_1702: argument: thruster_value = 0.000000 X 334788 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 334788 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 334788 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 334793 44 behavior sample_18: SUBSTATE 1 ->3 : Climbing 334815 49 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:0.0686 C_su:0.1800 :OOD: delta:0.1114 limit:0.1000 over:0.0114 334816 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Time to Dive: 147, Climb: 142 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Got the timing down! Ratio of Climb/Dive times:0.966. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-125.00, Climb:225.00 334954 79 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 334954 behavior climb_to_1702: STATE Active -> Complete 334954 behavior dive_to_1701: STATE UnInited -> Active 334954 behavior dive_to_1701: argument: target_depth = 60.000000 m 334954 behavior dive_to_1701: argument: target_altitude = 3.000000 m 334954 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 334954 behavior dive_to_1701: argument: bpump_value = 350.000000 X 334954 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 334954 behavior dive_to_1701: argument: pitch_value = -0.452800 X 334954 behavior dive_to_1701: argument: start_when = 0.000000 enum 334954 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 334954 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 334954 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 334954 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 334954 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 334954 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 334954 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 334954 behavior dive_to_1701: argument: thruster_value = 0.000000 X 334954 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 334954 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 334954 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 334954 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 334954 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 334954 behavior dive_to_1701: argument: time_ratio = 1.100000 X 334954 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 334954 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 334954 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 334954 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 334954 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 334954 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 334954 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 334959 80 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 335145 22 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 335145 behavior dive_to_1701: STATE Active -> Complete 335145 behavior climb_to_1702: STATE UnInited -> Active 335145 behavior climb_to_1702: argument: target_depth = 3.000000 m 335145 behavior climb_to_1702: argument: target_altitude = -1.000000 m 335145 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 335145 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 335145 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 335145 behavior climb_to_1702: argument: pitch_value = 0.453800 X 335145 behavior climb_to_1702: argument: start_when = 0.000000 enum 335145 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 335145 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 335145 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 335145 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 335145 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 335145 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 335145 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 335145 behavior climb_to_1702: argument: thruster_value = 0.000000 X 335145 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 335145 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 335145 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 335149 23 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 153, Climb: 133 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.150376 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 335306 58 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 335306 behavior climb_to_1702: STATE Active -> Complete 335306 behavior dive_to_1701: STATE UnInited -> Active 335306 behavior dive_to_1701: argument: target_depth = 60.000000 m 335306 behavior dive_to_1701: argument: target_altitude = 3.000000 m 335306 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 335306 behavior dive_to_1701: argument: bpump_value = 350.000000 X 335306 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 335306 behavior dive_to_1701: argument: pitch_value = -0.452800 X 335306 behavior dive_to_1701: argument: start_when = 0.000000 enum 335306 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 335306 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 335306 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 335306 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 335306 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 335306 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 335306 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 335306 behavior dive_to_1701: argument: thruster_value = 0.000000 X 335306 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 335306 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 335306 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 335306 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 335306 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 335306 behavior dive_to_1701: argument: time_ratio = 1.100000 X 335306 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 335306 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 335306 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 335307 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 335307 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 335307 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 335307 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 335311 59 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 335483 97 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 335483 behavior dive_to_1701: STATE Active -> Complete 335483 behavior climb_to_1702: STATE UnInited -> Active 335483 behavior climb_to_1702: argument: target_depth = 3.000000 m 335483 behavior climb_to_1702: argument: target_altitude = -1.000000 m 335483 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 335483 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 335483 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 335483 behavior climb_to_1702: argument: pitch_value = 0.453800 X 335483 behavior climb_to_1702: argument: start_when = 0.000000 enum 335483 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 335483 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 335483 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 335483 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 335483 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 335483 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 335483 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 335483 behavior climb_to_1702: argument: thruster_value = 0.000000 X 335483 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 335483 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 335483 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 335487 98 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 139, Climb: 151 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.086. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 335662 37 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 335662 behavior climb_to_1702: STATE Active -> Complete 335662 behavior dive_to_1701: STATE UnInited -> Active 335662 behavior dive_to_1701: argument: target_depth = 60.000000 m 335662 behavior dive_to_1701: argument: target_altitude = 3.000000 m 335662 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 335662 behavior dive_to_1701: argument: bpump_value = 350.000000 X 335662 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 335662 behavior dive_to_1701: argument: pitch_value = -0.452800 X 335662 behavior dive_to_1701: argument: start_when = 0.000000 enum 335662 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 335662 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 335662 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 335662 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 335662 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 335662 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 335662 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 335662 behavior dive_to_1701: argument: thruster_value = 0.000000 X 335662 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 335662 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 335662 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 335662 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 335662 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 335662 behavior dive_to_1701: argument: time_ratio = 1.100000 X 335662 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 335662 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 335662 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 335662 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 335662 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 335662 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 335662 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 335667 37 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 335853 78 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 335853 behavior dive_to_1701: STATE Active -> Complete 335853 behavior climb_to_1702: STATE UnInited -> Active 335853 behavior climb_to_1702: argument: target_depth = 3.000000 m 335853 behavior climb_to_1702: argument: target_altitude = -1.000000 m 335853 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 335853 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 335853 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 335853 behavior climb_to_1702: argument: pitch_value = 0.453800 X 335853 behavior climb_to_1702: argument: start_when = 0.000000 enum 335853 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 335853 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 335853 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 335853 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 335853 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 335853 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 335853 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 335853 behavior climb_to_1702: argument: thruster_value = 0.000000 X 335853 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 335853 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 335853 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 335858 79 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 153, Climb: 126 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 1.214286 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 336007 12 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 336007 behavior climb_to_1702: STATE Active -> Complete 336007 behavior dive_to_1701: STATE UnInited -> Active 336007 behavior dive_to_1701: argument: target_depth = 60.000000 m 336007 behavior dive_to_1701: argument: target_altitude = 3.000000 m 336007 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 336007 behavior dive_to_1701: argument: bpump_value = 350.000000 X 336007 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 336007 behavior dive_to_1701: argument: pitch_value = -0.452800 X 336007 behavior dive_to_1701: argument: start_when = 0.000000 enum 336007 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 336007 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 336007 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 336007 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 336007 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 336007 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 336007 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 336007 behavior dive_to_1701: argument: thruster_value = 0.000000 X 336007 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 336007 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 336007 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 336007 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 336007 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 336007 behavior dive_to_1701: argument: time_ratio = 1.100000 X 336007 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 336007 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 336007 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 336007 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 336007 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 336007 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 336007 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 336011 13 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 336167 48 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 336167 behavior dive_to_1701: STATE Active -> Complete 336167 behavior climb_to_1702: STATE UnInited -> Active 336167 behavior climb_to_1702: argument: target_depth = 3.000000 m 336167 behavior climb_to_1702: argument: target_altitude = -1.000000 m 336167 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 336167 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 336167 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 336167 behavior climb_to_1702: argument: pitch_value = 0.453800 X 336167 behavior climb_to_1702: argument: start_when = 0.000000 enum 336167 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 336167 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 336167 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 336167 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 336167 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 336167 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 336167 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 336167 behavior climb_to_1702: argument: thruster_value = 0.000000 X 336167 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 336167 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 