Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
Supervisor::createTask() - externalCommsServer
Supervisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
Supervisor::createTask() - dynamicControlServer
Supervisor::createTask() - dropWeightServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - kearfottServer
Supervisor::createTask() - kearfottDvlServer
Supervisor::createTask() - parosciServer
Supervisor::createTask() - bluefinBattDriver
Supervisor::createTask() - gpsServer
Supervisor::createTask() - benthosServer
Supervisor::createTask() - echoSounderServer
Supervisor::createTask() - cameraServer
Supervisor::createTask() - m3dmgx1
: DepthEnvelope - Error. maxLowerPitch must be a postive number.
Flipping the sign now.
: maxLowerPitch = 1745.31
: DepthEnvelope - Error. maxLowerPitch must be a postive number.
Flipping the sign now.
: maxLowerPitch = 1745.31
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 1 of 10 needed
: LayeredControl::execute() -- (t = 0.000000) Behavior getgps:-1 has changed to state Active

: LayeredControl::execute() -- (t = 0.010000) Behavior depthEnvelope:-1 has changed to state Active

: LayeredControl::execute() -- (t = 0.010000) Behavior missionTimer:-1 has changed to state Active

: **** EventTriggers::add() - attaching proxy
: *** Mission started ***

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 2 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 3 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 4 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 5 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            1

: GetGPS::execute() -- The Keafott accepted the Gps hit: 6 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            1

: GetGPS::execute() -- The Keafott accepted the Gps hit: 7 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 8 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 9 of 10 needed
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.799397) Behavior getgps:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 8.799397) Behavior setpoint:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: Behavior setpoint - Timed out!
: LayeredControl::execute() -- (t = 38.997329) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 38.997329) Behavior descend:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: Descend::execute() - Descend terminating on depth 3.228180 > 3.000000 at time 58.196013

: LayeredControl::execute() -- (t = 58.196013) Behavior descend:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 58.196013) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 58.21                             (wplog)
  The current location (N,E) = 4075156.9      , 603890.1         (wplog)
  The next waypoint          = 4075300.0      , 603931.2         (wplog)
  The bearing to the next w.p. is 16.0 Degrees.

: LayeredControl::execute() -- (t = 58.206013) Behavior waypoint:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=70.00
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=73.71
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=74.41
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=75.49
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.73
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.47
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.58
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.48
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.09
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.03
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=75.18
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.36
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.45
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.98
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.13
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.90
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.54
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.46
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.16
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.72
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=91.75
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.19
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.92
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.11
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.74
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.94
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.83
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.87
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.24
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.15
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.86
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.62
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.58
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.22
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.83
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.45
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.73
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.41
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.12
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.95
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.25
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.52
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.32
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.33
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.12
	horzlMode=3 horz=0.28
	speedMode=1 speed=1.50

:  Waypoint has set the state to finished.

: Waypoint (4075300.0, 603931.2), 
  reached at t = 212.00                                          (wplog)

: Vehicle Position is error is (-0.3, 0.4)

: LayeredControl::execute() -- (t = 211.995477) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 211.995477) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 212.01                            (wplog)
  The current location (N,E) = 4075300.3      , 603930.9         (wplog)
  The next waypoint          = 4075298.8      , 603428.0         (wplog)
  The bearing to the next w.p. is 269.8 Degrees.

: LayeredControl::execute() -- (t = 212.005477) Behavior waypoint:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=77.85
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.98
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.74
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.54
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.50
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.30
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.46
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.51
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.41
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.39
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.42
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.62
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.18
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.06
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.19
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.35
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.28
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.44
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.18
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.31
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.13
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.28
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.45
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.46
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.48
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.35
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.04
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.28
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.26
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.38
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.51
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.96
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.05
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.03
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.98
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.24
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.40
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.50
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.75
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.81
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.32
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.69
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.88
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.11
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.23
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.49
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.98
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.03
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.54
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.51
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.88
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=84.02
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=84.18
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=84.40
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=84.62
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.05
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.20
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.34
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.72
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.32
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.81
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.87
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.25
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.47
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.16
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.31
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.47
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.63
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.54
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.62
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.75
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.60
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.70
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.65
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.71
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.52
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.66
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.26
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.26
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.17
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.41
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=86.26
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.91
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.84
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.51
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.38
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.49
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=84.86
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=85.06
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=84.78
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=84.73
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=84.48
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=84.48
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=84.15
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=84.39
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.98
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.92
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.61
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.80
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.69
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.45
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.27
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.37
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=83.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.81
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.82
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.59
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.73
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.65
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.77
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.38
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.44
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.19
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.32
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.94
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=82.30
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.85
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.94
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.82
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.72
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.34
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.52
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.21
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.96
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.82
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.83
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.84
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.68
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=81.02
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.43
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.84
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.37
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.92
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.27
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.50
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.80
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.92
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.78
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=80.04
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.66
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.42
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.78
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.32
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.51
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.51
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.26
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.33
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.14
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.11
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.15
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.09
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=79.02
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.97
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.91
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.90
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.70
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.52
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.60
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.69
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.34
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.54
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.54
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.28
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.58
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.29
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.13
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.14
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.88
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.47
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.73
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.32
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.30
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=78.09
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.89
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.98
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.81
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.91
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.78
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.46
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.78
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.80
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.66
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.82
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.63
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.69
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.63
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.48
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.40
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.38
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.40
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.28
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.43
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.43
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.23
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.11
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.27
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.39
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.17
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.95
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.16
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=77.18
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.95
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.73
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.69
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.64
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.31
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.56
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.26
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.11
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.28
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=76.07
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=75.80
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=75.85
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=75.60
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=75.72
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=75.77
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=75.39
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=75.35
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=74.98
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=75.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=74.76
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

:  Waypoint has set the state to finished.

: Waypoint (4075298.8, 603428.0), 
  reached at t = 536.79                                          (wplog)

: Vehicle Position is error is (1.4, 0.1)

: LayeredControl::execute() -- (t = 536.793227) Behavior waypoint:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 536.79                            (wplog)
  The current location (N,E) = 4075297.4      , 603427.9         (wplog)
  The next waypoint          = 4075296.7      , 602555.0         (wplog)
  The bearing to the next w.p. is 270.0 Degrees.

: LayeredControl::execute() -- (t = 536.803226) Behavior waypoint:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=74.61
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=74.58
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=74.53
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=74.21
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=73.88
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=74.03
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=73.57
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=73.52
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=73.26
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=73.19
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=73.19
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=72.55
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=72.50
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=72.38
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=72.16
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=71.93
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=71.78
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=71.47
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=71.23
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=70.90
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=70.77
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=70.26
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=69.90
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=69.50
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=68.94
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=68.81
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=68.16
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=67.92
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=67.91
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=66.85
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=66.52
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=65.54
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=65.12
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=64.43
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=63.86
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=63.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=62.23
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=61.70
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=60.92
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=60.34
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=59.78
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=58.65
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=2 vert=58.01
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.50

: Abort request issued by behavior "missionTimer"

: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 600.398870) Behavior ascend:-1 has changed to state Active

: DepthEnvelope -- Measured altitude = 12.348294. Allowable altitude = 25.000000. t= 600.40. Stopping!
: LayeredControl::execute() -- (t = 600.398870) Behavior depthEnvelope:-1 has changed to state Active

: LayeredControl::execute() -- (t = 600.398870) Behavior missionTimer:-1 has changed to state Active

