2021-07-26T18:00:11.235Z,1627322411.235 [Supervisor](DEBUG): Initializing supervisor.
2021-07-26T18:00:11.240Z,1627322411.240 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-07-26T18:00:11.240Z,1627322411.240 [SyncHandler](INFO): Protected caller Thread ID is 4677
2021-07-26T18:00:11.240Z,1627322411.240 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-07-26T18:00:11.241Z,1627322411.241 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-07-26T18:00:11.242Z,1627322411.242 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4678
2021-07-26T18:00:11.246Z,1627322411.246 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-07-26T18:00:11.266Z,1627322411.266 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-07-26T18:00:11.267Z,1627322411.267 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-07-26T18:00:11.268Z,1627322411.268 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4679
2021-07-26T18:00:11.270Z,1627322411.270 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-07-26T18:00:11.271Z,1627322411.271 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-07-26T18:00:11.271Z,1627322411.271 [logger ThreadHandler](INFO): Protected caller Thread ID is 4680
2021-07-26T18:00:11.275Z,1627322411.275 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-07-26T18:00:11.276Z,1627322411.276 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-07-26T18:00:11.277Z,1627322411.277 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-07-26T18:00:11.551Z,1627322411.551 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-07-26T18:00:11.552Z,1627322411.552 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-07-26T18:00:11.632Z,1627322411.632 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-07-26T18:00:12.142Z,1627322412.142 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-07-26T18:00:12.143Z,1627322412.143 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-07-26T18:00:12.478Z,1627322412.478 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-07-26T18:00:12.478Z,1627322412.478 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-07-26T18:00:12.575Z,1627322412.575 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-07-26T18:00:12.576Z,1627322412.576 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-07-26T18:00:12.952Z,1627322412.952 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-07-26T18:00:12.953Z,1627322412.953 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-07-26T18:00:13.154Z,1627322413.154 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-07-26T18:00:13.155Z,1627322413.155 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-07-26T18:00:13.624Z,1627322413.624 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-07-26T18:00:13.625Z,1627322413.625 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-07-26T18:00:13.752Z,1627322413.752 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-07-26T18:00:13.753Z,1627322413.753 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-07-26T18:00:13.832Z,1627322413.832 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-07-26T18:00:14.506Z,1627322414.506 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-07-26T18:00:14.506Z,1627322414.506 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-07-26T18:00:14.876Z,1627322414.876 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-07-26T18:00:14.876Z,1627322414.876 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-07-26T18:00:15.071Z,1627322415.071 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-07-26T18:00:15.071Z,1627322415.071 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-07-26T18:00:15.183Z,1627322415.183 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-07-26T18:00:15.184Z,1627322415.184 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-07-26T18:00:15.337Z,1627322415.337 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-07-26T18:00:15.338Z,1627322415.338 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-07-26T18:00:15.571Z,1627322415.571 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-07-26T18:00:15.573Z,1627322415.573 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2021-07-26T18:00:15.574Z,1627322415.574 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2021-07-26T18:00:15.664Z,1627322415.664 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2021-07-26T18:00:15.757Z,1627322415.757 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2021-07-26T18:00:15.991Z,1627322415.991 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2021-07-26T18:00:16.156Z,1627322416.156 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2021-07-26T18:00:16.291Z,1627322416.291 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2021-07-26T18:00:16.395Z,1627322416.395 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2021-07-26T18:00:16.936Z,1627322416.936 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2021-07-26T18:00:17.017Z,1627322417.017 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2021-07-26T18:00:17.166Z,1627322417.166 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2021-07-26T18:00:17.306Z,1627322417.306 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2021-07-26T18:00:17.423Z,1627322417.423 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2021-07-26T18:00:17.689Z,1627322417.689 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-07-26T18:00:17.690Z,1627322417.690 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-07-26T18:00:17.700Z,1627322417.700 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-07-26T18:00:17.759Z,1627322417.759 [VerticalControl](DEBUG): Construct VerticalControl.
2021-07-26T18:00:17.823Z,1627322417.823 [VerticalControl] Loaded
2021-07-26T18:00:17.824Z,1627322417.824 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-07-26T18:00:17.826Z,1627322417.826 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-07-26T18:00:17.868Z,1627322417.868 [HorizontalControl] Loaded
2021-07-26T18:00:17.868Z,1627322417.868 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-07-26T18:00:17.871Z,1627322417.871 [SpeedControl](DEBUG): Construct SpeedControl.
2021-07-26T18:00:17.874Z,1627322417.874 [SpeedControl] Loaded
2021-07-26T18:00:17.874Z,1627322417.874 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-07-26T18:00:17.877Z,1627322417.877 [LoopControl](DEBUG): Construct LoopControl.
2021-07-26T18:00:17.877Z,1627322417.877 [LoopControl] Loaded
2021-07-26T18:00:17.878Z,1627322417.878 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-07-26T18:00:17.878Z,1627322417.878 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-07-26T18:00:17.879Z,1627322417.879 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-07-26T18:00:17.890Z,1627322417.890 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-07-26T18:00:17.891Z,1627322417.891 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-07-26T18:00:18.002Z,1627322418.002 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-07-26T18:00:18.002Z,1627322418.002 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-07-26T18:00:18.159Z,1627322418.159 [BuoyancyServo] Loaded
2021-07-26T18:00:18.159Z,1627322418.159 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-07-26T18:00:18.179Z,1627322418.179 [ElevatorServo] Loaded
2021-07-26T18:00:18.180Z,1627322418.180 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-07-26T18:00:18.198Z,1627322418.198 [MassServo] Loaded
2021-07-26T18:00:18.199Z,1627322418.199 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-07-26T18:00:18.217Z,1627322418.217 [RudderServo] Loaded
2021-07-26T18:00:18.218Z,1627322418.218 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-07-26T18:00:18.236Z,1627322418.236 [ThrusterServo] Loaded
2021-07-26T18:00:18.236Z,1627322418.236 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-07-26T18:00:18.236Z,1627322418.236 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-07-26T18:00:18.237Z,1627322418.237 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-07-26T18:00:18.321Z,1627322418.321 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-07-26T18:00:18.321Z,1627322418.321 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-07-26T18:00:18.335Z,1627322418.335 [NavChart] Loaded
2021-07-26T18:00:18.335Z,1627322418.335 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-07-26T18:00:18.341Z,1627322418.341 [UniversalFixResidualReporter] Loaded
2021-07-26T18:00:18.341Z,1627322418.341 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-07-26T18:00:18.342Z,1627322418.342 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-07-26T18:00:18.342Z,1627322418.342 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-07-26T18:00:18.404Z,1627322418.404 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-07-26T18:00:18.404Z,1627322418.404 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-07-26T18:00:18.791Z,1627322418.791 [AHRS_M2] Loaded
2021-07-26T18:00:18.791Z,1627322418.791 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-07-26T18:00:19.608Z,1627322419.608 [BPC1] Loaded
2021-07-26T18:00:19.609Z,1627322419.609 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-07-26T18:00:19.682Z,1627322419.682 [DataOverHttps] Loaded
2021-07-26T18:00:19.682Z,1627322419.682 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-07-26T18:00:19.684Z,1627322419.684 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408854E0
2021-07-26T18:00:19.684Z,1627322419.684 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 4765
2021-07-26T18:00:19.704Z,1627322419.704 [Depth_Keller] Loaded
2021-07-26T18:00:19.705Z,1627322419.705 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-07-26T18:00:19.709Z,1627322419.709 [DropWeight] Loaded
2021-07-26T18:00:19.710Z,1627322419.710 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-07-26T18:00:19.770Z,1627322419.770 [NAL9602] Loaded
2021-07-26T18:00:19.770Z,1627322419.770 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-07-26T18:00:19.800Z,1627322419.800 [Onboard] Loaded
2021-07-26T18:00:19.800Z,1627322419.800 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-07-26T18:00:19.801Z,1627322419.801 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408B54E0
2021-07-26T18:00:19.802Z,1627322419.802 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 4766
2021-07-26T18:00:19.815Z,1627322419.815 [Power24vConverter] Loaded
2021-07-26T18:00:19.815Z,1627322419.815 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-07-26T18:00:19.828Z,1627322419.828 [Radio_Surface] Loaded
2021-07-26T18:00:19.829Z,1627322419.829 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-07-26T18:00:19.830Z,1627322419.830 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408E54E0
2021-07-26T18:00:19.830Z,1627322419.830 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4767
2021-07-26T18:00:19.831Z,1627322419.831 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-07-26T18:00:19.831Z,1627322419.831 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-07-26T18:00:19.877Z,1627322419.877 [DepthRateCalculator] Loaded
2021-07-26T18:00:19.877Z,1627322419.877 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-07-26T18:00:19.882Z,1627322419.882 [PitchRateCalculator] Loaded
2021-07-26T18:00:19.882Z,1627322419.882 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-07-26T18:00:19.892Z,1627322419.892 [SpeedCalculator] Loaded
2021-07-26T18:00:19.892Z,1627322419.892 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-07-26T18:00:19.906Z,1627322419.906 [TempGradientCalculator] Loaded
2021-07-26T18:00:19.907Z,1627322419.907 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-07-26T18:00:19.911Z,1627322419.911 [YawRateCalculator] Loaded
2021-07-26T18:00:19.912Z,1627322419.912 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-07-26T18:00:19.930Z,1627322419.930 [ElevatorOffsetCalculator] Loaded
2021-07-26T18:00:19.930Z,1627322419.930 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-07-26T18:00:19.931Z,1627322419.931 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-07-26T18:00:19.931Z,1627322419.931 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-07-26T18:00:20.077Z,1627322420.077 [CANONSampler] Loaded
2021-07-26T18:00:20.078Z,1627322420.078 [ComponentRegistry](DEBUG): SyncComponent "CANONSampler" handled in the control thread.