336167 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 336171 49 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 117, Climb: 160 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.368 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 336359 90 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 336359 behavior climb_to_1702: STATE Active -> Complete 336359 behavior dive_to_1701: STATE UnInited -> Active 336359 behavior dive_to_1701: argument: target_depth = 60.000000 m 336359 behavior dive_to_1701: argument: target_altitude = 3.000000 m 336359 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 336359 behavior dive_to_1701: argument: bpump_value = 350.000000 X 336360 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 336360 behavior dive_to_1701: argument: pitch_value = -0.452800 X 336360 behavior dive_to_1701: argument: start_when = 0.000000 enum 336360 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 336360 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 336360 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 336360 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 336360 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 336360 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 336360 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 336360 behavior dive_to_1701: argument: thruster_value = 0.000000 X 336360 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 336360 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 336360 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 336360 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 336360 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 336360 behavior dive_to_1701: argument: time_ratio = 1.100000 X 336360 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 336360 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 336360 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 336360 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 336360 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 336360 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 336360 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 336364 91 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 20 [m] 336538 29 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 336538 behavior dive_to_1701: STATE Active -> Complete 336538 behavior climb_to_1702: STATE UnInited -> Active 336538 behavior climb_to_1702: argument: target_depth = 3.000000 m 336538 behavior climb_to_1702: argument: target_altitude = -1.000000 m 336538 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 336538 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 336538 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 336538 behavior climb_to_1702: argument: pitch_value = 0.453800 X 336538 behavior climb_to_1702: argument: start_when = 0.000000 enum 336538 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 336538 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 336538 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 336538 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 336538 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 336538 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 336538 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 336538 behavior climb_to_1702: argument: thruster_value = 0.000000 X 336538 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 336538 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 336539 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 336543 30 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 136, Climb: 162 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.191 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 336728 72 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 336728 behavior climb_to_1702: STATE Active -> Complete 336728 behavior dive_to_1701: STATE UnInited -> Active 336728 behavior dive_to_1701: argument: target_depth = 60.000000 m 336728 behavior dive_to_1701: argument: target_altitude = 3.000000 m 336728 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 336728 behavior dive_to_1701: argument: bpump_value = 350.000000 X 336728 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 336728 behavior dive_to_1701: argument: pitch_value = -0.452800 X 336728 behavior dive_to_1701: argument: start_when = 0.000000 enum 336728 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 336729 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 336729 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 336729 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 336729 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 336729 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 336729 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 336729 behavior dive_to_1701: argument: thruster_value = 0.000000 X 336729 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 336729 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 336729 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 336729 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 336729 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 336729 behavior dive_to_1701: argument: time_ratio = 1.100000 X 336729 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 336729 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 336729 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 336729 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 336729 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 336729 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 336729 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 336733 73 behavior sample_18: SUBSTATE 3 ->1 : Diving 336808 87 DRIVER_ODDITY:digifin:9206:xxx_ctrl() ran too long AB: Inflected early at Dive depth 20 [m] 336923 12 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 336923 behavior dive_to_1701: STATE Active -> Complete 336923 behavior climb_to_1702: STATE UnInited -> Active 336923 behavior climb_to_1702: argument: target_depth = 3.000000 m 336923 behavior climb_to_1702: argument: target_altitude = -1.000000 m 336923 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 336923 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 336923 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 336923 behavior climb_to_1702: argument: pitch_value = 0.453800 X 336923 behavior climb_to_1702: argument: start_when = 0.000000 enum 336923 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 336923 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 336923 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 336923 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 336923 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 336923 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 336923 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 336923 behavior climb_to_1702: argument: thruster_value = 0.000000 X 336923 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 336923 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 336923 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 336927 13 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 138, Climb: 116 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.189655 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 337067 45 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 337067 behavior climb_to_1702: STATE Active -> Complete 337067 behavior dive_to_1701: STATE UnInited -> Active 337067 behavior dive_to_1701: argument: target_depth = 60.000000 m 337067 behavior dive_to_1701: argument: target_altitude = 3.000000 m 337067 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 337067 behavior dive_to_1701: argument: bpump_value = 350.000000 X 337067 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 337067 behavior dive_to_1701: argument: pitch_value = -0.452800 X 337067 behavior dive_to_1701: argument: start_when = 0.000000 enum 337067 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 337067 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 337067 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 337067 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 337067 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 337067 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 337067 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 337067 behavior dive_to_1701: argument: thruster_value = 0.000000 X 337067 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 337067 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 337067 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 337067 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 337067 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 337067 behavior dive_to_1701: argument: time_ratio = 1.100000 X 337067 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 337067 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 337067 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 337067 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 337067 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 337067 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 337067 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 337072 46 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 337243 84 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 337243 behavior dive_to_1701: STATE Active -> Complete 337243 behavior climb_to_1702: STATE UnInited -> Active 337243 behavior climb_to_1702: argument: target_depth = 3.000000 m 337243 behavior climb_to_1702: argument: target_altitude = -1.000000 m 337243 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 337243 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 337243 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 337243 behavior climb_to_1702: argument: pitch_value = 0.453800 X 337244 behavior climb_to_1702: argument: start_when = 0.000000 enum 337244 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 337244 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 337244 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 337244 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 337244 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 337244 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 337244 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 337244 behavior climb_to_1702: argument: thruster_value = 0.000000 X 337244 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 337244 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 337244 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 337248 85 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 143, Climb: 166 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.161 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 337442 27 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 337442 behavior climb_to_1702: STATE Active -> Complete 337442 behavior dive_to_1701: STATE UnInited -> Active 337442 behavior dive_to_1701: argument: target_depth = 60.000000 m 337442 behavior dive_to_1701: argument: target_altitude = 3.000000 m 337442 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 337442 behavior dive_to_1701: argument: bpump_value = 350.000000 X 337442 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 337442 behavior dive_to_1701: argument: pitch_value = -0.452800 X 337442 behavior dive_to_1701: argument: start_when = 0.000000 enum 337442 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 337442 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 337442 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 337442 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 337442 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 337442 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 337442 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 337442 behavior dive_to_1701: argument: thruster_value = 0.000000 X 337442 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 337442 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 337443 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 337443 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 337443 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 337443 behavior dive_to_1701: argument: time_ratio = 1.100000 X 337443 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 337443 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 337443 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 337443 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 337443 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 337443 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 337443 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 337447 28 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 337638 71 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 337638 behavior dive_to_1701: STATE Active -> Complete 337638 behavior climb_to_1702: STATE UnInited -> Active 337638 behavior climb_to_1702: argument: target_depth = 3.000000 m 337638 behavior climb_to_1702: argument: target_altitude = -1.000000 m 337638 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 337638 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 337638 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 337638 behavior climb_to_1702: argument: pitch_value = 0.453800 X 337638 behavior climb_to_1702: argument: start_when = 0.000000 enum 337638 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 337638 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 337638 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 337638 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 337638 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 337638 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 337638 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 337638 behavior climb_to_1702: argument: thruster_value = 0.000000 X 337638 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 337638 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 337638 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 337642 72 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 152, Climb: 126 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.206349 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 337796 5 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 