: DepthEnvelope -- Measured altitude = 12.435534. Allowable altitude = 25.000000. t= 600.60. Stopping!
: DepthEnvelope -- Measured altitude = 12.493197. Allowable altitude = 25.000000. t= 600.80. Stopping!
: DepthEnvelope -- Measured altitude = 12.536660. Allowable altitude = 25.000000. t= 601.00. Stopping!
: DepthEnvelope -- Measured altitude = 12.566341. Allowable altitude = 25.000000. t= 601.20. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 12.203619. Allowable altitude = 25.000000. t= 601.40. Stopping!
: DepthEnvelope -- Measured altitude = 12.335986. Allowable altitude = 25.000000. t= 601.60. Stopping!
: DepthEnvelope -- Measured altitude = 12.271653. Allowable altitude = 25.000000. t= 601.80. Stopping!
: DepthEnvelope -- Measured altitude = 12.133680. Allowable altitude = 25.000000. t= 602.00. Stopping!
: DepthEnvelope -- Measured altitude = 12.208845. Allowable altitude = 25.000000. t= 602.20. Stopping!
: DepthEnvelope -- Measured altitude = 12.066900. Allowable altitude = 25.000000. t= 603.16. Stopping!
: DepthEnvelope -- Measured altitude = 12.066900. Allowable altitude = 25.000000. t= 603.23. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 12.092668. Allowable altitude = 25.000000. t= 603.40. Stopping!
: DepthEnvelope -- Measured altitude = 11.699897. Allowable altitude = 25.000000. t= 603.60. Stopping!
: DepthEnvelope -- Measured altitude = 11.681364. Allowable altitude = 25.000000. t= 603.80. Stopping!
: DepthEnvelope -- Measured altitude = 11.498497. Allowable altitude = 25.000000. t= 604.00. Stopping!
: DepthEnvelope -- Measured altitude = 11.451923. Allowable altitude = 25.000000. t= 604.20. Stopping!
: DepthEnvelope -- Measured altitude = 11.508083. Allowable altitude = 25.000000. t= 604.40. Stopping!
: DepthEnvelope -- Measured altitude = 11.224757. Allowable altitude = 25.000000. t= 604.60. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 11.303528. Allowable altitude = 25.000000. t= 604.80. Stopping!
: DepthEnvelope -- Measured altitude = 11.069737. Allowable altitude = 25.000000. t= 605.00. Stopping!
: DepthEnvelope -- Measured altitude = 11.274587. Allowable altitude = 25.000000. t= 605.20. Stopping!
: DepthEnvelope -- Measured altitude = 11.012135. Allowable altitude = 25.000000. t= 605.40. Stopping!
: DepthEnvelope -- Measured altitude = 10.997659. Allowable altitude = 25.000000. t= 605.60. Stopping!
: DepthEnvelope -- Measured altitude = 10.905724. Allowable altitude = 25.000000. t= 605.80. Stopping!
: DepthEnvelope -- Measured altitude = 10.868259. Allowable altitude = 25.000000. t= 606.00. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 10.832910. Allowable altitude = 25.000000. t= 606.20. Stopping!
: DepthEnvelope -- Measured altitude = 10.638202. Allowable altitude = 25.000000. t= 606.40. Stopping!
: DepthEnvelope -- Measured altitude = 10.803223. Allowable altitude = 25.000000. t= 606.60. Stopping!
: DepthEnvelope -- Measured altitude = 10.663383. Allowable altitude = 25.000000. t= 606.80. Stopping!
: DepthEnvelope -- Measured altitude = 10.702793. Allowable altitude = 25.000000. t= 607.00. Stopping!
: DepthEnvelope -- Measured altitude = 10.374545. Allowable altitude = 25.000000. t= 607.20. Stopping!
: DepthEnvelope -- Measured altitude = 10.574132. Allowable altitude = 25.000000. t= 607.40. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 10.323646. Allowable altitude = 25.000000. t= 607.60. Stopping!
: DepthEnvelope -- Measured altitude = 10.516110. Allowable altitude = 25.000000. t= 607.80. Stopping!
: DepthEnvelope -- Measured altitude = 10.307249. Allowable altitude = 25.000000. t= 608.00. Stopping!
: DepthEnvelope -- Measured altitude = 10.266929. Allowable altitude = 25.000000. t= 608.20. Stopping!
: DepthEnvelope -- Measured altitude = 10.224436. Allowable altitude = 25.000000. t= 608.40. Stopping!
: DepthEnvelope -- Measured altitude = 10.179224. Allowable altitude = 25.000000. t= 608.60. Stopping!
: DepthEnvelope -- Measured altitude = 10.195635. Allowable altitude = 25.000000. t= 608.80. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 10.388180. Allowable altitude = 25.000000. t= 609.00. Stopping!
: DepthEnvelope -- Measured altitude = 10.121421. Allowable altitude = 25.000000. t= 609.20. Stopping!
: DepthEnvelope -- Measured altitude = 10.335515. Allowable altitude = 25.000000. t= 609.40. Stopping!
: DepthEnvelope -- Measured altitude = 10.125033. Allowable altitude = 25.000000. t= 609.60. Stopping!
: DepthEnvelope -- Measured altitude = 10.242437. Allowable altitude = 25.000000. t= 609.80. Stopping!
: DepthEnvelope -- Measured altitude = 10.328013. Allowable altitude = 25.000000. t= 610.00. Stopping!
: DepthEnvelope -- Measured altitude = 10.322173. Allowable altitude = 25.000000. t= 610.20. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 10.358628. Allowable altitude = 25.000000. t= 610.40. Stopping!
: DepthEnvelope -- Measured altitude = 10.328544. Allowable altitude = 25.000000. t= 610.60. Stopping!
: DepthEnvelope -- Measured altitude = 10.343747. Allowable altitude = 25.000000. t= 610.80. Stopping!
: DepthEnvelope -- Measured altitude = 10.365902. Allowable altitude = 25.000000. t= 611.00. Stopping!
: DepthEnvelope -- Measured altitude = 10.444866. Allowable altitude = 25.000000. t= 611.20. Stopping!
: DepthEnvelope -- Measured altitude = 10.458626. Allowable altitude = 25.000000. t= 611.40. Stopping!
: DepthEnvelope -- Measured altitude = 10.541170. Allowable altitude = 25.000000. t= 611.60. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 10.377053. Allowable altitude = 25.000000. t= 611.80. Stopping!
: DepthEnvelope -- Measured altitude = 10.671559. Allowable altitude = 25.000000. t= 612.00. Stopping!
: DepthEnvelope -- Measured altitude = 10.496160. Allowable altitude = 25.000000. t= 612.20. Stopping!
: DepthEnvelope -- Measured altitude = 10.622275. Allowable altitude = 25.000000. t= 612.40. Stopping!
: DepthEnvelope -- Measured altitude = 10.665980. Allowable altitude = 25.000000. t= 612.60. Stopping!
: DepthEnvelope -- Measured altitude = 10.776439. Allowable altitude = 25.000000. t= 612.80. Stopping!
: DepthEnvelope -- Measured altitude = 10.842607. Allowable altitude = 25.000000. t= 613.00. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 10.794594. Allowable altitude = 25.000000. t= 613.20. Stopping!
: DepthEnvelope -- Measured altitude = 10.982279. Allowable altitude = 25.000000. t= 613.40. Stopping!
: DepthEnvelope -- Measured altitude = 10.935277. Allowable altitude = 25.000000. t= 613.60. Stopping!
: DepthEnvelope -- Measured altitude = 10.954723. Allowable altitude = 25.000000. t= 613.80. Stopping!
: DepthEnvelope -- Measured altitude = 11.148073. Allowable altitude = 25.000000. t= 614.00. Stopping!
: DepthEnvelope -- Measured altitude = 11.082422. Allowable altitude = 25.000000. t= 614.20. Stopping!
: DepthEnvelope -- Measured altitude = 11.267394. Allowable altitude = 25.000000. t= 614.40. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 11.369727. Allowable altitude = 25.000000. t= 614.60. Stopping!
: DepthEnvelope -- Measured altitude = 11.458111. Allowable altitude = 25.000000. t= 614.80. Stopping!
: DepthEnvelope -- Measured altitude = 11.495137. Allowable altitude = 25.000000. t= 615.00. Stopping!
: DepthEnvelope -- Measured altitude = 11.760575. Allowable altitude = 25.000000. t= 615.20. Stopping!
: DepthEnvelope -- Measured altitude = 11.708191. Allowable altitude = 25.000000. t= 615.40. Stopping!
: DepthEnvelope -- Measured altitude = 11.969295. Allowable altitude = 25.000000. t= 615.60. Stopping!
: DepthEnvelope -- Measured altitude = 11.817267. Allowable altitude = 25.000000. t= 615.80. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 12.251437. Allowable altitude = 25.000000. t= 616.00. Stopping!
: DepthEnvelope -- Measured altitude = 12.017708. Allowable altitude = 25.000000. t= 616.20. Stopping!
: DepthEnvelope -- Measured altitude = 12.360644. Allowable altitude = 25.000000. t= 616.40. Stopping!
: DepthEnvelope -- Measured altitude = 12.486573. Allowable altitude = 25.000000. t= 616.60. Stopping!
: DepthEnvelope -- Measured altitude = 12.580098. Allowable altitude = 25.000000. t= 616.80. Stopping!
: DepthEnvelope -- Measured altitude = 12.675175. Allowable altitude = 25.000000. t= 617.00. Stopping!
: DepthEnvelope -- Measured altitude = 12.774047. Allowable altitude = 25.000000. t= 617.20. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 12.780505. Allowable altitude = 25.000000. t= 617.40. Stopping!
: DepthEnvelope -- Measured altitude = 12.895377. Allowable altitude = 25.000000. t= 617.60. Stopping!
: DepthEnvelope -- Measured altitude = 13.110473. Allowable altitude = 25.000000. t= 617.80. Stopping!
: DepthEnvelope -- Measured altitude = 13.240558. Allowable altitude = 25.000000. t= 618.00. Stopping!