2021-07-26T18:00:20.138Z,1627322420.138 [CTD_Seabird] Loaded
2021-07-26T18:00:20.138Z,1627322420.138 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-07-26T18:00:20.139Z,1627322420.139 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 4099A4E0
2021-07-26T18:00:20.139Z,1627322420.139 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 4768
2021-07-26T18:00:20.160Z,1627322420.160 [PAR_Licor] Loaded
2021-07-26T18:00:20.160Z,1627322420.160 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-07-26T18:00:20.193Z,1627322420.193 [WetLabsBB2FL] Loaded
2021-07-26T18:00:20.194Z,1627322420.194 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-07-26T18:00:20.195Z,1627322420.195 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 409CA4E0
2021-07-26T18:00:20.195Z,1627322420.195 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 4769
2021-07-26T18:00:20.196Z,1627322420.196 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-07-26T18:00:20.196Z,1627322420.196 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-07-26T18:00:20.226Z,1627322420.226 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-07-26T18:00:20.226Z,1627322420.226 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-07-26T18:00:20.577Z,1627322420.577 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-07-26T18:00:20.578Z,1627322420.578 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-07-26T18:00:20.738Z,1627322420.738 [SBIT](DEBUG): Construct Startup Built In Test.
2021-07-26T18:00:20.748Z,1627322420.748 [SBIT] Loaded
2021-07-26T18:00:20.748Z,1627322420.748 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-07-26T18:00:20.751Z,1627322420.751 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-07-26T18:00:20.765Z,1627322420.765 [IBIT] Loaded
2021-07-26T18:00:20.765Z,1627322420.765 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-07-26T18:00:20.771Z,1627322420.771 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-07-26T18:00:20.876Z,1627322420.876 [CBIT] Loaded
2021-07-26T18:00:20.876Z,1627322420.876 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-07-26T18:00:20.876Z,1627322420.876 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-07-26T18:00:20.877Z,1627322420.877 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-07-26T18:00:21.256Z,1627322421.256 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-07-26T18:00:21.338Z,1627322421.338 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-07-26T18:00:21.341Z,1627322421.341 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-07-26T18:00:21.353Z,1627322421.353 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-07-26T18:00:21.354Z,1627322421.354 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AFE4E0
2021-07-26T18:00:21.354Z,1627322421.354 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4770
2021-07-26T18:00:21.359Z,1627322421.359 [Supervisor](INFO): Main Thread ID is 829
2021-07-26T18:00:21.359Z,1627322421.359 [Supervisor](DEBUG): Running supervisor.
2021-07-26T18:00:21.360Z,1627322421.360 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4771
2021-07-26T18:00:21.362Z,1627322421.362 [controlThread ThreadHandler](INFO): Handler Thread ID is 4772
2021-07-26T18:00:21.362Z,1627322421.362 [controlThread](DEBUG): Initializing ControlThread
2021-07-26T18:00:21.363Z,1627322421.363 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-07-26T18:00:21.365Z,1627322421.365 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-07-26T18:00:21.366Z,1627322421.366 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-07-26T18:00:21.366Z,1627322421.366 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-07-26T18:00:21.368Z,1627322421.368 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-07-26T18:00:21.369Z,1627322421.369 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-07-26T18:00:21.373Z,1627322421.373 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-07-26T18:00:21.374Z,1627322421.374 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-07-26T18:00:21.374Z,1627322421.374 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-07-26T18:00:21.375Z,1627322421.375 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-07-26T18:00:21.375Z,1627322421.375 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-07-26T18:00:21.376Z,1627322421.376 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-07-26T18:00:21.379Z,1627322421.379 [SBIT](INFO): Initialize SBIT Component.
2021-07-26T18:00:21.380Z,1627322421.380 [SBIT](IMPORTANT): git: 2021-06-24-6-gba3a55f22
2021-07-26T18:00:21.380Z,1627322421.380 [SBIT](INFO): git hash: ba3a55f2224e7c70e8e462f655364809e4684817
2021-07-26T18:00:21.381Z,1627322421.381 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-07-26T18:00:21.382Z,1627322421.382 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2021-07-26T18:00:21.383Z,1627322421.383 [SBIT](INFO): Beginning SBIT in 87.000000 seconds.
2021-07-26T18:00:21.384Z,1627322421.384 [IBIT](INFO): Initialize IBIT Component.
2021-07-26T18:00:21.385Z,1627322421.385 [CBIT](DEBUG): Initialize CBIT Component.
2021-07-26T18:00:21.385Z,1627322421.385 [logger ThreadHandler](INFO): Handler Thread ID is 4773
2021-07-26T18:00:21.395Z,1627322421.395 [CBIT](DEBUG): Initialized mux pins.
2021-07-26T18:00:21.395Z,1627322421.395 [CBIT](DEBUG): Initializing the watchdog timer.
2021-07-26T18:00:21.404Z,1627322421.404 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 4774
2021-07-26T18:00:21.405Z,1627322421.405 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2021-07-26T18:00:21.416Z,1627322421.416 [Onboard ThreadHandler](INFO): Handler Thread ID is 4775
2021-07-26T18:00:21.420Z,1627322421.420 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-07-26T18:00:21.420Z,1627322421.420 [CBIT](DEBUG): Initializing heartbeat.
2021-07-26T18:00:21.436Z,1627322421.436 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4776
2021-07-26T18:00:21.456Z,1627322421.456 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 4777
2021-07-26T18:00:21.456Z,1627322421.456 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-07-26T18:00:21.461Z,1627322421.461 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 4779
2021-07-26T18:00:21.464Z,1627322421.464 [WetLabsBB2FL](INFO): Powering up
2021-07-26T18:00:21.465Z,1627322421.465 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4781
2021-07-26T18:00:21.468Z,1627322421.468 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-07-26T18:00:21.468Z,1627322421.468 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-07-26T18:00:21.469Z,1627322421.469 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-07-26T18:00:21.469Z,1627322421.469 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-07-26T18:00:21.469Z,1627322421.469 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-07-26T18:00:21.469Z,1627322421.469 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-07-26T18:00:21.469Z,1627322421.469 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-07-26T18:00:21.470Z,1627322421.470 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-07-26T18:00:21.470Z,1627322421.470 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-07-26T18:00:21.470Z,1627322421.470 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-07-26T18:00:21.470Z,1627322421.470 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-07-26T18:00:21.470Z,1627322421.470 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-07-26T18:00:21.470Z,1627322421.470 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-07-26T18:00:21.471Z,1627322421.471 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-07-26T18:00:21.471Z,1627322421.471 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-07-26T18:00:21.472Z,1627322421.472 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-07-26T18:00:21.491Z,1627322421.491 [CBIT](DEBUG): Deactivating GF circuits.
2021-07-26T18:00:21.491Z,1627322421.491 [CBIT](DEBUG): Deactivating emergency mode.
2021-07-26T18:00:21.527Z,1627322421.527 [CBIT](DEBUG): Backplane powered.
2021-07-26T18:00:21.528Z,1627322421.528 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-07-26T18:00:21.541Z,1627322421.541 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-07-26T18:00:21.564Z,1627322421.564 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2021-07-26T18:00:21.565Z,1627322421.565 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-07-26T18:00:21.662Z,1627322421.662 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-07-26T18:00:21.663Z,1627322421.663 [Default:A.Wait](DEBUG): Construct Wait.
2021-07-26T18:00:21.666Z,1627322421.666 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-07-26T18:00:21.714Z,1627322421.714 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-07-26T18:00:21.717Z,1627322421.717 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-07-26T18:00:21.739Z,1627322421.739 [Default:E.Execute](DEBUG): Construct Execute.
2021-07-26T18:00:21.742Z,1627322421.742 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2021-07-26T18:00:21.756Z,1627322421.756 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,CANONSampler,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-07-26T18:00:21.783Z,1627322421.783 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-07-26T18:00:21.839Z,1627322421.839 [Radio_Surface](INFO): Powering up
2021-07-26T18:00:21.858Z,1627322421.858 [Power24vConverter](INFO): Powering up.
2021-07-26T18:00:21.858Z,1627322421.858 [CANONSampler](INFO): Powering down
2021-07-26T18:00:21.901Z,1627322421.901 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-07-26T18:00:21.908Z,1627322421.908 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-07-26T18:00:21.909Z,1627322421.909 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-07-26T18:00:21.916Z,1627322421.916 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-07-26T18:00:21.917Z,1627322421.917 [MassServo](DEBUG): Initializing EZServoServo.
2021-07-26T18:00:21.927Z,1627322421.927 [MassServo](DEBUG): Initializing MassServo.
2021-07-26T18:00:21.928Z,1627322421.928 [RudderServo](DEBUG): Initializing EZServoServo.
2021-07-26T18:00:21.936Z,1627322421.936 [RudderServo](DEBUG): Initializing RudderServo.
2021-07-26T18:00:21.936Z,1627322421.936 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-07-26T18:00:21.944Z,1627322421.944 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-07-26T18:00:22.903Z,1627322422.903 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-07-26T18:00:22.903Z,1627322422.903 [RudderServo](FAULT): Rudder failed to initialize
2021-07-26T18:00:22.904Z,1627322422.904 [RudderServo] Communications Fault, FailCount= 1
2021-07-26T18:00:22.904Z,1627322422.904 [RudderServo](ERROR): Communications Fault
2021-07-26T18:00:23.007Z,1627322423.007 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-07-26T18:00:23.200Z,1627322423.200 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-07-26T18:00:23.200Z,1627322423.200 [RudderServo](INFO): Powering down
2021-07-26T18:00:23.571Z,1627322423.571 [WetLabsBB2FL](INFO): Powering down
2021-07-26T18:00:23.844Z,1627322423.844 [RudderServo](DEBUG): Initializing EZServoServo.
2021-07-26T18:00:23.964Z,1627322423.964 [RudderServo](DEBUG): Initializing RudderServo.
2021-07-26T18:00:23.969Z,1627322423.969 [CBIT](INFO): Clearing failed state for component RudderServo
2021-07-26T18:00:23.969Z,1627322423.969 [RudderServo] No Fault, FailCount= 1
2021-07-26T18:00:50.089Z,1627322450.089 [NAL9602](INFO): Powering up NAL9602
2021-07-26T18:01:00.997Z,1627322460.997 [NAL9602](INFO): NAL9602 initialized
2021-07-26T18:01:49.116Z,1627322509.116 [SBIT](IMPORTANT): Beginning Startup BIT
2021-07-26T18:01:49.137Z,1627322509.137 [CBIT](IMPORTANT): Beginning ground fault scan
2021-07-26T18:02:00.027Z,1627322520.027 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 4.679119
CHAN A1 (24V): -0.181256
CHAN A2 (12V): 4.697929
CHAN A3 (5V): -0.001680
CHAN B0 (3.3V): 0.000099
CHAN B1 (3.15aV): -0.000741
CHAN B2 (3.15bV): -0.000528
CHAN B3 (GND): 0.000194
OPEN: -0.000567
Full Scale Calc: 4.765 mA, -1.589 mA
2021-07-26T18:02:43.229Z,1627322563.229 [SBIT](IMPORTANT): SBIT PASSED
2021-07-26T18:02:43.229Z,1627322563.229 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-07-26T18:02:43.230Z,1627322563.230 [SBIT](IMPORTANT): AMEcho.loadAtStartup=0 bool;