337796 behavior climb_to_1702: STATE Active -> Complete 337796 behavior dive_to_1701: STATE UnInited -> Active 337796 behavior dive_to_1701: argument: target_depth = 60.000000 m 337796 behavior dive_to_1701: argument: target_altitude = 3.000000 m 337796 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 337796 behavior dive_to_1701: argument: bpump_value = 350.000000 X 337796 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 337796 behavior dive_to_1701: argument: pitch_value = -0.452800 X 337796 behavior dive_to_1701: argument: start_when = 0.000000 enum 337796 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 337796 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 337796 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 337796 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 337796 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 337796 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 337796 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 337796 behavior dive_to_1701: argument: thruster_value = 0.000000 X 337796 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 337796 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 337796 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 337796 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 337796 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 337797 behavior dive_to_1701: argument: time_ratio = 1.100000 X 337797 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 337797 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 337797 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 337797 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 337797 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 337797 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 337797 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 337801 7 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 338000 50 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 338000 behavior dive_to_1701: STATE Active -> Complete 338000 behavior climb_to_1702: STATE UnInited -> Active 338000 behavior climb_to_1702: argument: target_depth = 3.000000 m 338000 behavior climb_to_1702: argument: target_altitude = -1.000000 m 338000 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 338000 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 338000 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 338000 behavior climb_to_1702: argument: pitch_value = 0.453800 X 338000 behavior climb_to_1702: argument: start_when = 0.000000 enum 338000 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 338000 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 338000 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 338000 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 338000 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 338000 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 338000 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 338000 behavior climb_to_1702: argument: thruster_value = 0.000000 X 338000 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 338000 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 338000 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 338005 51 behavior sample_18: SUBSTATE 1 ->3 : Climbing 338073 66 db(#/min/mn/max/sd) buoyancy_pump 1800 -8.498 -0.581 1.392 2.345 cc 338073 db(#/min/mn/max/sd) buoyancy_pump 1800 -17 -1 3 5 mV AB: Time to Dive: 147, Climb: 165 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.122 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 338197 95 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 338197 behavior climb_to_1702: STATE Active -> Complete 338197 behavior dive_to_1701: STATE UnInited -> Active 338197 behavior dive_to_1701: argument: target_depth = 60.000000 m 338197 behavior dive_to_1701: argument: target_altitude = 3.000000 m 338197 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 338197 behavior dive_to_1701: argument: bpump_value = 350.000000 X 338197 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 338197 behavior dive_to_1701: argument: pitch_value = -0.452800 X 338197 behavior dive_to_1701: argument: start_when = 0.000000 enum 338197 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 338197 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 338197 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 338198 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 338198 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 338198 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 338198 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 338198 behavior dive_to_1701: argument: thruster_value = 0.000000 X 338198 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 338198 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 338198 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 338198 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 338198 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 338198 behavior dive_to_1701: argument: time_ratio = 1.100000 X 338198 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 338198 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 338198 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 338198 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 338198 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 338198 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 338198 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 338203 96 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0768 C_FIN:0.1431 338223 0 DRIVER_WARNING:gps:-22:gps_parse_and_publish() warning AB: Inflected early at Dive depth 21 [m] 338407 40 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 338407 behavior dive_to_1701: STATE Active -> Complete 338407 behavior climb_to_1702: STATE UnInited -> Active 338407 behavior climb_to_1702: argument: target_depth = 3.000000 m 338407 behavior climb_to_1702: argument: target_altitude = -1.000000 m 338407 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 338407 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 338407 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 338407 behavior climb_to_1702: argument: pitch_value = 0.453800 X 338407 behavior climb_to_1702: argument: start_when = 0.000000 enum 338407 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 338407 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 338407 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 338407 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 338407 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 338407 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 338407 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 338407 behavior climb_to_1702: argument: thruster_value = 0.000000 X 338407 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 338407 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 338407 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 338411 41 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 166, Climb: 142 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.169014 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 338573 77 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 338573 behavior climb_to_1702: STATE Active -> Complete 338573 behavior dive_to_1701: STATE UnInited -> Active 338573 behavior dive_to_1701: argument: target_depth = 60.000000 m 338573 behavior dive_to_1701: argument: target_altitude = 3.000000 m 338573 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 338573 behavior dive_to_1701: argument: bpump_value = 350.000000 X 338573 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 338573 behavior dive_to_1701: argument: pitch_value = -0.452800 X 338573 behavior dive_to_1701: argument: start_when = 0.000000 enum 338573 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 338573 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 338573 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 338573 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 338573 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 338573 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 338573 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 338573 behavior dive_to_1701: argument: thruster_value = 0.000000 X 338573 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 338573 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 338573 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 338573 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 338573 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 338573 behavior dive_to_1701: argument: time_ratio = 1.100000 X 338573 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 338573 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 338573 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 338573 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 338573 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 338573 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 338573 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 338578 78 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 338755 17 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 338755 behavior dive_to_1701: STATE Active -> Complete 338755 behavior climb_to_1702: STATE UnInited -> Active 338755 behavior climb_to_1702: argument: target_depth = 3.000000 m 338755 behavior climb_to_1702: argument: target_altitude = -1.000000 m 338755 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 338755 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 338755 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 338755 behavior climb_to_1702: argument: pitch_value = 0.453800 X 338755 behavior climb_to_1702: argument: start_when = 0.000000 enum 338755 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 338755 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 338755 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 338755 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 338755 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 338755 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 338755 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 338755 behavior climb_to_1702: argument: thruster_value = 0.000000 X 338755 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 338755 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 338755 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 338759 19 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 139, Climb: 166 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.194 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 338953 62 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 338953 behavior climb_to_1702: STATE Active -> Complete 338953 behavior dive_to_1701: STATE UnInited -> Active 338953 behavior dive_to_1701: argument: target_depth = 60.000000 m 338953 behavior dive_to_1701: argument: target_altitude = 3.000000 m 338953 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 338953 behavior dive_to_1701: argument: bpump_value = 350.000000 X 338953 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 338953 behavior dive_to_1701: argument: pitch_value = -0.452800 X 338953 behavior dive_to_1701: argument: start_when = 0.000000 enum 338953 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 338953 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 338953 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 338953 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 338953 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 338953 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 338953 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 338953 behavior dive_to_1701: argument: thruster_value = 0.000000 X 338954 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 338954 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 338954 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 338954 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 338954 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 338954 behavior dive_to_1701: argument: time_ratio = 1.100000 X 338954 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 338954 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 338954 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 338954 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 338954 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 338954 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 338954 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 338958 62 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.1365 C_FIN:0.1774 AB: Inflected early at Dive depth 21 [m] 339204 16 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 339204 behavior dive_to_1701: STATE Active -> Complete 339204 behavior climb_to_1702: STATE UnInited -> Active 339204 behavior climb_to_1702: argument: target_depth = 3.000000 m 339204 behavior climb_to_1702: argument: target_altitude = -1.000000 m 339204 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 339204 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 339204 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 339204 behavior climb_to_1702: argument: pitch_value = 0.453800 X 339204 behavior climb_to_1702: argument: start_when = 0.000000 enum 339204 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 339204 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 339204 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 339204 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 339204 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 339204 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 339204 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 339204 behavior climb_to_1702: argument: thruster_value = 0.000000 X 339204 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 339204 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 339204 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 339209 17 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 158, Climb: 131 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.206107 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 339367 52 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 339367 behavior climb_to_1702: STATE Active -> Complete 339367 behavior