: DepthEnvelope -- Measured altitude = 13.545630. Allowable altitude = 25.000000. t= 618.20. Stopping!
: DepthEnvelope -- Measured altitude = 13.481914. Allowable altitude = 25.000000. t= 618.40. Stopping!
: DepthEnvelope -- Measured altitude = 13.666597. Allowable altitude = 25.000000. t= 618.60. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 13.687449. Allowable altitude = 25.000000. t= 618.80. Stopping!
: DepthEnvelope -- Measured altitude = 13.710834. Allowable altitude = 25.000000. t= 619.00. Stopping!
: DepthEnvelope -- Measured altitude = 13.954190. Allowable altitude = 25.000000. t= 619.20. Stopping!
: DepthEnvelope -- Measured altitude = 14.119098. Allowable altitude = 25.000000. t= 619.40. Stopping!
: DepthEnvelope -- Measured altitude = 14.274468. Allowable altitude = 25.000000. t= 619.60. Stopping!
: DepthEnvelope -- Measured altitude = 14.414250. Allowable altitude = 25.000000. t= 619.80. Stopping!
: DepthEnvelope -- Measured altitude = 14.319153. Allowable altitude = 25.000000. t= 620.00. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 14.652124. Allowable altitude = 25.000000. t= 620.20. Stopping!
: DepthEnvelope -- Measured altitude = 14.716461. Allowable altitude = 25.000000. t= 620.40. Stopping!
: DepthEnvelope -- Measured altitude = 14.750776. Allowable altitude = 25.000000. t= 620.60. Stopping!
: DepthEnvelope -- Measured altitude = 14.986640. Allowable altitude = 25.000000. t= 620.80. Stopping!
: DepthEnvelope -- Measured altitude = 15.033580. Allowable altitude = 25.000000. t= 621.00. Stopping!
: DepthEnvelope -- Measured altitude = 15.082756. Allowable altitude = 25.000000. t= 621.20. Stopping!
: DepthEnvelope -- Measured altitude = 15.332179. Allowable altitude = 25.000000. t= 621.40. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 15.385103. Allowable altitude = 25.000000. t= 621.60. Stopping!
: DepthEnvelope -- Measured altitude = 15.613192. Allowable altitude = 25.000000. t= 621.80. Stopping!
: DepthEnvelope -- Measured altitude = 15.786131. Allowable altitude = 25.000000. t= 622.00. Stopping!
: DepthEnvelope -- Measured altitude = 15.809813. Allowable altitude = 25.000000. t= 622.20. Stopping!
: DepthEnvelope -- Measured altitude = 15.833359. Allowable altitude = 25.000000. t= 622.40. Stopping!
: DepthEnvelope -- Measured altitude = 16.050956. Allowable altitude = 25.000000. t= 622.60. Stopping!
: DepthEnvelope -- Measured altitude = 16.080909. Allowable altitude = 25.000000. t= 622.80. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 16.283662. Allowable altitude = 25.000000. t= 623.00. Stopping!
: DepthEnvelope -- Measured altitude = 16.446239. Allowable altitude = 25.000000. t= 623.20. Stopping!
: DepthEnvelope -- Measured altitude = 16.423980. Allowable altitude = 25.000000. t= 623.40. Stopping!
: DepthEnvelope -- Measured altitude = 16.422694. Allowable altitude = 25.000000. t= 623.60. Stopping!
: DepthEnvelope -- Measured altitude = 16.794329. Allowable altitude = 25.000000. t= 623.80. Stopping!
: DepthEnvelope -- Measured altitude = 16.717695. Allowable altitude = 25.000000. t= 624.00. Stopping!
: DepthEnvelope -- Measured altitude = 16.866636. Allowable altitude = 25.000000. t= 624.20. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 17.392012. Allowable altitude = 25.000000. t= 625.20. Stopping!
: DepthEnvelope -- Measured altitude = 17.764423. Allowable altitude = 25.000000. t= 625.40. Stopping!
: DepthEnvelope -- Measured altitude = 17.732837. Allowable altitude = 25.000000. t= 625.60. Stopping!
: DepthEnvelope -- Measured altitude = 17.707137. Allowable altitude = 25.000000. t= 625.80. Stopping!
: DepthEnvelope -- Measured altitude = 18.058792. Allowable altitude = 25.000000. t= 626.00. Stopping!
: DepthEnvelope -- Measured altitude = 17.939454. Allowable altitude = 25.000000. t= 626.20. Stopping!
: DepthEnvelope -- Measured altitude = 18.211730. Allowable altitude = 25.000000. t= 626.40. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 18.233343. Allowable altitude = 25.000000. t= 626.60. Stopping!
: DepthEnvelope -- Measured altitude = 18.433351. Allowable altitude = 25.000000. t= 626.80. Stopping!
: DepthEnvelope -- Measured altitude = 18.370293. Allowable altitude = 25.000000. t= 627.00. Stopping!
: DepthEnvelope -- Measured altitude = 18.514498. Allowable altitude = 25.000000. t= 627.20. Stopping!
: DepthEnvelope -- Measured altitude = 18.827631. Allowable altitude = 25.000000. t= 627.40. Stopping!
: DepthEnvelope -- Measured altitude = 18.866293. Allowable altitude = 25.000000. t= 627.60. Stopping!
: DepthEnvelope -- Measured altitude = 19.058743. Allowable altitude = 25.000000. t= 627.80. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 18.999280. Allowable altitude = 25.000000. t= 628.00. Stopping!
: DepthEnvelope -- Measured altitude = 18.951416. Allowable altitude = 25.000000. t= 628.20. Stopping!
: DepthEnvelope -- Measured altitude = 19.088883. Allowable altitude = 25.000000. t= 628.40. Stopping!
: DepthEnvelope -- Measured altitude = 19.213708. Allowable altitude = 25.000000. t= 628.60. Stopping!
: DepthEnvelope -- Measured altitude = 19.470702. Allowable altitude = 25.000000. t= 628.80. Stopping!
: DepthEnvelope -- Measured altitude = 19.467431. Allowable altitude = 25.000000. t= 629.00. Stopping!
: DepthEnvelope -- Measured altitude = 19.626121. Allowable altitude = 25.000000. t= 629.20. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.737817. Allowable altitude = 25.000000. t= 629.40. Stopping!
: DepthEnvelope -- Measured altitude = 19.819710. Allowable altitude = 25.000000. t= 629.60. Stopping!
: DepthEnvelope -- Measured altitude = 19.649708. Allowable altitude = 25.000000. t= 629.80. Stopping!
: DepthEnvelope -- Measured altitude = 20.103677. Allowable altitude = 25.000000. t= 630.00. Stopping!
: DepthEnvelope -- Measured altitude = 20.030886. Allowable altitude = 25.000000. t= 630.20. Stopping!
: DepthEnvelope -- Measured altitude = 19.963017. Allowable altitude = 25.000000. t= 630.40. Stopping!
: DepthEnvelope -- Measured altitude = 19.895387. Allowable altitude = 25.000000. t= 630.60. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 20.194714. Allowable altitude = 25.000000. t= 630.80. Stopping!
: DepthEnvelope -- Measured altitude = 20.052436. Allowable altitude = 25.000000. t= 631.00. Stopping!
: DepthEnvelope -- Measured altitude = 20.310574. Allowable altitude = 25.000000. t= 631.20. Stopping!
: DepthEnvelope -- Measured altitude = 19.884790. Allowable altitude = 25.000000. t= 631.40. Stopping!
: DepthEnvelope -- Measured altitude = 20.395231. Allowable altitude = 25.000000. t= 631.60. Stopping!
: DepthEnvelope -- Measured altitude = 20.087321. Allowable altitude = 25.000000. t= 631.80. Stopping!
: DepthEnvelope -- Measured altitude = 20.069513. Allowable altitude = 25.000000. t= 632.00. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 20.045367. Allowable altitude = 25.000000. t= 632.20. Stopping!
: DepthEnvelope -- Measured altitude = 20.381904. Allowable altitude = 25.000000. t= 632.40. Stopping!
: DepthEnvelope -- Measured altitude = 20.489640. Allowable altitude = 25.000000. t= 632.60. Stopping!
: DepthEnvelope -- Measured altitude = 20.529900. Allowable altitude = 25.000000. t= 632.80. Stopping!
: DepthEnvelope -- Measured altitude = 20.541125. Allowable altitude = 25.000000. t= 633.00. Stopping!
: DepthEnvelope -- Measured altitude = 20.717984. Allowable altitude = 25.000000. t= 633.20. Stopping!
: DepthEnvelope -- Measured altitude = 20.597433. Allowable altitude = 25.000000. t= 633.40. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 20.355871. Allowable altitude = 25.000000. t= 633.60. Stopping!
: DepthEnvelope -- Measured altitude = 20.598290. Allowable altitude = 25.000000. t= 633.80. Stopping!
: DepthEnvelope -- Measured altitude = 20.482632. Allowable altitude = 25.000000. t= 634.00. Stopping!
: DepthEnvelope -- Measured altitude = 20.434185. Allowable altitude = 25.000000. t= 634.20. Stopping!
: DepthEnvelope -- Measured altitude = 20.575136. Allowable altitude = 25.000000. t= 634.40. Stopping!
: DepthEnvelope -- Measured altitude = 20.489857. Allowable altitude = 25.000000. t= 634.60. Stopping!
: DepthEnvelope -- Measured altitude = 20.410822. Allowable altitude = 25.000000. t= 634.80. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 20.545533. Allowable altitude = 25.000000. t= 635.00. Stopping!
: DepthEnvelope -- Measured altitude = 20.641498. Allowable altitude = 25.000000. t= 635.20. Stopping!
: DepthEnvelope -- Measured altitude = 20.715753. Allowable altitude = 25.000000. t= 635.40. Stopping!
: DepthEnvelope -- Measured altitude = 20.390509. Allowable altitude = 25.000000. t= 635.60. Stopping!