2021-07-26T18:02:43.230Z,1627322563.230 [SBIT](IMPORTANT): BuoyancyServo.fastPumpDepth=6 meter;

2021-07-26T18:02:43.230Z,1627322563.230 [SBIT](IMPORTANT): CANONSampler.loadAtStartup=1 bool;

2021-07-26T18:02:43.230Z,1627322563.230 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool;

2021-07-26T18:02:43.231Z,1627322563.231 [SBIT](IMPORTANT): DAT.verbosity=3 count;

2021-07-26T18:02:43.231Z,1627322563.231 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=395.683531 cubic_centimeter;

2021-07-26T18:02:43.231Z,1627322563.231 [SBIT](IMPORTANT): VerticalControl.kdDepthBuoy=2680 second;

2021-07-26T18:02:43.231Z,1627322563.231 [SBIT](IMPORTANT): VerticalControl.kiDepthBuoy=0 reciprocal_second;

2021-07-26T18:02:43.231Z,1627322563.231 [SBIT](IMPORTANT): VerticalControl.kpDepthBuoy=62 ratio;

2021-07-26T18:02:43.232Z,1627322563.232 [SBIT](IMPORTANT): VerticalControl.massDefault=-16.767961 millimeter;

2021-07-26T18:02:43.638Z,1627322563.638 [MissionManager](IMPORTANT): Started mission Startup
2021-07-26T18:02:43.638Z,1627322563.638 [Startup] Running Loop=1
2021-07-26T18:02:43.639Z,1627322563.639 [Startup](DEBUG): Aggregate::initialize Startup
2021-07-26T18:02:43.639Z,1627322563.639 [Startup:A.GoToSurface] Running Loop=1
2021-07-26T18:02:43.639Z,1627322563.639 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-07-26T18:02:43.640Z,1627322563.640 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-07-26T18:02:43.640Z,1627322563.640 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-07-26T18:02:43.641Z,1627322563.641 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-07-26T18:02:43.641Z,1627322563.641 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-07-26T18:02:43.641Z,1627322563.641 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-07-26T18:02:43.643Z,1627322563.643 [Startup:StartupSatComms] Running Loop=1
2021-07-26T18:02:43.643Z,1627322563.643 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-07-26T18:02:43.643Z,1627322563.643 [Startup:StartupSatComms:A] Running Loop=1
2021-07-26T18:02:44.031Z,1627322564.031 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-07-26T18:03:05.031Z,1627322585.031 [NAL9602](INFO): SBD MO Status=2, MOMSN=28517, MT Status=2, MTMSN=0
2021-07-26T18:03:05.031Z,1627322585.031 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-07-26T18:03:21.612Z,1627322601.612 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2021-07-26T18:03:21.612Z,1627322601.612 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-07-26T18:03:21.623Z,1627322601.623 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-07-26T18:03:22.020Z,1627322602.020 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-07-26T18:03:22.020Z,1627322602.020 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2021-07-26T18:03:43.832Z,1627322623.832 [Startup:StartupSatComms:A](INFO): Timed out from 2021-07-26T18:02:43.6Z
2021-07-26T18:03:43.833Z,1627322623.833 [Startup:StartupSatComms:A] Stopped
2021-07-26T18:03:43.833Z,1627322623.833 [Startup:StartupSatComms:B] Running Loop=1
2021-07-26T18:03:44.226Z,1627322624.226 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-07-26T18:04:06.534Z,1627322646.534 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004677
2021-07-26T18:04:14.967Z,1627322654.967 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210726T173801/Courier0012.lzma
2021-07-26T18:04:15.969Z,1627322655.969 [DataOverHttps](INFO): Moved sent file to Logs/20210726T173801/Courier0012.lzma.bak
2021-07-26T18:04:15.969Z,1627322655.969 [DataOverHttps](INFO): SBD MOMSN=15761799
2021-07-26T18:04:39.668Z,1627322679.668 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20210726T180011/Courier0000.lzma
2021-07-26T18:04:40.669Z,1627322680.669 [DataOverHttps](INFO): Moved sent file to Logs/20210726T180011/Courier0000.lzma.bak
2021-07-26T18:04:40.669Z,1627322680.669 [DataOverHttps](INFO): SBD MOMSN=15761801
2021-07-26T18:04:44.145Z,1627322684.145 [Startup:StartupSatComms:B](INFO): Timed out from 2021-07-26T18:03:43.8Z
2021-07-26T18:04:44.145Z,1627322684.145 [Startup:StartupSatComms:B] Stopped
2021-07-26T18:04:44.145Z,1627322684.145 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-07-26T18:04:44.145Z,1627322684.145 [Startup:StartupSatComms] Stopped
2021-07-26T18:04:44.145Z,1627322684.145 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-07-26T18:04:44.146Z,1627322684.146 [Startup](INFO): Completed Startup
2021-07-26T18:04:44.146Z,1627322684.146 [MissionManager](INFO): Startup is completed.
2021-07-26T18:04:44.147Z,1627322684.147 [MissionManager](INFO): Uninitializing Mission Startup
2021-07-26T18:04:44.147Z,1627322684.147 [Startup] Stopped
2021-07-26T18:04:44.147Z,1627322684.147 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-07-26T18:04:44.147Z,1627322684.147 [Startup:A.GoToSurface] Stopped
2021-07-26T18:04:44.147Z,1627322684.147 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-07-26T18:04:44.561Z,1627322684.561 [MissionManager](IMPORTANT): Started mission Default
2021-07-26T18:04:44.561Z,1627322684.561 [Default] Running Loop=1
2021-07-26T18:04:44.561Z,1627322684.561 [Default](DEBUG): Aggregate::initialize Default
2021-07-26T18:04:44.561Z,1627322684.561 [Default:B.GoToSurface] Running Loop=1
2021-07-26T18:04:44.561Z,1627322684.561 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-07-26T18:04:44.562Z,1627322684.562 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-07-26T18:04:44.562Z,1627322684.562 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-07-26T18:04:44.562Z,1627322684.562 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-07-26T18:04:44.563Z,1627322684.563 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-07-26T18:04:44.563Z,1627322684.563 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-07-26T18:04:44.563Z,1627322684.563 [Default:A.Wait] Running Loop=1
2021-07-26T18:04:44.563Z,1627322684.563 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-07-26T18:04:57.894Z,1627322697.894 [Default:A.Wait](INFO): Done Waiting.
2021-07-26T18:04:57.894Z,1627322697.894 [Default:A.Wait] Stopped
2021-07-26T18:04:57.894Z,1627322697.894 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-07-26T18:04:58.295Z,1627322698.295 [Default:CheckIn] Running Loop=1
2021-07-26T18:04:58.296Z,1627322698.296 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-07-26T18:04:58.296Z,1627322698.296 [Default:CheckIn:Read_GPS] Running Loop=1
2021-07-26T18:04:58.403Z,1627322698.403 [DataOverHttps](INFO): Sending 144 bytes from file Logs/20210726T173801/Express0013.lzma
2021-07-26T18:04:58.712Z,1627322698.712 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-07-26T18:04:59.405Z,1627322699.405 [DataOverHttps](INFO): Moved sent file to Logs/20210726T173801/Express0013.lzma.bak
2021-07-26T18:04:59.405Z,1627322699.405 [DataOverHttps](INFO): SBD MOMSN=15761804
2021-07-26T18:06:04.528Z,1627322764.528 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2021-07-26T18:06:09.823Z,1627322769.823 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180608.00,A,3648.16536,N,12147.28961,W,0.797,291.42,260721,,,A*75
2021-07-26T18:06:09.827Z,1627322769.827 [NAL9602](INFO): GPS fix at 20210726T180608: (36.802756, -121.788160)
2021-07-26T18:06:09.851Z,1627322769.851 [Default:CheckIn:Read_GPS] Stopped
2021-07-26T18:06:09.851Z,1627322769.851 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-07-26T18:06:10.240Z,1627322770.240 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-07-26T18:06:22.140Z,1627322782.140 [DataOverHttps](INFO): Sending 222 bytes from file Logs/20210726T180011/Courier0004.lzma
2021-07-26T18:06:23.141Z,1627322783.141 [DataOverHttps](INFO): Moved sent file to Logs/20210726T180011/Courier0004.lzma.bak
2021-07-26T18:06:23.141Z,1627322783.141 [DataOverHttps](INFO): SBD MOMSN=15761808