dive_to_1701: STATE UnInited -> Active 339367 behavior dive_to_1701: argument: target_depth = 60.000000 m 339367 behavior dive_to_1701: argument: target_altitude = 3.000000 m 339367 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 339367 behavior dive_to_1701: argument: bpump_value = 350.000000 X 339367 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 339367 behavior dive_to_1701: argument: pitch_value = -0.452800 X 339367 behavior dive_to_1701: argument: start_when = 0.000000 enum 339367 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 339367 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 339367 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 339367 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 339367 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 339367 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 339367 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 339367 behavior dive_to_1701: argument: thruster_value = 0.000000 X 339368 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 339368 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 339368 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 339368 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 339368 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 339368 behavior dive_to_1701: argument: time_ratio = 1.100000 X 339368 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 339368 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 339368 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 339368 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 339368 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 339368 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 339368 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 339372 53 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 339563 96 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 339563 behavior dive_to_1701: STATE Active -> Complete 339563 behavior climb_to_1702: STATE UnInited -> Active 339563 behavior climb_to_1702: argument: target_depth = 3.000000 m 339563 behavior climb_to_1702: argument: target_altitude = -1.000000 m 339563 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 339563 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 339563 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 339563 behavior climb_to_1702: argument: pitch_value = 0.453800 X 339563 behavior climb_to_1702: argument: start_when = 0.000000 enum 339563 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 339563 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 339563 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 339563 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 339563 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 339563 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 339563 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 339563 behavior climb_to_1702: argument: thruster_value = 0.000000 X 339563 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 339563 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 339563 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 339567 97 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 153, Climb: 147 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:0.961. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 339743 36 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 339743 behavior climb_to_1702: STATE Active -> Complete 339743 behavior dive_to_1701: STATE UnInited -> Active 339743 behavior dive_to_1701: argument: target_depth = 60.000000 m 339743 behavior dive_to_1701: argument: target_altitude = 3.000000 m 339743 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 339743 behavior dive_to_1701: argument: bpump_value = 350.000000 X 339743 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 339743 behavior dive_to_1701: argument: pitch_value = -0.452800 X 339743 behavior dive_to_1701: argument: start_when = 0.000000 enum 339743 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 339743 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 339743 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 339743 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 339743 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 339743 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 339743 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 339743 behavior dive_to_1701: argument: thruster_value = 0.000000 X 339743 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 339743 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 339743 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 339743 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 339743 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 339743 behavior dive_to_1701: argument: time_ratio = 1.100000 X 339743 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 339743 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 339743 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 339743 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 339743 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 339743 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 339743 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 339747 37 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 339933 77 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 339933 behavior dive_to_1701: STATE Active -> Complete 339933 behavior climb_to_1702: STATE UnInited -> Active 339933 behavior climb_to_1702: argument: target_depth = 3.000000 m 339933 behavior climb_to_1702: argument: target_altitude = -1.000000 m 339933 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 339933 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 339933 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 339933 behavior climb_to_1702: argument: pitch_value = 0.453800 X 339933 behavior climb_to_1702: argument: start_when = 0.000000 enum 339933 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 339933 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 339933 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 339933 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 339933 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 339933 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 339933 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 339933 behavior climb_to_1702: argument: thruster_value = 0.000000 X 339933 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 339933 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 339933 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 339937 78 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 147, Climb: 147 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.000. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 340108 16 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 340108 behavior climb_to_1702: STATE Active -> Complete 340108 behavior dive_to_1701: STATE UnInited -> Active 340108 behavior dive_to_1701: argument: target_depth = 60.000000 m 340108 behavior dive_to_1701: argument: target_altitude = 3.000000 m 340108 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 340108 behavior dive_to_1701: argument: bpump_value = 350.000000 X 340108 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 340108 behavior dive_to_1701: argument: pitch_value = -0.452800 X 340108 behavior dive_to_1701: argument: start_when = 0.000000 enum 340108 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 340108 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 340108 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 340108 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 340108 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 340108 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 340108 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 340108 behavior dive_to_1701: argument: thruster_value = 0.000000 X 340108 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 340108 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 340108 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 340108 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 340108 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 340108 behavior dive_to_1701: argument: time_ratio = 1.100000 X 340108 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 340108 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 340108 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 340108 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 340108 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 340108 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 340108 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 340112 17 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 22 [m] 340303 60 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 340304 behavior dive_to_1701: STATE Active -> Complete 340304 behavior climb_to_1702: STATE UnInited -> Active 340304 behavior climb_to_1702: argument: target_depth = 3.000000 m 340304 behavior climb_to_1702: argument: target_altitude = -1.000000 m 340304 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 340304 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 340304 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 340304 behavior climb_to_1702: argument: pitch_value = 0.453800 X 340304 behavior climb_to_1702: argument: start_when = 0.000000 enum 340304 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 340304 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 340304 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 340304 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 340304 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 340304 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 340304 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 340304 behavior climb_to_1702: argument: thruster_value = 0.000000 X 340304 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 340304 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 340304 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 340308 61 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 148, Climb: 156 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.054. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 340492 1 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 340492 behavior climb_to_1702: STATE Active -> Complete 340492 behavior dive_to_1701: STATE UnInited -> Active 340492 behavior dive_to_1701: argument: target_depth = 60.000000 m 340492 behavior dive_to_1701: argument: target_altitude = 3.000000 m 340492 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 340492 behavior dive_to_1701: argument: bpump_value = 350.000000 X 340492 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 340492 behavior dive_to_1701: argument: pitch_value = -0.452800 X 340492 behavior dive_to_1701: argument: start_when = 0.000000 enum 340492 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 340492 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 340492 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 340492 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 340492 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 340492 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 340492 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 340492 behavior dive_to_1701: argument: thruster_value = 0.000000 X 340492 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 340492 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 340492 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 340493 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 340493 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 340493 behavior dive_to_1701: argument: time_ratio = 1.100000 X 340493 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 340493 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 340493 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 340493 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 340493 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 340493 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 340493 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 340497 2 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 340688 45 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 340688 behavior dive_to_1701: STATE Active -> Complete 340688 behavior climb_to_1702: STATE UnInited -> Active 340688 behavior climb_to_1702: argument: target_depth = 3.000000 m 340688 behavior climb_to_1702: argument: target_altitude = -1.000000 m 340688 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 340688 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 340688 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 340688 behavior climb_to_1702: argument: pitch_value = 0.453800 X 340688 behavior climb_to_1702: argument: start_when = 0.000000 enum 340689 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 340689 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 340689 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 340689 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 340689 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 340689 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 340689 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 340689 behavior climb_to_1702: argument: thruster_value = 0.000000 X 340689 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 340689 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 340689 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 340693 46 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 158, Climb: 129 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Dive/Climb times 1.224806 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-175.00, Climb:175.00 340846 79 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 340846 behavior climb_to_1702: STATE Active -> Complete 340846 behavior dive_to_1701: STATE UnInited -> Active 340846 behavior dive_to_1701: argument: target_depth = 60.000000 m 340846 behavior dive_to_1701: argument: target_altitude = 3.000000 m 340846 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 340846 behavior dive_to_1701: argument: bpump_value = 350.000000 X 340846 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 340846 