: DepthEnvelope -- Measured altitude = 20.328867. Allowable altitude = 25.000000. t= 635.80. Stopping!
: DepthEnvelope -- Measured altitude = 20.296089. Allowable altitude = 25.000000. t= 636.00. Stopping!
: DepthEnvelope -- Measured altitude = 20.281722. Allowable altitude = 25.000000. t= 636.20. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 20.274959. Allowable altitude = 25.000000. t= 636.40. Stopping!
: DepthEnvelope -- Measured altitude = 20.291533. Allowable altitude = 25.000000. t= 636.60. Stopping!
: DepthEnvelope -- Measured altitude = 20.470617. Allowable altitude = 25.000000. t= 636.80. Stopping!
: DepthEnvelope -- Measured altitude = 20.226948. Allowable altitude = 25.000000. t= 637.00. Stopping!
: DepthEnvelope -- Measured altitude = 20.269696. Allowable altitude = 25.000000. t= 637.20. Stopping!
: DepthEnvelope -- Measured altitude = 20.307623. Allowable altitude = 25.000000. t= 637.40. Stopping!
: DepthEnvelope -- Measured altitude = 20.150637. Allowable altitude = 25.000000. t= 637.60. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.870141. Allowable altitude = 25.000000. t= 637.80. Stopping!
: DepthEnvelope -- Measured altitude = 20.032590. Allowable altitude = 25.000000. t= 638.00. Stopping!
: DepthEnvelope -- Measured altitude = 19.992242. Allowable altitude = 25.000000. t= 638.20. Stopping!
: DepthEnvelope -- Measured altitude = 19.792334. Allowable altitude = 25.000000. t= 638.40. Stopping!
: DepthEnvelope -- Measured altitude = 19.619146. Allowable altitude = 25.000000. t= 638.60. Stopping!
: DepthEnvelope -- Measured altitude = 19.759027. Allowable altitude = 25.000000. t= 638.80. Stopping!
: DepthEnvelope -- Measured altitude = 19.622086. Allowable altitude = 25.000000. t= 639.00. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.568989. Allowable altitude = 25.000000. t= 639.20. Stopping!
: DepthEnvelope -- Measured altitude = 19.406553. Allowable altitude = 25.000000. t= 639.40. Stopping!
: DepthEnvelope -- Measured altitude = 19.621154. Allowable altitude = 25.000000. t= 639.60. Stopping!
: DepthEnvelope -- Measured altitude = 19.251117. Allowable altitude = 25.000000. t= 639.80. Stopping!
: DepthEnvelope -- Measured altitude = 19.170408. Allowable altitude = 25.000000. t= 640.00. Stopping!
: DepthEnvelope -- Measured altitude = 19.131747. Allowable altitude = 25.000000. t= 640.20. Stopping!
: DepthEnvelope -- Measured altitude = 19.301245. Allowable altitude = 25.000000. t= 640.40. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 18.903791. Allowable altitude = 25.000000. t= 640.60. Stopping!
: DepthEnvelope -- Measured altitude = 18.565933. Allowable altitude = 25.000000. t= 640.80. Stopping!
: DepthEnvelope -- Measured altitude = 18.770704. Allowable altitude = 25.000000. t= 641.00. Stopping!
: DepthEnvelope -- Measured altitude = 18.734331. Allowable altitude = 25.000000. t= 641.20. Stopping!
: DepthEnvelope -- Measured altitude = 18.700757. Allowable altitude = 25.000000. t= 641.40. Stopping!
: DepthEnvelope -- Measured altitude = 18.526922. Allowable altitude = 25.000000. t= 641.60. Stopping!
: DepthEnvelope -- Measured altitude = 18.520236. Allowable altitude = 25.000000. t= 641.80. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 18.197486. Allowable altitude = 25.000000. t= 642.00. Stopping!
: DepthEnvelope -- Measured altitude = 18.172352. Allowable altitude = 25.000000. t= 642.20. Stopping!
: DepthEnvelope -- Measured altitude = 18.147797. Allowable altitude = 25.000000. t= 642.40. Stopping!
: DepthEnvelope -- Measured altitude = 18.345006. Allowable altitude = 25.000000. t= 642.60. Stopping!
: DepthEnvelope -- Measured altitude = 18.103691. Allowable altitude = 25.000000. t= 642.80. Stopping!
: DepthEnvelope -- Measured altitude = 18.081592. Allowable altitude = 25.000000. t= 643.00. Stopping!
: DepthEnvelope -- Measured altitude = 17.730338. Allowable altitude = 25.000000. t= 643.20. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 18.008754. Allowable altitude = 25.000000. t= 643.40. Stopping!
: DepthEnvelope -- Measured altitude = 17.689247. Allowable altitude = 25.000000. t= 643.60. Stopping!
: DepthEnvelope -- Measured altitude = 17.648047. Allowable altitude = 25.000000. t= 643.80. Stopping!
: DepthEnvelope -- Measured altitude = 17.621674. Allowable altitude = 25.000000. t= 644.00. Stopping!
: DepthEnvelope -- Measured altitude = 17.608579. Allowable altitude = 25.000000. t= 644.20. Stopping!
: DepthEnvelope -- Measured altitude = 17.791802. Allowable altitude = 25.000000. t= 644.40. Stopping!
: DepthEnvelope -- Measured altitude = 17.372970. Allowable altitude = 25.000000. t= 644.60. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 17.393666. Allowable altitude = 25.000000. t= 644.80. Stopping!
: DepthEnvelope -- Measured altitude = 17.406085. Allowable altitude = 25.000000. t= 645.00. Stopping!
: DepthEnvelope -- Measured altitude = 17.253729. Allowable altitude = 25.000000. t= 645.20. Stopping!
: DepthEnvelope -- Measured altitude = 17.302934. Allowable altitude = 25.000000. t= 645.40. Stopping!
: DepthEnvelope -- Measured altitude = 17.171912. Allowable altitude = 25.000000. t= 645.60. Stopping!
: DepthEnvelope -- Measured altitude = 17.082930. Allowable altitude = 25.000000. t= 645.80. Stopping!
: DepthEnvelope -- Measured altitude = 17.194018. Allowable altitude = 25.000000. t= 646.00. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 17.280435. Allowable altitude = 25.000000. t= 646.20. Stopping!
: DepthEnvelope -- Measured altitude = 17.329274. Allowable altitude = 25.000000. t= 646.40. Stopping!
: DepthEnvelope -- Measured altitude = 16.847075. Allowable altitude = 25.000000. t= 646.60. Stopping!
: DepthEnvelope -- Measured altitude = 16.965280. Allowable altitude = 25.000000. t= 646.80. Stopping!
: DepthEnvelope -- Measured altitude = 17.110043. Allowable altitude = 25.000000. t= 647.00. Stopping!
: DepthEnvelope -- Measured altitude = 16.862928. Allowable altitude = 25.000000. t= 647.20. Stopping!
: DepthEnvelope -- Measured altitude = 16.984680. Allowable altitude = 25.000000. t= 647.40. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 16.951863. Allowable altitude = 25.000000. t= 647.60. Stopping!
: DepthEnvelope -- Measured altitude = 16.935911. Allowable altitude = 25.000000. t= 647.80. Stopping!
: DepthEnvelope -- Measured altitude = 16.919848. Allowable altitude = 25.000000. t= 648.00. Stopping!
: DepthEnvelope -- Measured altitude = 16.668055. Allowable altitude = 25.000000. t= 648.20. Stopping!
: DepthEnvelope -- Measured altitude = 16.995765. Allowable altitude = 25.000000. t= 648.40. Stopping!
: DepthEnvelope -- Measured altitude = 16.947755. Allowable altitude = 25.000000. t= 648.60. Stopping!
: DepthEnvelope -- Measured altitude = 16.931887. Allowable altitude = 25.000000. t= 648.80. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 16.916128. Allowable altitude = 25.000000. t= 649.00. Stopping!
: DepthEnvelope -- Measured altitude = 16.664978. Allowable altitude = 25.000000. t= 649.20. Stopping!
: DepthEnvelope -- Measured altitude = 16.822219. Allowable altitude = 25.000000. t= 649.40. Stopping!
: DepthEnvelope -- Measured altitude = 16.767755. Allowable altitude = 25.000000. t= 649.60. Stopping!
: DepthEnvelope -- Measured altitude = 16.735278. Allowable altitude = 25.000000. t= 649.80. Stopping!
: DepthEnvelope -- Measured altitude = 16.702999. Allowable altitude = 25.000000. t= 650.00. Stopping!
: DepthEnvelope -- Measured altitude = 16.852959. Allowable altitude = 25.000000. t= 650.20. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 16.801416. Allowable altitude = 25.000000. t= 650.40. Stopping!
: DepthEnvelope -- Measured altitude = 16.769654. Allowable altitude = 25.000000. t= 650.60. Stopping!
: DepthEnvelope -- Measured altitude = 16.738049. Allowable altitude = 25.000000. t= 650.80. Stopping!
: DepthEnvelope -- Measured altitude = 17.210251. Allowable altitude = 25.000000. t= 651.00. Stopping!
: DepthEnvelope -- Measured altitude = 17.110263. Allowable altitude = 25.000000. t= 651.20. Stopping!
: DepthEnvelope -- Measured altitude = 17.046239. Allowable altitude = 25.000000. t= 651.40. Stopping!
: DepthEnvelope -- Measured altitude = 16.999421. Allowable altitude = 25.000000. t= 651.60. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 16.967697. Allowable altitude = 25.000000. t= 651.80. Stopping!
: DepthEnvelope -- Measured altitude = 17.112074. Allowable altitude = 25.000000. t= 652.00. Stopping!
: DepthEnvelope -- Measured altitude = 17.033552. Allowable altitude = 25.000000. t= 652.20. Stopping!
: DepthEnvelope -- Measured altitude = 17.159454. Allowable altitude = 25.000000. t= 652.40. Stopping!
: DepthEnvelope -- Measured altitude = 17.256238. Allowable altitude = 25.000000. t= 652.60. Stopping!