2021-07-26T18:06:42.028Z,1627322802.028 [NAL9602](INFO): Not Powering down - fast GPS
2021-07-26T18:06:54.653Z,1627322814.653 [DataOverHttps](INFO): Sending 857 bytes from file Logs/20210726T180011/Express0001.lzma
2021-07-26T18:06:55.653Z,1627322815.653 [DataOverHttps](INFO): Moved sent file to Logs/20210726T180011/Express0001.lzma.bak
2021-07-26T18:06:55.653Z,1627322815.653 [DataOverHttps](INFO): SBD MOMSN=15761811
2021-07-26T18:07:14.107Z,1627322834.107 [DataOverHttps](INFO): Sending 321 bytes from file Logs/20210726T180011/Express0005.lzma
2021-07-26T18:07:15.110Z,1627322835.110 [DataOverHttps](INFO): Moved sent file to Logs/20210726T180011/Express0005.lzma.bak
2021-07-26T18:07:15.111Z,1627322835.111 [DataOverHttps](IMPORTANT): SBD MOMSN=15761834, MTMSN=20210726T180714
2021-07-26T18:07:19.460Z,1627322839.460 [Default:CheckIn:Read_Iridium] Stopped
2021-07-26T18:07:19.460Z,1627322839.460 [Default:CheckIn:C.Wait] Running Loop=1
2021-07-26T18:07:19.460Z,1627322839.460 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-07-26T18:07:27.112Z,1627322847.112 [DataOverHttps](INFO): Received command:sched asap "load Maintenance/tank_ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 30 min;set ballast_and_trim.Depth1 2 m;set ballast_and_trim.SurfaceThreshold 1 m;set ballast_and_trim.EstimationTimeout 15 min" 1sczu 1 2
2021-07-26T18:07:27.152Z,1627322847.152 [CommandLine](IMPORTANT): got command schedule asap "load Maintenance/tank_ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 30 min;set ballast_and_trim.Depth1 2 m;set ballast_and_trim.SurfaceThreshold 1 m;set ballast_and_trim.EstimationTimeout 15 min" 1sczu 1 2.000000
2021-07-26T18:07:27.153Z,1627322847.153 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=1sczu
2021-07-26T18:07:27.154Z,1627322847.154 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='1sczu'): "load Maintenance/tank_ballast_and_trim.xml;set ballast_and_trim.MissionTimeout 30 min;set ballast_and_trim.Depth1 2 m;set ballast_and_trim.SurfaceThreshold 1 m;set ballast_and_trim.EstimationTimeout 15 min" ASAP
2021-07-26T18:07:28.113Z,1627322848.113 [DataOverHttps](IMPORTANT): SBD MTMSN=20210726T180727
2021-07-26T18:07:35.495Z,1627322855.495 [DataOverHttps](INFO): Received command:sched asap "set ballast_and_trim.MassEstimationErrorBound 1 mm;set ballast_and_trim.BuoyEstimationErrorBound 25 cc;set ballast_and_trim.EstimationConfidence 98.0 %;run" 1sczu 2 2
2021-07-26T18:07:35.567Z,1627322855.567 [CommandLine](IMPORTANT): got command schedule asap "set ballast_and_trim.MassEstimationErrorBound 1 mm;set ballast_and_trim.BuoyEstimationErrorBound 25 cc;set ballast_and_trim.EstimationConfidence 98.0 %;run" 1sczu 2 2.000000
2021-07-26T18:07:35.568Z,1627322855.568 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=1sczu
2021-07-26T18:07:35.569Z,1627322855.569 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='1sczu'): "set ballast_and_trim.MassEstimationErrorBound 1 mm;set ballast_and_trim.BuoyEstimationErrorBound 25 cc;set ballast_and_trim.EstimationConfidence 98.0 %;run" ASAP
2021-07-26T18:07:35.676Z,1627322855.676 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/tank_ballast_and_trim.xml
2021-07-26T18:07:35.676Z,1627322855.676 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/tank_ballast_and_trim.xml
2021-07-26T18:07:35.786Z,1627322855.786 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 120.000000 min
2021-07-26T18:07:35.789Z,1627322855.789 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2021-07-26T18:07:35.792Z,1627322855.792 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 7.000000 m
2021-07-26T18:07:35.795Z,1627322855.795 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2021-07-26T18:07:35.798Z,1627322855.798 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2021-07-26T18:07:35.835Z,1627322855.835 [MissionManager](INFO): DefineArg ballast_and_trim.SurfaceThreshold = 2.500000 m
2021-07-26T18:07:35.838Z,1627322855.838 [MissionManager](INFO): DefineArg ballast_and_trim.MaxWaitOnSurface = 20.000000 min
2021-07-26T18:07:35.841Z,1627322855.841 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2021-07-26T18:07:35.880Z,1627322855.880 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2021-07-26T18:07:35.883Z,1627322855.883 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2021-07-26T18:07:35.886Z,1627322855.886 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.250000 mm
2021-07-26T18:07:35.902Z,1627322855.902 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 15.000000 cc
2021-07-26T18:07:35.906Z,1627322855.906 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 99.900000 %
2021-07-26T18:07:35.921Z,1627322855.921 [MissionManager](INFO): DefineArg ballast_and_trim.WaitToFloat = 5.000000 min
2021-07-26T18:07:35.922Z,1627322855.922 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-07-26T18:07:36.346Z,1627322856.346 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2021-07-26T18:07:36.349Z,1627322856.349 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2021-07-26T18:07:36.352Z,1627322856.352 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2021-07-26T18:07:36.354Z,1627322856.354 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2021-07-26T18:07:36.357Z,1627322856.357 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2021-07-26T18:07:36.429Z,1627322856.429 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2021-07-26T18:07:36.432Z,1627322856.432 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2021-07-26T18:07:36.460Z,1627322856.460 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2021-07-26T18:07:36.464Z,1627322856.464 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2021-07-26T18:07:36.466Z,1627322856.466 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2021-07-26T18:07:36.482Z,1627322856.482 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2021-07-26T18:07:36.485Z,1627322856.485 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2021-07-26T18:07:36.487Z,1627322856.487 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2021-07-26T18:07:36.490Z,1627322856.490 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-07-26T18:07:36.524Z,1627322856.524 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0.000000 bool
2021-07-26T18:07:36.528Z,1627322856.528 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0.000000 bool
2021-07-26T18:07:36.532Z,1627322856.532 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1.000000 bool
2021-07-26T18:07:36.547Z,1627322856.547 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1.000000 bool
2021-07-26T18:07:36.551Z,1627322856.551 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2021-07-26T18:07:36.555Z,1627322856.555 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-07-26T18:07:36.558Z,1627322856.558 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2021-07-26T18:07:36.588Z,1627322856.588 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2021-07-26T18:07:36.591Z,1627322856.591 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakShallowBound = nan m
2021-07-26T18:07:36.594Z,1627322856.594 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDeepBound = nan m
2021-07-26T18:07:36.613Z,1627322856.613 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-07-26T18:07:36.616Z,1627322856.616 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = 0.000000 ug/l
2021-07-26T18:07:36.620Z,1627322856.620 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = 0.000000 m
2021-07-26T18:07:36.623Z,1627322856.623 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = 0.000000 degC
2021-07-26T18:07:36.638Z,1627322856.638 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2021-07-26T18:07:36.642Z,1627322856.642 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2021-07-26T18:07:36.645Z,1627322856.645 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = 0.000000 umol/l