behavior dive_to_1701: argument: pitch_value = -0.452800 X 340846 behavior dive_to_1701: argument: start_when = 0.000000 enum 340846 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 340846 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 340846 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 340846 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 340846 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 340846 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 340846 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 340846 behavior dive_to_1701: argument: thruster_value = 0.000000 X 340846 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 340846 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 340846 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 340846 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 340846 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 340846 behavior dive_to_1701: argument: time_ratio = 1.100000 X 340846 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 340846 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 340846 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 340846 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 340846 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 340846 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 340846 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 340851 80 behavior sample_18: SUBSTATE 3 ->1 : Diving 340875 86 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:0.1503 C_su:0.0385 :OOD: delta:0.1117 limit:0.1000 over:0.0117 340875 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Inflected early at Dive depth 21 [m] 341018 17 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 341018 behavior dive_to_1701: STATE Active -> Complete 341018 behavior climb_to_1702: STATE UnInited -> Active 341018 behavior climb_to_1702: argument: target_depth = 3.000000 m 341018 behavior climb_to_1702: argument: target_altitude = -1.000000 m 341018 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 341018 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 341018 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 341018 behavior climb_to_1702: argument: pitch_value = 0.453800 X 341018 behavior climb_to_1702: argument: start_when = 0.000000 enum 341018 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 341018 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 341018 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 341018 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 341018 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 341018 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 341018 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 341018 behavior climb_to_1702: argument: thruster_value = 0.000000 X 341018 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 341018 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 341018 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 341022 19 behavior sample_18: SUBSTATE 1 ->3 : Climbing 341103 34 DRIVER_ODDITY:digifin:12213:xxx_ctrl() ran too long AB: Time to Dive: 134, Climb: 144 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Got the timing down! Ratio of Climb/Dive times:1.075. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-175.00, Climb:175.00 341195 54 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 341195 behavior climb_to_1702: STATE Active -> Complete 341195 behavior dive_to_1701: STATE UnInited -> Active 341195 behavior dive_to_1701: argument: target_depth = 60.000000 m 341195 behavior dive_to_1701: argument: target_altitude = 3.000000 m 341195 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 341195 behavior dive_to_1701: argument: bpump_value = 350.000000 X 341195 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 341195 behavior dive_to_1701: argument: pitch_value = -0.452800 X 341195 behavior dive_to_1701: argument: start_when = 0.000000 enum 341195 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 341195 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 341195 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 341195 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 341195 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 341195 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 341195 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 341195 behavior dive_to_1701: argument: thruster_value = 0.000000 X 341195 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 341195 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 341195 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 341195 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 341195 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 341195 behavior dive_to_1701: argument: time_ratio = 1.100000 X 341195 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 341195 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 341195 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 341195 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 341195 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 341195 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 341195 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 341199 55 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 341372 94 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 341372 behavior dive_to_1701: STATE Active -> Complete 341372 behavior climb_to_1702: STATE UnInited -> Active 341372 behavior climb_to_1702: argument: target_depth = 3.000000 m 341373 behavior climb_to_1702: argument: target_altitude = -1.000000 m 341373 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 341373 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 341373 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 341373 behavior climb_to_1702: argument: pitch_value = 0.453800 X 341373 behavior climb_to_1702: argument: start_when = 0.000000 enum 341373 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 341373 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 341373 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 341373 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 341373 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 341373 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 341373 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 341373 behavior climb_to_1702: argument: thruster_value = 0.000000 X 341373 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 341373 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 341373 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 341377 95 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 130, Climb: 178 [s] AB: Previous ballast: Dive:-175.00, Climb:175.00 AB: Ratio of Climb/Dive times 1.369 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 341583 40 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 341583 behavior climb_to_1702: STATE Active -> Complete 341583 behavior dive_to_1701: STATE UnInited -> Active 341583 behavior dive_to_1701: argument: target_depth = 60.000000 m 341583 behavior dive_to_1701: argument: target_altitude = 3.000000 m 341583 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 341584 behavior dive_to_1701: argument: bpump_value = 350.000000 X 341584 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 341584 behavior dive_to_1701: argument: pitch_value = -0.452800 X 341584 behavior dive_to_1701: argument: start_when = 0.000000 enum 341584 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 341584 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 341584 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 341584 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 341584 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 341584 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 341584 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 341584 behavior dive_to_1701: argument: thruster_value = 0.000000 X 341584 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 341584 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 341584 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 341584 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 341584 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 341584 behavior dive_to_1701: argument: time_ratio = 1.100000 X 341584 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 341584 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 341584 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 341584 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 341584 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 341584 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 341584 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 341588 41 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 341784 85 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 341784 behavior dive_to_1701: STATE Active -> Complete 341784 behavior climb_to_1702: STATE UnInited -> Active 341784 behavior climb_to_1702: argument: target_depth = 3.000000 m 341784 behavior climb_to_1702: argument: target_altitude = -1.000000 m 341784 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 341784 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 341784 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 341784 behavior climb_to_1702: argument: pitch_value = 0.453800 X 341784 behavior climb_to_1702: argument: start_when = 0.000000 enum 341784 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 341784 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 341784 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 341784 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 341784 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 341784 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 341784 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 341784 behavior climb_to_1702: argument: thruster_value = 0.000000 X 341784 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 341784 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 341784 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 341789 86 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 144, Climb: 165 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.146 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 341973 26 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 341973 behavior climb_to_1702: STATE Active -> Complete 341973 behavior dive_to_1701: STATE UnInited -> Active 341973 behavior dive_to_1701: argument: target_depth = 60.000000 m 341973 behavior dive_to_1701: argument: target_altitude = 3.000000 m 341973 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 341973 behavior dive_to_1701: argument: bpump_value = 350.000000 X 341973 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 341973 behavior dive_to_1701: argument: pitch_value = -0.452800 X 341973 behavior dive_to_1701: argument: start_when = 0.000000 enum 341973 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 341973 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 341973 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 341973 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 341973 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 341973 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 341973 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 341973 behavior dive_to_1701: argument: thruster_value = 0.000000 X 341973 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 341973 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 341973 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 341973 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 341973 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 341973 behavior dive_to_1701: argument: time_ratio = 1.100000 X 341973 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 341973 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 341973 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 341973 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 341973 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 341973 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 341973 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 341977 27 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 342177 72 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 342177 behavior dive_to_1701: STATE Active -> Complete 342177 behavior climb_to_1702: STATE UnInited -> Active 342177 behavior climb_to_1702: argument: target_depth = 3.000000 m 342177 behavior climb_to_1702: argument: target_altitude = -1.000000 m 342177 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 342177 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 342177 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 342177 behavior climb_to_1702: argument: pitch_value = 0.453800 X 342177 behavior climb_to_1702: argument: start_when = 0.000000 enum 342177 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 342177 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 342177 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 342177 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 342177 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 342177 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 342177 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 342177 behavior climb_to_1702: argument: thruster_value = 0.000000 X 342177 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 342177 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 342177 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 342181 73 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 166, Climb: 144 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.152778 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 342349 10 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 342349 behavior climb_to_1702: STATE Active -> Complete 342349 behavior dive_to_1701: STATE UnInited -> Active 342349 behavior dive_to_1701: argument: target_depth = 60.000000 m 342349 behavior dive_to_1701: argument: target_altitude = 3.000000 m 342349 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 342349 behavior dive_to_1701: argument: bpump_value = 350.000000 X 342349 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 342349 behavior dive_to_1701: argument: pitch_value = -0.452800 X 342349 behavior dive_to_1701: argument: start_when = 0.000000 enum 342349 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 342349 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 342349 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 342349 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 342349 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 342349 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 342349 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 342349 behavior dive_to_1701: argument: thruster_value = 0.000000 X 342349 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 342349 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 342349 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 342349 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 342349 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 342349 behavior dive_to_1701: argument: time_ratio = 1.100000 X 342349 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 342349 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 342349 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 342349 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 342349 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 342349 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 342349 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 342353 11 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 342545 52 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 342545 behavior dive_to_1701: STATE Active -> Complete 342545 behavior climb_to_1702: STATE UnInited -> Active 342545 behavior climb_to_1702: argument: target_depth = 3.000000 m 342545 behavior climb_to_1702: argument: target_altitude = -1.000000 m 342545 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 342545 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 342545 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 342545 behavior climb_to_1702: argument: pitch_value = 0.453800 X 342545 behavior climb_to_1702: argument: start_when = 0.000000 enum 342545 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 342546 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 342546 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 342546 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 342546 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 342546 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 342546 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 342546 behavior climb_to_1702: argument: thruster_value = 0.000000 X 342546 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 342546 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 342546 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 342550 53 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 140, Climb: 165 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Ratio of Climb/Dive times 1.179 >= 1.100 AB: Adjust ballast: Climb+= and Dive+= 25.00 AB: New ballast: Dive:-125.00, Climb:225.00 342743 97 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 342743 behavior climb_to_1702: STATE Active -> Complete 342743 behavior dive_to_1701: STATE UnInited -> Active 342743 behavior dive_to_1701: argument: target_depth = 60.000000 m 342743 behavior dive_to_1701: argument: target_altitude = 3.000000 m 342743 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 342743 behavior dive_to_1701: argument: bpump_value = 350.000000 X 342743 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 342743 behavior dive_to_1701: argument: pitch_value = -0.452800 X 342743 behavior dive_to_1701: argument: start_when = 0.000000 enum 342743 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 342743 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 342743 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 342743 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 342743 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 342743 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 342743 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 342743 behavior dive_to_1701: argument: thruster_value = 0.000000 X 342743 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 342743 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 342743 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 342743 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 342743 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 342743 behavior dive_to_1701: argument: time_ratio = 1.100000 X 342744 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 342744 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 342744 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 342744 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 342744 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 342744 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 342744 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 342748 98 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.1479 C_FIN:0.1701 AB: Inflected early at Dive depth 21 [m] 342956 44 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 342956 behavior dive_to_1701: STATE Active -> Complete 342956 behavior climb_to_1702: STATE UnInited -> Active 342956 behavior climb_to_1702: argument: target_depth = 3.000000 m 342956 behavior climb_to_1702: argument: target_altitude = -1.000000 m 342956 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 342956 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 342957 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 342957 behavior climb_to_1702: argument: pitch_value = 0.453800 X 342957 behavior climb_to_1702: argument: start_when = 0.000000 enum 342957 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 342957 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 342957 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 342957 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 342957 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 342957 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 342957 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 342957 behavior climb_to_1702: argument: thruster_value = 0.000000 X 342957 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 342957 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 342957 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 342961 45 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 170, Climb: 122 [s] AB: Previous ballast: Dive:-125.00, Climb:225.00 AB: Ratio of Dive/Climb times 1.393443 >= 1.100 AB: Adjust ballast: Climb-= and Dive-= 25.00 AB: New ballast: Dive:-150.00, Climb:200.00 343106 76 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 343106 behavior climb_to_1702: STATE Active -> Complete 343106 behavior dive_to_1701: STATE UnInited -> Active 343106 behavior dive_to_1701: argument: target_depth = 60.000000 m 343106 behavior dive_to_1701: argument: target_altitude = 3.000000 m 343106 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 343106 behavior dive_to_1701: argument: bpump_value = 350.000000 X 343106 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 343106 behavior dive_to_1701: argument: pitch_value = -0.452800 X 343106 behavior dive_to_1701: argument: start_when = 0.000000 enum 343106 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 343106 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 343106 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 343106 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 343106 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 343106 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 343106 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 343106 behavior dive_to_1701: argument: thruster_value = 0.000000 X 343106 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 343106 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 343106 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 343106 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 343106 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 343106 behavior dive_to_1701: argument: time_ratio = 1.100000 X 343106 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 343106 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 343106 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 343106 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 343106 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 343107 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 343107 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 343111 77 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 343310 22 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 343310 behavior dive_to_1701: STATE Active -> Complete 343310 behavior climb_to_1702: STATE UnInited -> Active 343310 behavior climb_to_1702: argument: target_depth = 3.000000 m 343310 behavior climb_to_1702: argument: target_altitude = -1.000000 m 343310 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 343310 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 343310 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 343310 behavior climb_to_1702: argument: pitch_value = 0.453800 X 343310 behavior climb_to_1702: argument: start_when = 0.000000 enum 343310 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 343310 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 343310 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 343310 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 343310 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 343310 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 343310 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 343310 behavior climb_to_1702: argument: thruster_value = 0.000000 X 343311 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 343311 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 343311 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 343315 23 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 147, Climb: 161 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.095. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 343504 64 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 343504 behavior climb_to_1702: STATE Active -> Complete 343504 behavior dive_to_1701: STATE UnInited -> Active 343504 behavior dive_to_1701: argument: target_depth = 60.000000 m 343504 behavior dive_to_1701: argument: target_altitude = 3.000000 m 343504 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 343504 behavior dive_to_1701: argument: bpump_value = 350.000000 X 343504 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 343504 behavior dive_to_1701: argument: pitch_value = -0.452800 X 343504 behavior dive_to_1701: argument: start_when = 0.000000 enum 343504 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 343504 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 343504 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 343504 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 343504 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 343504 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 343504 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 343504 behavior dive_to_1701: argument: thruster_value = 0.000000 X 343504 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 343504 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 343504 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 343504 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 343504 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 343504 behavior dive_to_1701: argument: time_ratio = 1.100000 X 343504 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 343504 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 343504 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 343504 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 343504 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 343504 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 343505 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 343509 65 behavior sample_18: SUBSTATE 3 ->1 : Diving :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0825 C_FIN:0.1095 AB: Inflected early at Dive depth 20 [m] 343690 5 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 343690 behavior dive_to_1701: STATE Active -> Complete 343690 behavior climb_to_1702: STATE UnInited -> Active 343690 behavior climb_to_1702: argument: target_depth = 3.000000 m 343690 behavior climb_to_1702: argument: target_altitude = -1.000000 m 343690 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 343690 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 343690 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 343690 behavior climb_to_1702: argument: pitch_value = 0.453800 X 343690 behavior climb_to_1702: argument: start_when = 0.000000 enum 343690 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 343690 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 343690 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 343690 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 343690 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 343690 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 343690 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 343690 behavior climb_to_1702: argument: thruster_value = 0.000000 X 343690 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 343690 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 343690 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 343694 7 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 138, Climb: 138 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.000. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 343861 44 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 343861 behavior climb_to_1702: STATE Active -> Complete 343861 behavior dive_to_1701: STATE UnInited -> Active 343861 behavior dive_to_1701: argument: target_depth = 60.000000 m 343861 behavior dive_to_1701: argument: target_altitude = 3.000000 m 343861 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 343861 behavior dive_to_1701: argument: bpump_value = 350.000000 X 343861 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 343861 behavior dive_to_1701: argument: pitch_value = -0.452800 X 343861 behavior dive_to_1701: argument: start_when = 0.000000 enum 343861 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 343861 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 343861 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 343861 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 343861 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 343861 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 343861 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 343861 behavior dive_to_1701: argument: thruster_value = 0.000000 X 343861 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 343861 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 343861 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 343861 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 343861 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 343861 behavior dive_to_1701: argument: time_ratio = 1.100000 X 343861 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 343861 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 343861 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 343861 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 343861 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 343861 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 343861 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 343865 45 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 344057 87 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 344057 behavior dive_to_1701: STATE Active -> Complete 344057 behavior climb_to_1702: STATE UnInited -> Active 344057 behavior climb_to_1702: argument: target_depth = 3.000000 m 344057 behavior climb_to_1702: argument: target_altitude = -1.000000 m 344057 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 344057 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 344057 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 344057 behavior climb_to_1702: argument: pitch_value = 0.453800 X 344057 behavior climb_to_1702: argument: start_when = 0.000000 enum 344057 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 344057 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 344057 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 344057 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 344057 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 344057 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 344057 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 344057 behavior climb_to_1702: argument: thruster_value = 0.000000 X 344057 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 344057 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 344057 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 344061 87 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 149, Climb: 144 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:0.966. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 344233 25 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 344233 behavior climb_to_1702: STATE Active -> Complete 344233 behavior dive_to_1701: STATE UnInited -> Active 344233 behavior dive_to_1701: argument: target_depth = 60.000000 m 344234 behavior dive_to_1701: argument: target_altitude = 3.000000 m 344234 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 344234 behavior dive_to_1701: argument: bpump_value = 350.000000 X 344234 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 344234 behavior dive_to_1701: argument: pitch_value = -0.452800 X 344234 behavior dive_to_1701: argument: start_when = 0.000000 enum 344234 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 344234 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 344234 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 344234 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 344234 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 344234 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 344234 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 344234 behavior dive_to_1701: argument: thruster_value = 0.000000 X 344234 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 344234 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 344234 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 344234 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 344234 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 344234 behavior dive_to_1701: argument: time_ratio = 1.100000 X 344234 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 344234 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 344234 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 344234 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 344234 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 344234 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 344234 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 344238 26 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 344428 69 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 344428 behavior dive_to_1701: STATE Active -> Complete 344428 behavior climb_to_1702: STATE UnInited -> Active 344428 behavior climb_to_1702: argument: target_depth = 3.000000 m 344428 behavior climb_to_1702: argument: target_altitude = -1.000000 m 344428 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 344428 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 344428 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 344428 behavior climb_to_1702: argument: pitch_value = 0.453800 X 344428 behavior climb_to_1702: argument: start_when = 0.000000 enum 344428 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 344428 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 344428 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 344428 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 344428 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 344428 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 344428 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 344428 behavior climb_to_1702: argument: thruster_value = 0.000000 X 344428 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 344428 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 344428 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 344432 70 behavior sample_18: SUBSTATE 1 ->3 : Climbing 344505 86 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:0.0994 C_su:-0.0017 :OOD: delta:0.1011 limit:0.1000 over:0.0011 344514 87 DRIVER_ODDITY:pitch_motor:0:motor out of deadband :OOD:pitch_motor:OUT OF DEADBAND: M_su:0.0994 C_su:-0.0017 :OOD: delta:0.1011 limit:0.1000 over:0.0011 344515 DRIVER_ODDITY:pitch_motor:0:Motor started because out of deadband AB: Time to Dive: 156, Climb: 152 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:0.974. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 344608 9 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 344608 behavior climb_to_1702: STATE Active -> Complete 344608 behavior dive_to_1701: STATE UnInited -> Active 344608 behavior dive_to_1701: argument: target_depth = 60.000000 m 344608 behavior dive_to_1701: argument: target_altitude = 3.000000 m 344608 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 344608 behavior dive_to_1701: argument: bpump_value = 350.000000 X 344608 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 344608 behavior dive_to_1701: argument: pitch_value = -0.452800 X 344608 behavior dive_to_1701: argument: start_when = 0.000000 enum 344608 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 344609 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 344609 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 344609 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 344609 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 344609 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 344609 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 344609 behavior dive_to_1701: argument: thruster_value = 0.000000 X 344609 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 344609 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 344609 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 344609 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 344609 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 344609 behavior dive_to_1701: argument: time_ratio = 1.100000 X 344609 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 344609 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 344609 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 344609 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 344609 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 344609 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 344609 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 344613 10 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 344805 51 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 344805 behavior dive_to_1701: STATE Active -> Complete 344805 behavior climb_to_1702: STATE UnInited -> Active 344805 behavior climb_to_1702: argument: target_depth = 3.000000 m 344805 behavior climb_to_1702: argument: target_altitude = -1.000000 m 344805 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 344805 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 344805 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 344805 behavior climb_to_1702: argument: pitch_value = 0.453800 X 344805 behavior climb_to_1702: argument: start_when = 0.000000 enum 344805 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 344805 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 344805 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 344805 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 344805 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 344805 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 344805 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 344805 behavior climb_to_1702: argument: thruster_value = 0.000000 X 344805 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 344805 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 344805 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 344810 52 behavior sample_18: SUBSTATE 1 ->3 : Climbing 344904 74 db(#/min/mn/max/sd) pitch_motor 1800 -0.111 -0.009 0.112 0.049 in 344904 db(#/min/mn/max/sd) pitch_motor 1800 -51 -4 51 23 mV AB: Time to Dive: 154, Climb: 143 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:0.929. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 344981 90 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 344981 behavior climb_to_1702: STATE Active -> Complete 344981 behavior dive_to_1701: STATE UnInited -> Active 344981 behavior dive_to_1701: argument: target_depth = 60.000000 m 344981 behavior dive_to_1701: argument: target_altitude = 3.000000 m 344981 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 344981 behavior dive_to_1701: argument: bpump_value = 350.000000 X 344981 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 344981 behavior dive_to_1701: argument: pitch_value = -0.452800 X 344981 behavior dive_to_1701: argument: start_when = 0.000000 enum 344981 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 344981 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 344981 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 344981 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 344981 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 344981 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 344981 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 344981 behavior dive_to_1701: argument: thruster_value = 0.000000 X 344981 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 344981 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 344981 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 344981 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 344981 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 344981 behavior dive_to_1701: argument: time_ratio = 1.100000 X 344981 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 344981 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 344981 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 344981 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 344981 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 344981 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 344981 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 344985 91 behavior sample_18: SUBSTATE 3 ->1 : Diving AB: Inflected early at Dive depth 21 [m] 345182 35 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete, deduced altitude from water depth 345182 behavior dive_to_1701: STATE Active -> Complete 345182 behavior climb_to_1702: STATE UnInited -> Active 345182 behavior climb_to_1702: argument: target_depth = 3.000000 m 345182 behavior climb_to_1702: argument: target_altitude = -1.000000 m 345182 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 345182 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 345182 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 345182 behavior climb_to_1702: argument: pitch_value = 0.453800 X 345182 behavior climb_to_1702: argument: start_when = 0.000000 enum 345182 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 345182 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 345182 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 345182 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 345182 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 345182 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 345182 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 345182 behavior climb_to_1702: argument: thruster_value = 0.000000 X 345182 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 345182 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 345182 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 345186 36 behavior sample_18: SUBSTATE 1 ->3 : Climbing AB: Time to Dive: 153, Climb: 162 [s] AB: Previous ballast: Dive:-150.00, Climb:200.00 AB: Got the timing down! Ratio of Climb/Dive times:1.059. AB: C_AUTOBALLAST_STATE: 2 AB: New ballast: Dive:-150.00, Climb:200.00 345372 76 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 345372 behavior climb_to_1702: STATE Active -> Complete 345372 behavior dive_to_1701: STATE UnInited -> Active 345372 behavior dive_to_1701: argument: target_depth = 60.000000 m 345373 behavior dive_to_1701: argument: target_altitude = 3.000000 m 345373 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 345373 behavior dive_to_1701: argument: bpump_value = 350.000000 X 345373 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 345373 behavior dive_to_1701: argument: pitch_value = -0.452800 X 345373 behavior dive_to_1701: argument: start_when = 0.000000 enum 345373 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 345373 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 345373 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 345373 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 345373 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 345373 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 345373 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 345373 behavior dive_to_1701: argument: thruster_value = 0.000000 X 345373 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 345373 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 345373 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 345373 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 345373 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 345373 behavior dive_to_1701: argument: time_ratio = 1.100000 X 345373 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 345373 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 345373 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 345373 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 345373 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 345373 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 345373 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 345377 77 behavior sample_18: SUBSTATE 3 ->1 : Diving 345398 79 DRIVER_ODDITY:digifin:10516:xxx_ctrl() ran too long AB: Inflected early at Dive depth 20 [m] 345558 15 behavior dive_to_1701: SUBSTATE 4 ->5 : Complete reached altitude 345558 behavior dive_to_1701: STATE Active -> Complete 345558 behavior climb_to_1702: STATE UnInited -> Active 345558 behavior climb_to_1702: argument: target_depth = 3.000000 m 345558 behavior climb_to_1702: argument: target_altitude = -1.000000 m 345558 behavior climb_to_1702: argument: use_bpump = 0.000000 enum 345558 behavior climb_to_1702: argument: bpump_value = 1000.000000 X 345558 behavior climb_to_1702: argument: use_pitch = 3.000000 enum 345558 behavior climb_to_1702: argument: pitch_value = 0.453800 X 345558 behavior climb_to_1702: argument: start_when = 0.000000 enum 345558 behavior climb_to_1702: argument: stop_when_hover_for = 180.000000 sec 345558 behavior climb_to_1702: argument: stop_when_stalled_for = 240.000000 sec 345558 behavior climb_to_1702: argument: stop_when_air_pump = 0.000000 bool 345558 behavior climb_to_1702: argument: initial_inflection = 1.000000 bool 345558 behavior climb_to_1702: argument: speed_min = -0.080000 m/s 345558 behavior climb_to_1702: argument: speed_max = -100.000000 m/s 345558 behavior climb_to_1702: argument: use_thruster = 0.000000 enum 345558 behavior climb_to_1702: argument: thruster_value = 0.000000 X 345558 behavior climb_to_1702: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 345558 behavior climb_to_1702: SUBSTATE 1 ->3 : Starting the climb 345559 behavior climb_to_1702: SUBSTATE 3 ->4 : climbing 345563 16 behavior sample_18: SUBSTATE 1 ->3 : Climbing 345726 52 behavior surface_15: STATE Waiting for Activation -> Active 345726 behavior surface_15: SUBSTATE 0 UnInited->1 : climb_to the surface 345727 behavior climb_to_1501: STATE UnInited -> Active 345727 behavior climb_to_1501: argument: target_depth = 4.000000 m 345727 behavior climb_to_1501: argument: target_altitude = -1.000000 m 345727 behavior climb_to_1501: argument: use_bpump = 2.000000 enum 345727 behavior climb_to_1501: argument: bpump_value = 1000.000000 X 345727 behavior climb_to_1501: argument: use_pitch = 3.000000 enum 345727 behavior climb_to_1501: argument: pitch_value = 0.452800 X 345727 behavior climb_to_1501: argument: start_when = 0.000000 enum 345727 behavior climb_to_1501: argument: stop_when_hover_for = -1.000000 sec 345727 behavior climb_to_1501: argument: stop_when_stalled_for = -1.000000 sec 345727 behavior climb_to_1501: argument: stop_when_air_pump = 0.000000 bool 345727 behavior climb_to_1501: argument: initial_inflection = 1.000000 bool 345727 behavior climb_to_1501: argument: speed_min = 100.000000 m/s 345727 behavior climb_to_1501: argument: speed_max = -100.000000 m/s 345727 behavior climb_to_1501: argument: use_thruster = 0.000000 enum 345727 behavior climb_to_1501: argument: thruster_value = 0.000000 X 345727 behavior climb_to_1501: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 345727 behavior climb_to_1501: SUBSTATE 1 ->3 : Starting the climb 345727 behavior climb_to_1501: SUBSTATE 3 ->4 : climbing 345735 54 behavior climb_to_1501: SUBSTATE 4 ->5 : Complete reached depth 345735 behavior climb_to_1501: STATE Active -> Complete 345735 behavior surface_15: SUBSTATE 1 ->2 : waiting for various sensors 345735 behavior surface_15: SUBSTATE 2 ->3 : waiting for GPS fix 345735 init_gps_input() 345737 sensor: m_gps_status = 2 enum 345737 sensor: m_gps_invalid_lat = 2658.622 lat 345737 sensor: m_gps_invalid_lon = -8244.6717 lon 345740 55 behavior sample_18: SUBSTATE 3 ->4 : On Surface 345742 sensor: m_gps_status = 2 enum 345742 sensor: m_gps_invalid_lat = 2658.622 lat 345742 sensor: m_gps_invalid_lon = -8244.6717 lon AB: Another behavior changed the climb bpump. Discount. 345744 57 behavior climb_to_1702: SUBSTATE 4 ->5 : Complete reached depth 345744 behavior climb_to_1702: STATE Active -> Complete 345744 behavior dive_to_1701: STATE UnInited -> Active 345744 behavior dive_to_1701: argument: target_depth = 60.000000 m 345744 behavior dive_to_1701: argument: target_altitude = 3.000000 m 345744 behavior dive_to_1701: argument: use_bpump = 0.000000 enum 345744 behavior dive_to_1701: argument: bpump_value = 350.000000 X 345744 behavior dive_to_1701: argument: use_pitch = 3.000000 enum 345744 behavior dive_to_1701: argument: pitch_value = -0.452800 X 345744 behavior dive_to_1701: argument: start_when = 0.000000 enum 345744 behavior dive_to_1701: argument: stop_when_hover_for = 180.000000 sec 345744 behavior dive_to_1701: argument: stop_when_stalled_for = 240.000000 sec 345744 behavior dive_to_1701: argument: stop_when_air_pump = 0.000000 bool 345744 behavior dive_to_1701: argument: initial_inflection = 1.000000 bool 345744 behavior dive_to_1701: argument: speed_min = 0.080000 m/s 345744 behavior dive_to_1701: argument: speed_max = 100.000000 m/s 345744 behavior dive_to_1701: argument: use_thruster = 0.000000 enum 345744 behavior dive_to_1701: argument: thruster_value = 0.000000 X 345744 behavior dive_to_1701: argument: depth_rate_method = 3.000000 enum 345744 behavior dive_to_1701: argument: wait_for_pitch = 1.000000 bool 345744 behavior dive_to_1701: argument: wait_for_ballast = 100.000000 sec 345744 behavior dive_to_1701: argument: delta_bpump_speed = 50.000000 X 345744 behavior dive_to_1701: argument: delta_bpump_ballast = 25.000000 X 345744 behavior dive_to_1701: argument: time_ratio = 1.100000 X 345744 behavior dive_to_1701: argument: use_sc_model = 0.000000 bool 345744 behavior dive_to_1701: argument: max_thermal_charge_time = 1200.000000 sec 345745 behavior dive_to_1701: argument: max_pumping_charge_time = 300.000000 sec 345745 behavior dive_to_1701: argument: thr_reqd_pres_mul = 1.500000 nodim 345745 behavior dive_to_1701: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 345745 behavior dive_to_1701: SUBSTATE 1 ->3 : Starting the dive 345745 behavior dive_to_1701: SUBSTATE 3 ->4 : diving 345747 sensor: m_gps_status = 2 enum 345747 sensor: m_gps_invalid_lat = 2658.622 lat 345747 sensor: m_gps_invalid_lon = -8244.6717 lon 345753 59 sensor: m_gps_status = 2 enum 345753 sensor: m_gps_invalid_lat = 2658.622 lat 345753 sensor: m_gps_invalid_lon = -8244.6717 lon 345758 60 sensor: m_gps_status = 2 enum 345758 sensor: m_gps_invalid_lat = 2658.622 lat 345758 sensor: m_gps_invalid_lon = -8244.6717 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0654 C_FIN:0.0000 345762 61 sensor: m_gps_status = 2 enum 345762 sensor: m_gps_invalid_lat = 2658.622 lat 345762 sensor: m_gps_invalid_lon = -8244.6717 lon 345767 62 sensor: m_gps_status = 2 enum 345767 sensor: m_gps_invalid_lat = 2658.622 lat 345767 sensor: m_gps_invalid_lon = -8244.6717 lon 345771 62 sensor: m_gps_status = 2 enum 345771 sensor: m_gps_invalid_lat = 2658.622 lat 345771 sensor: m_gps_invalid_lon = -8244.6717 lon 345777 63 sensor: m_gps_status = 2 enum 345777 sensor: m_gps_invalid_lat = 2658.622 lat 345777 sensor: m_gps_invalid_lon = -8244.6717 lon 345781 64 sensor: m_gps_status = 2 enum 345781 sensor: m_gps_invalid_lat = 2658.622 lat 345781 sensor: m_gps_invalid_lon = -8244.6717 lon 345787 65 sensor: m_gps_status = 2 enum 345787 sensor: m_gps_invalid_lat = 2658.622 lat 345787 sensor: m_gps_invalid_lon = -8244.6717 lon 345789 66 sensor: m_gps_status = 1 enum 345789 sensor: m_gps_ignored_lat = 2658.6186 lat 345790 sensor: m_gps_ignored_lon = -8244.0448 lon 345794 67 sensor: m_gps_status = 1 enum 345794 sensor: m_gps_ignored_lat = 2658.5718 lat 345794 sensor: m_gps_ignored_lon = -8244.347 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0228 C_FIN:0.0000 345799 69 sensor: m_gps_status = 1 enum 345799 sensor: m_gps_ignored_lat = 2658.5694 lat 345799 sensor: m_gps_ignored_lon = -8244.3502 lon :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0313 C_FIN:0.0000 345803 70 sensor: m_gps_status = 1 enum 345803 sensor: m_gps_ignored_lat = 2658.569 lat 345803 sensor: m_gps_ignored_lon = -8244.3494 lon 345808 71 sensor: m_gps_status = 1 enum 345808 sensor: m_gps_ignored_lat = 2658.5678 lat 345808 sensor: m_gps_ignored_lon = -8244.3484 lon 345813 72 sensor: m_gps_lat = 2658.5672 lat 345813 sensor: m_gps_lon = -8244.3486 lon 345813 sensor: m_gps_status = 0 enum 345817 73 end_gps_input() 345817 init_gps_input() 345817 behavior surface_15: SUBSTATE 3 ->4 : Picking iridium or freewave 345817 behavior surface_15: SUBSTATE 4 ->5 : Waiting for more gps fixes 345818 sensor: m_gps_lat = 2658.5666 lat 345818 sensor: m_gps_lon = -8244.3492 lon 345818 sensor: m_gps_status = 0 enum 345823 74 sensor: m_gps_lat = 2658.5654 lat 345823 sensor: m_gps_lon = -8244.3499 lon 345823 sensor: m_gps_status = 0 enum 345828 75 sensor: m_gps_lat = 2658.5657 lat 345828 sensor: m_gps_lon = -8244.3503 lon 345828 sensor: m_gps_status = 0 enum 345835 76 sensor: m_gps_lat = 2658.565 lat 345835 sensor: m_gps_lon = -8244.3507 lon 345835 sensor: m_gps_status = 0 enum 345840 77 sensor: m_gps_lat = 2658.5648 lat 345840 sensor: m_gps_lon = -8244.3501 lon 345840 sensor: m_gps_status = 0 enum 345845 78 sensor: m_gps_lat = 2658.5643 lat 345845 sensor: m_gps_lon = -8244.3503 lon 345845 sensor: m_gps_status = 0 enum 345849 79 sensor: m_gps_lat = 2658.5635 lat 345849 sensor: m_gps_lon = -8244.3509 lon 345849 sensor: m_gps_status = 0 enum 345854 80 sensor: m_gps_lat = 2658.5626 lat 345854 sensor: m_gps_lon = -8244.3516 lon 345854 sensor: m_gps_status = 0 enum 345859 82 sensor: m_gps_lat = 2658.562 lat 345859 sensor: m_gps_lon = -8244.352 lon 345859 sensor: m_gps_status = 0 enum 345860 Pressure sensor has been re-calibrated, i.e. ZEROed F_OCEAN_PRESSURE_MIN: 0.115 ==> 0.115 delta volts: 0.000, delta bar: 0.026, delta meters: 0.000 auto deadband(bar)+-: 0.025(bar) max allowed+-(bar): 0.200 345864 83 sensor: m_gps_lat = 2658.5615 lat 345864 sensor: m_gps_lon = -8244.3524 lon 345864 sensor: m_gps_status = 0 enum 345869 84 sensor: m_gps_lat = 2658.5611 lat 345869 sensor: m_gps_lon = -8244.3527 lon 345869 sensor: m_gps_status = 0 enum 345873 85 sensor: m_gps_lat = 2658.5604 lat 345873 sensor: m_gps_lon = -8244.3529 lon 345873 sensor: m_gps_status = 0 enum 345878 86 end_gps_input() 345878 behavior surface_15: SUBSTATE 5 ->7 : waiting for control-C to exit/resume 345888 87 Iridium has been powered on for 4.5 secs 345888 Waking up Iridium... sending:ATE1 345888 Iridium, modem making attempt #1 at primary number (881600005112) 345894 88 Iridium driver received:[ATE1[0D][0D]] 345894 Iridium modem matched: OK 345894 Waking up Iridium... sending:AT+cbst=6,0,1 345899 89 Iridium driver received:[AT+cbst=6,0,1[0D][0D]] 345899 Iridium modem matched: OK 345899 Waking up Iridium... sending:AT+CSQ :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0683 C_FIN:0.0000 345904 90 Iridium driver received:[AT+CSQ[0D][0D][0A]+CSQ:5[0D][0A][0D]] 345904 Iridium modem matched: OK 345908 91 Iridium waiting for registration... 345917 94 Obtaining Iridium RSSI... 345917 Iridium dialing [ATD00881600005112]........... 345917 Iridium waiting for connection... 345925 95 Iridium driver received:[ATD00881600005112[0D][0D]] 345925 Iridium modem matched: CONNECT 4800 345925 Iridium connected... 345925 Iridium console active and ready... Vehicle Name: mote-genie Curr Time: Thu Oct 20 02:40:27 2016 MT: 345925 DR Location: 2658.560 N -8244.353 E measured 40.079 secs ago GPS TooFar: 2701.240 N -8251.589 E measured 69067.1 secs ago GPS Invalid : 2658.622 N -8244.672 E measured 138.516 secs ago GPS Location: 2658.560 N -8244.353 E measured 42.476 secs ago sensor:c_wpt_lat(lat)=2659 172415 secs ago sensor:c_wpt_lon(lon)=-8238 172415 secs ago sensor:m_avg_climb_rate(m/s)=-0.0998972498147164 192.751 secs ago sensor:m_avg_dive_rate(m/s)=0.0967122445515024 369.452 secs ago sensor:m_battery(volts)=11.3166478273317 13.054 secs ago sensor:m_coulomb_amphr(amp-hrs)=26.882625579834 8.452 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=32.4383755799867 8.471 secs ago sensor:m_final_water_vx(m/s)=-0.0367872274226042 12101.4 secs ago sensor:m_final_water_vy(m/s)=-0.0649395054960451 12101.5 secs ago sensor:m_iridium_signal_strength(nodim)=5 8.667 secs ago sensor:m_leakdetect_voltage(volts)=2.47838827838828 8.508 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48696581196581 8.531 secs ago sensor:m_tot_num_inflections(nodim)=5563 179.456 secs ago sensor:m_vacuum(inHg)=7.68651282051282 71.22 secs ago sensor:m_water_vx(m/s)=-0.0195972789816406 111.813 secs ago sensor:m_water_vy(m/s)=-0.0772755532176737 111.855 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 345927 No login script found for processing. :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0341 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0939 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0228 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0626 C_FIN:0.0000 346093 29 01950061.mlg LOG FILE CLOSED