: DepthEnvelope -- Measured altitude = 17.319944. Allowable altitude = 25.000000. t= 652.80. Stopping!
: DepthEnvelope -- Measured altitude = 17.352792. Allowable altitude = 25.000000. t= 653.00. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 17.378490. Allowable altitude = 25.000000. t= 653.20. Stopping!
: DepthEnvelope -- Measured altitude = 17.394861. Allowable altitude = 25.000000. t= 653.40. Stopping!
: DepthEnvelope -- Measured altitude = 17.406123. Allowable altitude = 25.000000. t= 653.60. Stopping!
: DepthEnvelope -- Measured altitude = 17.241244. Allowable altitude = 25.000000. t= 653.80. Stopping!
: DepthEnvelope -- Measured altitude = 17.469114. Allowable altitude = 25.000000. t= 654.00. Stopping!
: DepthEnvelope -- Measured altitude = 17.275901. Allowable altitude = 25.000000. t= 654.20. Stopping!
: DepthEnvelope -- Measured altitude = 17.655929. Allowable altitude = 25.000000. t= 654.40. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 17.221827. Allowable altitude = 25.000000. t= 654.60. Stopping!
: DepthEnvelope -- Measured altitude = 17.618032. Allowable altitude = 25.000000. t= 654.80. Stopping!
: DepthEnvelope -- Measured altitude = 17.529699. Allowable altitude = 25.000000. t= 655.00. Stopping!
: DepthEnvelope -- Measured altitude = 17.465535. Allowable altitude = 25.000000. t= 655.20. Stopping!
: DepthEnvelope -- Measured altitude = 17.585545. Allowable altitude = 25.000000. t= 655.40. Stopping!
: DepthEnvelope -- Measured altitude = 17.897127. Allowable altitude = 25.000000. t= 655.60. Stopping!
: DepthEnvelope -- Measured altitude = 17.948457. Allowable altitude = 25.000000. t= 655.80. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 17.790280. Allowable altitude = 25.000000. t= 656.00. Stopping!
: DepthEnvelope -- Measured altitude = 18.028655. Allowable altitude = 25.000000. t= 656.20. Stopping!
: DepthEnvelope -- Measured altitude = 17.823026. Allowable altitude = 25.000000. t= 656.40. Stopping!
: DepthEnvelope -- Measured altitude = 18.048107. Allowable altitude = 25.000000. t= 656.60. Stopping!
: DepthEnvelope -- Measured altitude = 17.816221. Allowable altitude = 25.000000. t= 656.80. Stopping!
: DepthEnvelope -- Measured altitude = 18.172749. Allowable altitude = 25.000000. t= 656.99. Stopping!
: DepthEnvelope -- Measured altitude = 18.297033. Allowable altitude = 25.000000. t= 657.19. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 18.364567. Allowable altitude = 25.000000. t= 657.39. Stopping!
: DepthEnvelope -- Measured altitude = 18.407515. Allowable altitude = 25.000000. t= 657.59. Stopping!
: DepthEnvelope -- Measured altitude = 18.422025. Allowable altitude = 25.000000. t= 657.79. Stopping!
: DepthEnvelope -- Measured altitude = 18.435608. Allowable altitude = 25.000000. t= 657.99. Stopping!
: DepthEnvelope -- Measured altitude = 18.603502. Allowable altitude = 25.000000. t= 658.19. Stopping!
: DepthEnvelope -- Measured altitude = 18.130002. Allowable altitude = 25.000000. t= 658.39. Stopping!
: DepthEnvelope -- Measured altitude = 18.555084. Allowable altitude = 25.000000. t= 658.59. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 18.430492. Allowable altitude = 25.000000. t= 658.79. Stopping!
: DepthEnvelope -- Measured altitude = 18.360795. Allowable altitude = 25.000000. t= 658.99. Stopping!
: DepthEnvelope -- Measured altitude = 18.510838. Allowable altitude = 25.000000. t= 659.19. Stopping!
: DepthEnvelope -- Measured altitude = 18.605992. Allowable altitude = 25.000000. t= 659.39. Stopping!
: DepthEnvelope -- Measured altitude = 18.675608. Allowable altitude = 25.000000. t= 659.59. Stopping!
: DepthEnvelope -- Measured altitude = 18.716035. Allowable altitude = 25.000000. t= 659.79. Stopping!
: DepthEnvelope -- Measured altitude = 18.739084. Allowable altitude = 25.000000. t= 659.99. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 18.905354. Allowable altitude = 25.000000. t= 660.19. Stopping!
: DepthEnvelope -- Measured altitude = 18.851893. Allowable altitude = 25.000000. t= 660.39. Stopping!
: DepthEnvelope -- Measured altitude = 18.975540. Allowable altitude = 25.000000. t= 660.59. Stopping!
: DepthEnvelope -- Measured altitude = 19.416814. Allowable altitude = 25.000000. t= 660.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.353076. Allowable altitude = 25.000000. t= 661.94. Stopping!
: DepthEnvelope -- Measured altitude = 19.353076. Allowable altitude = 25.000000. t= 661.99. Stopping!
: DepthEnvelope -- Measured altitude = 19.554380. Allowable altitude = 25.000000. t= 662.19. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.501223. Allowable altitude = 25.000000. t= 662.39. Stopping!
: DepthEnvelope -- Measured altitude = 19.424075. Allowable altitude = 25.000000. t= 662.59. Stopping!
: DepthEnvelope -- Measured altitude = 19.696038. Allowable altitude = 25.000000. t= 662.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.573239. Allowable altitude = 25.000000. t= 662.99. Stopping!
: DepthEnvelope -- Measured altitude = 19.811301. Allowable altitude = 25.000000. t= 663.19. Stopping!
: DepthEnvelope -- Measured altitude = 19.414290. Allowable altitude = 25.000000. t= 663.39. Stopping!
: DepthEnvelope -- Measured altitude = 19.724097. Allowable altitude = 25.000000. t= 663.59. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.767318. Allowable altitude = 25.000000. t= 663.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.965006. Allowable altitude = 25.000000. t= 663.99. Stopping!
: DepthEnvelope -- Measured altitude = 19.749226. Allowable altitude = 25.000000. t= 664.19. Stopping!
: DepthEnvelope -- Measured altitude = 19.778846. Allowable altitude = 25.000000. t= 664.39. Stopping!
: DepthEnvelope -- Measured altitude = 19.807534. Allowable altitude = 25.000000. t= 664.59. Stopping!
: DepthEnvelope -- Measured altitude = 19.834875. Allowable altitude = 25.000000. t= 664.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.863620. Allowable altitude = 25.000000. t= 664.99. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.881697. Allowable altitude = 25.000000. t= 665.19. Stopping!
: DepthEnvelope -- Measured altitude = 19.901241. Allowable altitude = 25.000000. t= 665.39. Stopping!
: DepthEnvelope -- Measured altitude = 19.923718. Allowable altitude = 25.000000. t= 665.59. Stopping!
: DepthEnvelope -- Measured altitude = 19.766454. Allowable altitude = 25.000000. t= 665.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.839958. Allowable altitude = 25.000000. t= 665.99. Stopping!
: DepthEnvelope -- Measured altitude = 19.731354. Allowable altitude = 25.000000. t= 666.19. Stopping!
: DepthEnvelope -- Measured altitude = 19.656080. Allowable altitude = 25.000000. t= 666.39. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.790640. Allowable altitude = 25.000000. t= 666.59. Stopping!
: DepthEnvelope -- Measured altitude = 19.731205. Allowable altitude = 25.000000. t= 666.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.688386. Allowable altitude = 25.000000. t= 666.99. Stopping!
: DepthEnvelope -- Measured altitude = 19.663113. Allowable altitude = 25.000000. t= 667.19. Stopping!
: DepthEnvelope -- Measured altitude = 19.890480. Allowable altitude = 25.000000. t= 667.39. Stopping!
: DepthEnvelope -- Measured altitude = 19.620750. Allowable altitude = 25.000000. t= 667.59. Stopping!
: DepthEnvelope -- Measured altitude = 19.820086. Allowable altitude = 25.000000. t= 667.79. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.839636. Allowable altitude = 25.000000. t= 667.99. Stopping!
: DepthEnvelope -- Measured altitude = 19.844006. Allowable altitude = 25.000000. t= 668.19. Stopping!
: DepthEnvelope -- Measured altitude = 19.844763. Allowable altitude = 25.000000. t= 668.39. Stopping!
: DepthEnvelope -- Measured altitude = 19.865579. Allowable altitude = 25.000000. t= 668.59. Stopping!
: DepthEnvelope -- Measured altitude = 19.879310. Allowable altitude = 25.000000. t= 668.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.672888. Allowable altitude = 25.000000. t= 668.99. Stopping!
: DepthEnvelope -- Measured altitude = 19.536778. Allowable altitude = 25.000000. t= 669.19. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.673667. Allowable altitude = 25.000000. t= 669.39. Stopping!
: DepthEnvelope -- Measured altitude = 19.764788. Allowable altitude = 25.000000. t= 669.59. Stopping!
: DepthEnvelope -- Measured altitude = 19.842124. Allowable altitude = 25.000000. t= 669.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.711684. Allowable altitude = 25.000000. t= 669.99. Stopping!
: DepthEnvelope -- Measured altitude = 19.799237. Allowable altitude = 25.000000. t= 670.19. Stopping!
: DepthEnvelope -- Measured altitude = 19.681893. Allowable altitude = 25.000000. t= 670.39. Stopping!