2021-07-26T18:07:36.648Z,1627322856.648 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = 0.000000 m
2021-07-26T18:07:36.652Z,1627322856.652 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2021-07-26T18:07:36.655Z,1627322856.655 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2021-07-26T18:07:36.658Z,1627322856.658 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = 0.000000 kg/m3
2021-07-26T18:07:36.681Z,1627322856.681 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = 0.000000 m
2021-07-26T18:07:36.684Z,1627322856.684 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2021-07-26T18:07:36.712Z,1627322856.712 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2021-07-26T18:07:36.715Z,1627322856.715 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = 0.000000 ppb
2021-07-26T18:07:36.719Z,1627322856.719 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = 0.000000 m
2021-07-26T18:07:36.722Z,1627322856.722 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2021-07-26T18:07:36.726Z,1627322856.726 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2021-07-26T18:07:36.729Z,1627322856.729 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2021-07-26T18:07:36.733Z,1627322856.733 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchFDOMDistance = nan m
2021-07-26T18:07:36.760Z,1627322856.760 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = 0.000000 psu
2021-07-26T18:07:36.800Z,1627322856.800 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = 0.000000 m
2021-07-26T18:07:36.813Z,1627322856.813 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = 0.000000 degC
2021-07-26T18:07:36.841Z,1627322856.841 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2021-07-26T18:07:36.853Z,1627322856.853 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2021-07-26T18:07:36.872Z,1627322856.872 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = 0.000000 ug/l
2021-07-26T18:07:36.882Z,1627322856.882 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = 0.000000 m
2021-07-26T18:07:36.889Z,1627322856.889 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2021-07-26T18:07:36.902Z,1627322856.902 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2021-07-26T18:07:36.914Z,1627322856.914 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2021-07-26T18:07:36.936Z,1627322856.936 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = 0.000000 psu
2021-07-26T18:07:36.939Z,1627322856.939 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = 0.000000 m
2021-07-26T18:07:36.946Z,1627322856.946 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2021-07-26T18:07:36.950Z,1627322856.950 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2021-07-26T18:07:36.966Z,1627322856.966 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2021-07-26T18:07:36.969Z,1627322856.969 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = 0.000000 psu
2021-07-26T18:07:36.973Z,1627322856.973 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = 0.000000 m
2021-07-26T18:07:37.009Z,1627322857.009 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2021-07-26T18:07:37.013Z,1627322857.013 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2021-07-26T18:07:37.016Z,1627322857.016 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2021-07-26T18:07:37.104Z,1627322857.104 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-07-26T18:07:37.137Z,1627322857.137 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-07-26T18:07:37.204Z,1627322857.204 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-07-26T18:07:37.246Z,1627322857.246 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-07-26T18:07:37.278Z,1627322857.278 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-07-26T18:07:37.303Z,1627322857.303 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-07-26T18:07:37.342Z,1627322857.342 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-07-26T18:07:37.399Z,1627322857.399 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-07-26T18:07:37.438Z,1627322857.438 [MissionManager](INFO): Inserting Stack: Missions/Insert/BallastAndTrim.xml
2021-07-26T18:07:37.715Z,1627322857.715 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2021-07-26T18:07:37.736Z,1627322857.736 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2021-07-26T18:07:37.739Z,1627322857.739 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2021-07-26T18:07:37.742Z,1627322857.742 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2021-07-26T18:07:37.758Z,1627322857.758 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2021-07-26T18:07:37.761Z,1627322857.761 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2021-07-26T18:07:37.765Z,1627322857.765 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2021-07-26T18:07:37.791Z,1627322857.791 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2021-07-26T18:07:37.794Z,1627322857.794 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2021-07-26T18:07:37.797Z,1627322857.797 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2021-07-26T18:07:37.813Z,1627322857.813 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2021-07-26T18:07:37.816Z,1627322857.816 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900000 %
2021-07-26T18:07:37.820Z,1627322857.820 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2021-07-26T18:07:37.823Z,1627322857.823 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertKiDepthBuoy = 0.300000 1/s
2021-07-26T18:07:37.853Z,1627322857.853 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2021-07-26T18:07:37.908Z,1627322857.908 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2021-07-26T18:07:37.915Z,1627322857.915 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2021-07-26T18:07:37.919Z,1627322857.919 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2021-07-26T18:07:37.944Z,1627322857.944 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2021-07-26T18:07:37.968Z,1627322857.968 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2021-07-26T18:07:37.972Z,1627322857.972 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2021-07-26T18:07:38.036Z,1627322858.036 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2021-07-26T18:07:38.043Z,1627322858.043 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2021-07-26T18:07:38.050Z,1627322858.050 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2021-07-26T18:07:38.066Z,1627322858.066 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2021-07-26T18:07:38.091Z,1627322858.091 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](DEBUG): Construct BallastAndTrim.
2021-07-26T18:07:38.121Z,1627322858.121 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2021-07-26T18:07:38.133Z,1627322858.133 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.MaxWaitOnSurface
2021-07-26T18:07:38.139Z,1627322858.139 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2021-07-26T18:07:38.149Z,1627322858.149 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2021-07-26T18:07:38.162Z,1627322858.162 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2021-07-26T18:07:38.172Z,1627322858.172 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2021-07-26T18:07:38.174Z,1627322858.174 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2021-07-26T18:07:38.176Z,1627322858.176 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2021-07-26T18:07:38.212Z,1627322858.212 [ballast_and_trim:Float_Up:A.Buoyancy](DEBUG): Construct Buoyancy.
2021-07-26T18:07:38.216Z,1627322858.216 [ballast_and_trim:Float_Up:B.Wait](DEBUG): Construct Wait.
2021-07-26T18:07:38.290Z,1627322858.290 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="ballast_and_trim">

