Interesting detail noted tonight. I was running five pairs of jeans on medium water level (manually selected) and "normal" soil level. Fabric sensing came up with a pretty aggressive agitation, Active Wash. Well, the jeans aren't really that dirty, so I dropped the soil level back one notch. The agitation action realigned to a slightly less-aggressive Firm+ Wash. So I cranked the soil level through the five levels (not including the maximum Stained selection). Agitation switched between Maximum Wash, Active+ Wash, Active Wash, Firm+ Wash, and Firm Wash. It seems that for a given load condition, the selected soil level can have a bearing on what agitation action is used.