: DepthEnvelope -- Measured altitude = 19.828907. Allowable altitude = 25.000000. t= 670.59. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.713170. Allowable altitude = 25.000000. t= 670.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.850816. Allowable altitude = 25.000000. t= 670.99. Stopping!
: DepthEnvelope -- Measured altitude = 19.934372. Allowable altitude = 25.000000. t= 671.19. Stopping!
: DepthEnvelope -- Measured altitude = 19.808417. Allowable altitude = 25.000000. t= 671.39. Stopping!
: DepthEnvelope -- Measured altitude = 19.920551. Allowable altitude = 25.000000. t= 671.59. Stopping!
: DepthEnvelope -- Measured altitude = 19.824914. Allowable altitude = 25.000000. t= 671.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.928055. Allowable altitude = 25.000000. t= 671.99. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.816446. Allowable altitude = 25.000000. t= 672.19. Stopping!
: DepthEnvelope -- Measured altitude = 19.746693. Allowable altitude = 25.000000. t= 672.39. Stopping!
: DepthEnvelope -- Measured altitude = 19.881074. Allowable altitude = 25.000000. t= 672.59. Stopping!
: DepthEnvelope -- Measured altitude = 19.794714. Allowable altitude = 25.000000. t= 672.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.907665. Allowable altitude = 25.000000. t= 672.99. Stopping!
: DepthEnvelope -- Measured altitude = 19.626700. Allowable altitude = 25.000000. t= 673.19. Stopping!
: DepthEnvelope -- Measured altitude = 19.784075. Allowable altitude = 25.000000. t= 673.39. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 19.913787. Allowable altitude = 25.000000. t= 673.59. Stopping!
: DepthEnvelope -- Measured altitude = 20.007624. Allowable altitude = 25.000000. t= 673.79. Stopping!
: DepthEnvelope -- Measured altitude = 19.689392. Allowable altitude = 25.000000. t= 673.99. Stopping!
: DepthEnvelope -- Measured altitude = 19.826180. Allowable altitude = 25.000000. t= 674.19. Stopping!
: DepthEnvelope -- Measured altitude = 19.932332. Allowable altitude = 25.000000. t= 674.39. Stopping!
: DepthEnvelope -- Measured altitude = 20.003370. Allowable altitude = 25.000000. t= 674.59. Stopping!
: DepthEnvelope -- Measured altitude = 20.056134. Allowable altitude = 25.000000. t= 674.79. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 20.077618. Allowable altitude = 25.000000. t= 674.99. Stopping!
: DepthEnvelope -- Measured altitude = 20.101638. Allowable altitude = 25.000000. t= 675.19. Stopping!
: DepthEnvelope -- Measured altitude = 20.103306. Allowable altitude = 25.000000. t= 675.39. Stopping!
: DepthEnvelope -- Measured altitude = 20.103138. Allowable altitude = 25.000000. t= 675.59. Stopping!
: DepthEnvelope -- Measured altitude = 20.103929. Allowable altitude = 25.000000. t= 675.79. Stopping!
: DepthEnvelope -- Measured altitude = 20.100967. Allowable altitude = 25.000000. t= 675.99. Stopping!
: DepthEnvelope -- Measured altitude = 20.082265. Allowable altitude = 25.000000. t= 676.19. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 20.250907. Allowable altitude = 25.000000. t= 676.39. Stopping!
: DepthEnvelope -- Measured altitude = 20.409847. Allowable altitude = 25.000000. t= 676.59. Stopping!
: DepthEnvelope -- Measured altitude = 20.290951. Allowable altitude = 25.000000. t= 676.79. Stopping!
: DepthEnvelope -- Measured altitude = 20.204824. Allowable altitude = 25.000000. t= 676.99. Stopping!
: DepthEnvelope -- Measured altitude = 20.544109. Allowable altitude = 25.000000. t= 677.19. Stopping!
: DepthEnvelope -- Measured altitude = 20.322331. Allowable altitude = 25.000000. t= 677.39. Stopping!
: DepthEnvelope -- Measured altitude = 20.425254. Allowable altitude = 25.000000. t= 677.59. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 20.478383. Allowable altitude = 25.000000. t= 677.79. Stopping!
: DepthEnvelope -- Measured altitude = 20.268822. Allowable altitude = 25.000000. t= 677.99. Stopping!
: DepthEnvelope -- Measured altitude = 20.732707. Allowable altitude = 25.000000. t= 678.19. Stopping!
: DepthEnvelope -- Measured altitude = 20.677703. Allowable altitude = 25.000000. t= 678.39. Stopping!
: DepthEnvelope -- Measured altitude = 20.618483. Allowable altitude = 25.000000. t= 678.59. Stopping!
: DepthEnvelope -- Measured altitude = 20.763264. Allowable altitude = 25.000000. t= 678.79. Stopping!
: DepthEnvelope -- Measured altitude = 20.871831. Allowable altitude = 25.000000. t= 678.99. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 20.930257. Allowable altitude = 25.000000. t= 679.19. Stopping!
: DepthEnvelope -- Measured altitude = 20.961171. Allowable altitude = 25.000000. t= 679.39. Stopping!
: DepthEnvelope -- Measured altitude = 20.786745. Allowable altitude = 25.000000. t= 679.59. Stopping!
: DepthEnvelope -- Measured altitude = 20.649449. Allowable altitude = 25.000000. t= 679.79. Stopping!
: DepthEnvelope -- Measured altitude = 20.921723. Allowable altitude = 25.000000. t= 679.99. Stopping!
: DepthEnvelope -- Measured altitude = 20.936172. Allowable altitude = 25.000000. t= 680.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.302330. Allowable altitude = 25.000000. t= 680.39. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.181892. Allowable altitude = 25.000000. t= 680.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.079515. Allowable altitude = 25.000000. t= 680.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.012150. Allowable altitude = 25.000000. t= 680.99. Stopping!
: DepthEnvelope -- Measured altitude = 20.958501. Allowable altitude = 25.000000. t= 681.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.096180. Allowable altitude = 25.000000. t= 681.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.209392. Allowable altitude = 25.000000. t= 681.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.087373. Allowable altitude = 25.000000. t= 681.79. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.173152. Allowable altitude = 25.000000. t= 681.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.248026. Allowable altitude = 25.000000. t= 682.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.294737. Allowable altitude = 25.000000. t= 682.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.329266. Allowable altitude = 25.000000. t= 682.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.364642. Allowable altitude = 25.000000. t= 682.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.373195. Allowable altitude = 25.000000. t= 682.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.382734. Allowable altitude = 25.000000. t= 683.19. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.396265. Allowable altitude = 25.000000. t= 683.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.412221. Allowable altitude = 25.000000. t= 683.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.607340. Allowable altitude = 25.000000. t= 683.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.593835. Allowable altitude = 25.000000. t= 683.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.555455. Allowable altitude = 25.000000. t= 684.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.337174. Allowable altitude = 25.000000. t= 684.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.353965. Allowable altitude = 25.000000. t= 684.59. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.203728. Allowable altitude = 25.000000. t= 684.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.292371. Allowable altitude = 25.000000. t= 684.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.366837. Allowable altitude = 25.000000. t= 685.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.237577. Allowable altitude = 25.000000. t= 685.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.138500. Allowable altitude = 25.000000. t= 685.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.554151. Allowable altitude = 25.000000. t= 685.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.327611. Allowable altitude = 25.000000. t= 685.99. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.218058. Allowable altitude = 25.000000. t= 686.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.636181. Allowable altitude = 25.000000. t= 686.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.205041. Allowable altitude = 25.000000. t= 686.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.627383. Allowable altitude = 25.000000. t= 686.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.030552. Allowable altitude = 25.000000. t= 686.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.286459. Allowable altitude = 25.000000. t= 687.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.498963. Allowable altitude = 25.000000. t= 687.39. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.437099. Allowable altitude = 25.000000. t= 687.