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="SkipComms"><Description>
        Skip communications at start of mission.
    </Description><False/></DefineArg>

    <DefineArg Name="Depth1"><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="Depth2"><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed durnig the
        mission.
    </Description><Units:meter/><Value>0.1</Value></DefineArg>

    <DefineArg Name="SurfaceThreshold"><Description>
        Surface threshold depth.
    </Description><Units:meter/><Value>2.5</Value></DefineArg>

    <DefineArg Name="MaxWaitOnSurface"><Description>
        Maximum wait time for the vehicle to go under the surface (i.e., reach
        the surface threshold depth).
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="SettleTime"><Description>
        How long to wait after reaching target depth before starting ballast and
        trim.
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="EstimationTimeout"><Description>
        Timeout for ballast and trim estimation.
    </Description><Units:minute/><Value>45</Value></DefineArg>

    <DefineArg Name="MinEstimationTime"><Description>
        Minimum time to run ballast and trim estimation before determining
        convergence (must be shorter than timeout).
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="MassEstimationErrorBound"><Description>
        Desired range of the estimated sample mean from the true mean statistic
        (smaller values take longer to converge).
    </Description><Units:millimeter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="BuoyEstimationErrorBound"><Description>
        Desired range of the estimated sample mean from the true mean statistic
        (smaller values take longer to converge).
    </Description><Units:cubic_centimeter/><Value>15</Value></DefineArg>