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.389103. Allowable altitude = 25.000000. t= 687.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.356410. Allowable altitude = 25.000000. t= 687.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.356707. Allowable altitude = 25.000000. t= 688.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.352320. Allowable altitude = 25.000000. t= 688.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.143465. Allowable altitude = 25.000000. t= 688.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.239261. Allowable altitude = 25.000000. t= 688.79. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.300767. Allowable altitude = 25.000000. t= 688.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.357634. Allowable altitude = 25.000000. t= 689.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.402393. Allowable altitude = 25.000000. t= 689.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.245782. Allowable altitude = 25.000000. t= 689.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.366106. Allowable altitude = 25.000000. t= 689.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.242088. Allowable altitude = 25.000000. t= 689.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.352684. Allowable altitude = 25.000000. t= 690.19. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.245036. Allowable altitude = 25.000000. t= 690.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.157639. Allowable altitude = 25.000000. t= 690.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.102608. Allowable altitude = 25.000000. t= 690.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.076886. Allowable altitude = 25.000000. t= 690.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.068272. Allowable altitude = 25.000000. t= 691.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.300626. Allowable altitude = 25.000000. t= 691.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.017465. Allowable altitude = 25.000000. t= 691.59. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.033490. Allowable altitude = 25.000000. t= 691.79. Stopping!
: DepthEnvelope -- Measured altitude = 20.851400. Allowable altitude = 25.000000. t= 691.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.326681. Allowable altitude = 25.000000. t= 692.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.281973. Allowable altitude = 25.000000. t= 692.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.249692. Allowable altitude = 25.000000. t= 692.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.231678. Allowable altitude = 25.000000. t= 692.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.229490. Allowable altitude = 25.000000. t= 692.99. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.226741. Allowable altitude = 25.000000. t= 693.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.216227. Allowable altitude = 25.000000. t= 693.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.209048. Allowable altitude = 25.000000. t= 693.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.203192. Allowable altitude = 25.000000. t= 693.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.196937. Allowable altitude = 25.000000. t= 693.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.204304. Allowable altitude = 25.000000. t= 694.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.211250. Allowable altitude = 25.000000. t= 694.39. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.217199. Allowable altitude = 25.000000. t= 694.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.446199. Allowable altitude = 25.000000. t= 694.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.396444. Allowable altitude = 25.000000. t= 694.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.572793. Allowable altitude = 25.000000. t= 695.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.493524. Allowable altitude = 25.000000. t= 695.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.642842. Allowable altitude = 25.000000. t= 695.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.530233. Allowable altitude = 25.000000. t= 695.79. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.454817. Allowable altitude = 25.000000. t= 695.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.617745. Allowable altitude = 25.000000. t= 696.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.725081. Allowable altitude = 25.000000. t= 696.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.597420. Allowable altitude = 25.000000. t= 696.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.709852. Allowable altitude = 25.000000. t= 696.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.579191. Allowable altitude = 25.000000. t= 696.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.692757. Allowable altitude = 25.000000. t= 697.19. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.787783. Allowable altitude = 25.000000. t= 697.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.852222. Allowable altitude = 25.000000. t= 697.59. Stopping!
: DepthEnvelope -- Measured altitude = 21.895249. Allowable altitude = 25.000000. t= 697.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.925004. Allowable altitude = 25.000000. t= 697.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.939971. Allowable altitude = 25.000000. t= 698.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.954350. Allowable altitude = 25.000000. t= 698.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.968943. Allowable altitude = 25.000000. t= 698.59. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 21.980971. Allowable altitude = 25.000000. t= 698.79. Stopping!
: DepthEnvelope -- Measured altitude = 21.977929. Allowable altitude = 25.000000. t= 698.99. Stopping!
: DepthEnvelope -- Measured altitude = 21.975148. Allowable altitude = 25.000000. t= 699.19. Stopping!
: DepthEnvelope -- Measured altitude = 21.972410. Allowable altitude = 25.000000. t= 699.39. Stopping!
: DepthEnvelope -- Measured altitude = 21.969658. Allowable altitude = 25.000000. t= 699.59. Stopping!
: DepthEnvelope -- Measured altitude = 22.177171. Allowable altitude = 25.000000. t= 699.79. Stopping!
: DepthEnvelope -- Measured altitude = 22.354932. Allowable altitude = 25.000000. t= 699.99. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 22.230436. Allowable altitude = 25.000000. t= 700.19. Stopping!
: DepthEnvelope -- Measured altitude = 22.382257. Allowable altitude = 25.000000. t= 700.39. Stopping!
: DepthEnvelope -- Measured altitude = 22.255302. Allowable altitude = 25.000000. t= 700.59. Stopping!
: DepthEnvelope -- Measured altitude = 22.409839. Allowable altitude = 25.000000. t= 700.79. Stopping!
: DepthEnvelope -- Measured altitude = 22.501972. Allowable altitude = 25.000000. t= 700.99. Stopping!
: DepthEnvelope -- Measured altitude = 22.328404. Allowable altitude = 25.000000. t= 701.19. Stopping!
: DepthEnvelope -- Measured altitude = 22.451981. Allowable altitude = 25.000000. t= 701.39. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 22.529332. Allowable altitude = 25.000000. t= 701.59. Stopping!
: DepthEnvelope -- Measured altitude = 22.592288. Allowable altitude = 25.000000. t= 701.79. Stopping!
: DepthEnvelope -- Measured altitude = 22.404036. Allowable altitude = 25.000000. t= 701.99. Stopping!
: DepthEnvelope -- Measured altitude = 22.938096. Allowable altitude = 25.000000. t= 702.19. Stopping!
: DepthEnvelope -- Measured altitude = 22.639599. Allowable altitude = 25.000000. t= 702.39. Stopping!
: DepthEnvelope -- Measured altitude = 22.900478. Allowable altitude = 25.000000. t= 702.59. Stopping!
: DepthEnvelope -- Measured altitude = 22.606525. Allowable altitude = 25.000000. t= 702.79. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 23.101694. Allowable altitude = 25.000000. t= 702.99. Stopping!
: DepthEnvelope -- Measured altitude = 22.745724. Allowable altitude = 25.000000. t= 703.19. Stopping!
: DepthEnvelope -- Measured altitude = 22.979549. Allowable altitude = 25.000000. t= 703.39. Stopping!
: DepthEnvelope -- Measured altitude = 22.665635. Allowable altitude = 25.000000. t= 703.59. Stopping!
: DepthEnvelope -- Measured altitude = 23.133693. Allowable altitude = 25.000000. t= 703.79. Stopping!
: DepthEnvelope -- Measured altitude = 22.775750. Allowable altitude = 25.000000. t= 703.99. Stopping!
: DepthEnvelope -- Measured altitude = 23.202665. Allowable altitude = 25.000000. t= 704.19. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 22.836328. Allowable altitude = 25.000000. t= 704.39. Stopping!
: DepthEnvelope -- Measured altitude = 23.250445. Allowable altitude = 25.000000. t= 704.59. Stopping!