    <DefineArg Name="EstimationConfidence"><Description>
        Confidence level that the estimator has reached the desired error range
        (larger values take longer to converge).
    </Description><Units:percent/><Value>99.9</Value></DefineArg>

    <DefineArg Name="WaitToFloat"><Units:minute/><Value>5</Value></DefineArg>

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml"/>

    <Aggregate Id="RunBallastAndTrim">

        <Sequence/>

        <Insert Filename="Insert/BallastAndTrim.xml">
            <RedefineArg Name="InsertDepthDeadband"><Arg Name="DepthDeadband"/></RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout"><Arg Name="MaxWaitOnSurface"/></RedefineArg>
            <RedefineArg Name="InsertSettleTime"><Arg Name="SettleTime"/></RedefineArg>
            <RedefineArg Name="EstTimeout"><Arg Name="EstimationTimeout"/></RedefineArg>
            <RedefineArg Name="MinEstTime"><Arg Name="MinEstimationTime"/></RedefineArg>
            <RedefineArg Name="MassEstErrorBound"><Arg Name="MassEstimationErrorBound"/></RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound"><Arg Name="BuoyEstimationErrorBound"/></RedefineArg>
            <RedefineArg Name="EstConfidence"><Arg Name="EstimationConfidence"/></RedefineArg>
        </Insert>

        <Aggregate Id="Depth1">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="Depth1"/>
                </IsNaN>
            </Break>

            <Assign><Sequence/><Arg Name="BallastAndTrim:InsertDepth"/><Arg Name="Depth1"/></Assign>

            <Call RefId="BallastAndTrim"/>

        </Aggregate>

        <Aggregate Id="Depth2">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="Depth2"/>
                </IsNaN>
            </Break>

            <Assign><Sequence/><Arg Name="BallastAndTrim:InsertDepth"/><Arg Name="Depth1"/></Assign>

            <Call RefId="BallastAndTrim"/>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="Float_Up">

        <Description>
            Float to surface instead of driving.
        </Description>

        <Sequence/>

        <Break>
            <Universal:depth/>
            <Lt><Control:VerticalControl.surfaceThreshold/></Lt>
        </Break>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyDefault/></Setting>
        </Guidance:Buoyancy>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="WaitToFloat"/></Setting>
        </Guidance:Wait>