: DepthEnvelope -- Measured altitude = 22.851955. Allowable altitude = 25.000000. t= 704.79. Stopping!
: DepthEnvelope -- Measured altitude = 23.265842. Allowable altitude = 25.000000. t= 704.99. Stopping!
: DepthEnvelope -- Measured altitude = 22.862807. Allowable altitude = 25.000000. t= 705.19. Stopping!
: DepthEnvelope -- Measured altitude = 23.504684. Allowable altitude = 25.000000. t= 705.39. Stopping!
: DepthEnvelope -- Measured altitude = 23.016085. Allowable altitude = 25.000000. t= 705.59. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 23.393944. Allowable altitude = 25.000000. t= 705.79. Stopping!
: DepthEnvelope -- Measured altitude = 23.158007. Allowable altitude = 25.000000. t= 705.99. Stopping!
: DepthEnvelope -- Measured altitude = 23.481605. Allowable altitude = 25.000000. t= 706.19. Stopping!
: DepthEnvelope -- Measured altitude = 23.233365. Allowable altitude = 25.000000. t= 706.39. Stopping!
: DepthEnvelope -- Measured altitude = 23.527040. Allowable altitude = 25.000000. t= 706.59. Stopping!
: DepthEnvelope -- Measured altitude = 23.265863. Allowable altitude = 25.000000. t= 706.79. Stopping!
: DepthEnvelope -- Measured altitude = 23.559090. Allowable altitude = 25.000000. t= 706.99. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 23.293699. Allowable altitude = 25.000000. t= 707.19. Stopping!
: DepthEnvelope -- Measured altitude = 23.567992. Allowable altitude = 25.000000. t= 707.39. Stopping!
: DepthEnvelope -- Measured altitude = 23.532353. Allowable altitude = 25.000000. t= 707.59. Stopping!
: DepthEnvelope -- Measured altitude = 23.720759. Allowable altitude = 25.000000. t= 707.79. Stopping!
: DepthEnvelope -- Measured altitude = 23.411914. Allowable altitude = 25.000000. t= 707.99. Stopping!
: DepthEnvelope -- Measured altitude = 23.657980. Allowable altitude = 25.000000. t= 708.19. Stopping!
: DepthEnvelope -- Measured altitude = 23.586705. Allowable altitude = 25.000000. t= 708.39. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 23.762618. Allowable altitude = 25.000000. t= 708.59. Stopping!
: DepthEnvelope -- Measured altitude = 23.662327. Allowable altitude = 25.000000. t= 708.79. Stopping!
: DepthEnvelope -- Measured altitude = 23.582317. Allowable altitude = 25.000000. t= 708.99. Stopping!
: DepthEnvelope -- Measured altitude = 24.010757. Allowable altitude = 25.000000. t= 709.19. Stopping!
: DepthEnvelope -- Measured altitude = 23.602794. Allowable altitude = 25.000000. t= 709.39. Stopping!
: DepthEnvelope -- Measured altitude = 24.009814. Allowable altitude = 25.000000. t= 709.59. Stopping!
: DepthEnvelope -- Measured altitude = 23.602018. Allowable altitude = 25.000000. t= 709.79. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 24.009889. Allowable altitude = 25.000000. t= 709.99. Stopping!
: DepthEnvelope -- Measured altitude = 23.831299. Allowable altitude = 25.000000. t= 710.19. Stopping!
: DepthEnvelope -- Measured altitude = 24.187649. Allowable altitude = 25.000000. t= 710.39. Stopping!
: DepthEnvelope -- Measured altitude = 23.730200. Allowable altitude = 25.000000. t= 710.59. Stopping!
: DepthEnvelope -- Measured altitude = 24.109212. Allowable altitude = 25.000000. t= 710.79. Stopping!
: DepthEnvelope -- Measured altitude = 23.673765. Allowable altitude = 25.000000. t= 710.99. Stopping!
: DepthEnvelope -- Measured altitude = 24.066376. Allowable altitude = 25.000000. t= 711.19. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 24.128790. Allowable altitude = 25.000000. t= 711.39. Stopping!
: DepthEnvelope -- Measured altitude = 24.167519. Allowable altitude = 25.000000. t= 711.59. Stopping!
: DepthEnvelope -- Measured altitude = 24.198167. Allowable altitude = 25.000000. t= 711.79. Stopping!
: DepthEnvelope -- Measured altitude = 24.220343. Allowable altitude = 25.000000. t= 711.99. Stopping!
: DepthEnvelope -- Measured altitude = 24.236036. Allowable altitude = 25.000000. t= 712.19. Stopping!
: DepthEnvelope -- Measured altitude = 24.008298. Allowable altitude = 25.000000. t= 712.39. Stopping!
: DepthEnvelope -- Measured altitude = 23.852221. Allowable altitude = 25.000000. t= 712.59. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 24.453689. Allowable altitude = 25.000000. t= 712.79. Stopping!
: DepthEnvelope -- Measured altitude = 24.389621. Allowable altitude = 25.000000. t= 712.99. Stopping!
: DepthEnvelope -- Measured altitude = 24.346541. Allowable altitude = 25.000000. t= 713.19. Stopping!
: DepthEnvelope -- Measured altitude = 24.320407. Allowable altitude = 25.000000. t= 713.39. Stopping!
: DepthEnvelope -- Measured altitude = 24.307067. Allowable altitude = 25.000000. t= 713.59. Stopping!
: DepthEnvelope -- Measured altitude = 24.293583. Allowable altitude = 25.000000. t= 713.79. Stopping!
: DepthEnvelope -- Measured altitude = 24.308274. Allowable altitude = 25.000000. t= 713.99. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 24.311777. Allowable altitude = 25.000000. t= 714.19. Stopping!
: DepthEnvelope -- Measured altitude = 24.315262. Allowable altitude = 25.000000. t= 714.39. Stopping!
: DepthEnvelope -- Measured altitude = 24.318352. Allowable altitude = 25.000000. t= 714.59. Stopping!
: DepthEnvelope -- Measured altitude = 24.321740. Allowable altitude = 25.000000. t= 714.79. Stopping!
: DepthEnvelope -- Measured altitude = 24.324736. Allowable altitude = 25.000000. t= 714.99. Stopping!
: DepthEnvelope -- Measured altitude = 24.327780. Allowable altitude = 25.000000. t= 715.19. Stopping!
: DepthEnvelope -- Measured altitude = 24.330378. Allowable altitude = 25.000000. t= 715.39. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 24.333027. Allowable altitude = 25.000000. t= 715.59. Stopping!
: DepthEnvelope -- Measured altitude = 24.570746. Allowable altitude = 25.000000. t= 715.79. Stopping!
: DepthEnvelope -- Measured altitude = 24.743747. Allowable altitude = 25.000000. t= 715.99. Stopping!
: DepthEnvelope -- Measured altitude = 24.601650. Allowable altitude = 25.000000. t= 716.19. Stopping!
: DepthEnvelope -- Measured altitude = 24.763160. Allowable altitude = 25.000000. t= 716.39. Stopping!
: DepthEnvelope -- Measured altitude = 24.618734. Allowable altitude = 25.000000. t= 716.59. Stopping!
: DepthEnvelope -- Measured altitude = 24.786118. Allowable altitude = 25.000000. t= 716.79. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 24.899183. Allowable altitude = 25.000000. t= 716.99. Stopping!
: DepthEnvelope -- Measured altitude = 24.718287. Allowable altitude = 25.000000. t= 717.19. Stopping!
: DepthEnvelope -- Measured altitude = 24.853081. Allowable altitude = 25.000000. t= 717.39. Stopping!
: DepthEnvelope -- Measured altitude = 24.936129. Allowable altitude = 25.000000. t= 717.59. Stopping!
: DepthEnvelope -- Measured altitude = 24.823630. Allowable altitude = 25.000000. t= 718.19. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 24.924195. Allowable altitude = 25.000000. t= 718.39. Stopping!
: DepthEnvelope -- Measured altitude = 24.989829. Allowable altitude = 25.000000. t= 718.59. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 24.957849. Allowable altitude = 25.000000. t= 730.80. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 24.713005. Allowable altitude = 25.000000. t= 731.20. Stopping!
: DepthEnvelope -- Measured altitude = 16.668288. Allowable altitude = 25.000000. t= 732.20. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 17.028307. Allowable altitude = 25.000000. t= 734.00. Stopping!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 50.039035. Abort altitude = 25.000000. t= 862.59, starting prop!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: LayeredControl::execute() -- (t = 890.998962) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 890.998962) Behavior setpoint:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: destroying segment LayeredControlOutput_ShmemName
: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2

: destroying prot sem LayeredControlOutput_ShmemName_prot
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: destroying notify sem LayeredControlOutput_ShmemName_notify
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: destroying segment LayeredControlInput_ShmemName
: destroying segment LayeredControlInput_ShmemName
: destroying prot sem LayeredControlInput_ShmemName_prot
: destroying prot sem LayeredControlInput_ShmemName_prot
: destroying notify sem LayeredControlInput_ShmemName_notify
: destroying notify sem LayeredControlInput_ShmemName_notify
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: destroying segment LayeredControlOutput_ShmemName
: destroying prot sem LayeredControlOutput_ShmemName_prot
: destroying notify sem LayeredControlOutput_ShmemName_notify

//3/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000447E4.