    </Aggregate>

</Mission>


2021-07-26T18:07:38.290Z,1627322858.290 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/tank_ballast_and_trim.xml
2021-07-26T18:07:48.853Z,1627322868.853 [CommandLine](IMPORTANT): got command set ballast_and_trim.MissionTimeout 30.000000 minute
2021-07-26T18:07:48.854Z,1627322868.854 [CommandLine](IMPORTANT): got command set ballast_and_trim.Depth1 2.000000 meter
2021-07-26T18:07:48.855Z,1627322868.855 [CommandLine](IMPORTANT): got command set ballast_and_trim.SurfaceThreshold 1.000000 meter
2021-07-26T18:07:48.856Z,1627322868.856 [CommandLine](IMPORTANT): got command set ballast_and_trim.EstimationTimeout 15.000000 minute
2021-07-26T18:07:50.522Z,1627322870.522 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-07-26T18:07:50.526Z,1627322870.526 [BPC1](INFO): Received data from all battery sticks.
2021-07-26T18:07:58.657Z,1627322878.657 [CommandLine](IMPORTANT): got command set ballast_and_trim.MassEstimationErrorBound 1.000000 millimeter
2021-07-26T18:07:58.658Z,1627322878.658 [CommandLine](IMPORTANT): got command set ballast_and_trim.BuoyEstimationErrorBound 25.000000 cubic_centimeter
2021-07-26T18:07:58.659Z,1627322878.659 [CommandLine](IMPORTANT): got command set ballast_and_trim.EstimationConfidence 98.000000 percent
2021-07-26T18:07:58.668Z,1627322878.668 [CommandLine](IMPORTANT): got command run
2021-07-26T18:07:58.695Z,1627322878.695 [CommandLine](IMPORTANT): Running 
2021-07-26T18:07:59.032Z,1627322879.032 [Default] Stopped
2021-07-26T18:07:59.033Z,1627322879.033 [Default](DEBUG): Aggregate::uninitialize Default
2021-07-26T18:07:59.033Z,1627322879.033 [Default:B.GoToSurface] Stopped
2021-07-26T18:07:59.033Z,1627322879.033 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-07-26T18:07:59.033Z,1627322879.033 [Default:CheckIn] Stopped
2021-07-26T18:07:59.033Z,1627322879.033 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-07-26T18:07:59.033Z,1627322879.033 [Default:CheckIn:C.Wait] Stopped
2021-07-26T18:07:59.033Z,1627322879.033 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-07-26T18:07:59.033Z,1627322879.033 [MissionManager](IMPORTANT): Started mission ballast_and_trim
2021-07-26T18:07:59.034Z,1627322879.034 [ballast_and_trim] Running Loop=1
2021-07-26T18:07:59.034Z,1627322879.034 [ballast_and_trim](DEBUG): Aggregate::initialize ballast_and_trim
2021-07-26T18:07:59.034Z,1627322879.034 [ballast_and_trim:Science] Running Loop=1
2021-07-26T18:07:59.034Z,1627322879.034 [ballast_and_trim:Science](DEBUG): Aggregate::initialize ballast_and_trim:Science
2021-07-26T18:07:59.034Z,1627322879.034 [ballast_and_trim:Science:A] Running Loop=1
2021-07-26T18:07:59.034Z,1627322879.034 [ballast_and_trim:Science:B] Running Loop=1
2021-07-26T18:07:59.034Z,1627322879.034 [ballast_and_trim:Science:C] Running Loop=1
2021-07-26T18:07:59.034Z,1627322879.034 [ballast_and_trim:Science:D] Running Loop=1
2021-07-26T18:07:59.034Z,1627322879.034 [ballast_and_trim:Science:E] Running Loop=1
2021-07-26T18:07:59.035Z,1627322879.035 [ballast_and_trim:Science:F] Running Loop=1
2021-07-26T18:07:59.035Z,1627322879.035 [ballast_and_trim:Science:Read_Oil] Running Loop=1
2021-07-26T18:07:59.035Z,1627322879.035 [ballast_and_trim:Science:PeakDetectChl] Running Loop=1
2021-07-26T18:07:59.035Z,1627322879.035 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectChl
2021-07-26T18:07:59.039Z,1627322879.039 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-07-26T18:07:59.039Z,1627322879.039 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-07-26T18:07:59.041Z,1627322879.041 [ballast_and_trim:Science:HighestChlPeakReport] Running Loop=1
2021-07-26T18:07:59.042Z,1627322879.042 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestChlPeakReport
2021-07-26T18:07:59.042Z,1627322879.042 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-07-26T18:07:59.042Z,1627322879.042 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-07-26T18:07:59.042Z,1627322879.042 [ballast_and_trim:Science:PeakDetectNO3] Running Loop=1
2021-07-26T18:07:59.042Z,1627322879.042 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectNO3
2021-07-26T18:07:59.043Z,1627322879.043 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-07-26T18:07:59.043Z,1627322879.043 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-07-26T18:07:59.049Z,1627322879.049 [ballast_and_trim:Science:PeakDetectOil] Running Loop=1
2021-07-26T18:07:59.049Z,1627322879.049 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectOil
2021-07-26T18:07:59.049Z,1627322879.049 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-07-26T18:07:59.049Z,1627322879.049 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-07-26T18:07:59.056Z,1627322879.056 [ballast_and_trim:Science:HighestOilPeakReport] Running Loop=1
2021-07-26T18:07:59.056Z,1627322879.056 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestOilPeakReport
2021-07-26T18:07:59.056Z,1627322879.056 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-07-26T18:07:59.056Z,1627322879.056 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-07-26T18:07:59.056Z,1627322879.056 [ballast_and_trim:Science:PeakDetectFDOM] Running Loop=1
2021-07-26T18:07:59.057Z,1627322879.057 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectFDOM
2021-07-26T18:07:59.057Z,1627322879.057 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-07-26T18:07:59.057Z,1627322879.057 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-07-26T18:07:59.059Z,1627322879.059 [ballast_and_trim:Science:PeakDetectSalinity] Running Loop=1
2021-07-26T18:07:59.059Z,1627322879.059 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize ballast_and_trim:Science:PeakDetectSalinity
2021-07-26T18:07:59.063Z,1627322879.063 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-07-26T18:07:59.063Z,1627322879.063 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-07-26T18:07:59.072Z,1627322879.072 [ballast_and_trim:Science:HighestSaltPeakReport] Running Loop=1
2021-07-26T18:07:59.072Z,1627322879.072 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize ballast_and_trim:Science:HighestSaltPeakReport
2021-07-26T18:07:59.072Z,1627322879.072 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-07-26T18:07:59.072Z,1627322879.072 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-07-26T18:07:59.073Z,1627322879.073 [ballast_and_trim:Science:OceanCurrent] Running Loop=1
2021-07-26T18:07:59.073Z,1627322879.073 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::initialize ballast_and_trim:Science:OceanCurrent
2021-07-26T18:07:59.073Z,1627322879.073 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2021-07-26T18:07:59.073Z,1627322879.073 [ballast_and_trim:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-07-26T18:07:59.073Z,1627322879.073 [ballast_and_trim:RunBallastAndTrim] Running Loop=1
2021-07-26T18:07:59.073Z,1627322879.073 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim
2021-07-26T18:07:59.074Z,1627322879.074 [ballast_and_trim:RunBallastAndTrim:Depth1] Running Loop=1
2021-07-26T18:07:59.074Z,1627322879.074 [ballast_and_trim:RunBallastAndTrim:Depth1](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:Depth1
2021-07-26T18:07:59.074Z,1627322879.074 [ballast_and_trim:RunBallastAndTrim:Depth1:A] Running Loop=1
2021-07-26T18:07:59.075Z,1627322879.075 [ballast_and_trim:RunBallastAndTrim:Depth1:A] Stopped
2021-07-26T18:07:59.079Z,1627322879.079 [ballast_and_trim:RunBallastAndTrim:Depth1:B] Running Loop=1
2021-07-26T18:07:59.079Z,1627322879.079 [ballast_and_trim:RunBallastAndTrim:Depth1:B](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:Depth1:B
2021-07-26T18:07:59.080Z,1627322879.080 [ballast_and_trim:Science] Running Loop=1
2021-07-26T18:07:59.081Z,1627322879.081 [ballast_and_trim:Science:HighestSaltPeakReport] Stopped
2021-07-26T18:07:59.081Z,1627322879.081 [ballast_and_trim:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestSaltPeakReport
2021-07-26T18:07:59.081Z,1627322879.081 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-07-26T18:07:59.081Z,1627322879.081 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-07-26T18:07:59.081Z,1627322879.081 [ballast_and_trim:Science:PeakDetectSalinity] Stopped
2021-07-26T18:07:59.081Z,1627322879.081 [ballast_and_trim:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectSalinity
2021-07-26T18:07:59.081Z,1627322879.081 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-07-26T18:07:59.081Z,1627322879.081 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-07-26T18:07:59.082Z,1627322879.082 [ballast_and_trim:Science:PeakDetectFDOM] Stopped
2021-07-26T18:07:59.082Z,1627322879.082 [ballast_and_trim:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectFDOM
2021-07-26T18:07:59.082Z,1627322879.082 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-07-26T18:07:59.082Z,1627322879.082 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-07-26T18:07:59.082Z,1627322879.082 [ballast_and_trim:Science:HighestOilPeakReport] Stopped
2021-07-26T18:07:59.082Z,1627322879.082 [ballast_and_trim:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestOilPeakReport
2021-07-26T18:07:59.082Z,1627322879.082 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-07-26T18:07:59.082Z,1627322879.082 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-07-26T18:07:59.082Z,1627322879.082 [ballast_and_trim:Science:PeakDetectOil] Stopped
2021-07-26T18:07:59.082Z,1627322879.082 [ballast_and_trim:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectOil
2021-07-26T18:07:59.083Z,1627322879.083 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-07-26T18:07:59.083Z,1627322879.083 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-07-26T18:07:59.083Z,1627322879.083 [ballast_and_trim:Science:PeakDetectNO3] Stopped
2021-07-26T18:07:59.083Z,1627322879.083 [ballast_and_trim:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectNO3
2021-07-26T18:07:59.083Z,1627322879.083 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-07-26T18:07:59.087Z,1627322879.087 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-07-26T18:07:59.087Z,1627322879.087 [ballast_and_trim:Science:HighestChlPeakReport] Stopped
2021-07-26T18:07:59.088Z,1627322879.088 [ballast_and_trim:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:HighestChlPeakReport
2021-07-26T18:07:59.088Z,1627322879.088 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-07-26T18:07:59.088Z,1627322879.088 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-07-26T18:07:59.088Z,1627322879.088 [ballast_and_trim:Science:PeakDetectChl] Stopped
2021-07-26T18:07:59.088Z,1627322879.088 [ballast_and_trim:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:PeakDetectChl
2021-07-26T18:07:59.088Z,1627322879.088 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-07-26T18:07:59.088Z,1627322879.088 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-07-26T18:07:59.088Z,1627322879.088 [ballast_and_trim:Science:OceanCurrent:A.] Running Loop=1
2021-07-26T18:07:59.088Z,1627322879.088 [ballast_and_trim:Science:Read_Oil] Stopped
2021-07-26T18:07:59.089Z,1627322879.089 [ballast_and_trim:Science:F] Stopped
2021-07-26T18:07:59.089Z,1627322879.089 [ballast_and_trim:Science:E] Running Loop=1
2021-07-26T18:07:59.091Z,1627322879.091 [ballast_and_trim:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-07-26T18:07:59.103Z,1627322879.103 [ballast_and_trim:Science:D] Stopped
2021-07-26T18:07:59.103Z,1627322879.103 [ballast_and_trim:Science:C] Running Loop=1
2021-07-26T18:07:59.108Z,1627322879.108 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-07-26T18:07:59.109Z,1627322879.109 [ballast_and_trim:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-07-26T18:07:59.109Z,1627322879.109 [ballast_and_trim:Science:B] Running Loop=1
2021-07-26T18:07:59.110Z,1627322879.110 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-07-26T18:07:59.110Z,1627322879.110 [ballast_and_trim:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-07-26T18:07:59.110Z,1627322879.110 [ballast_and_trim:Science:A] Stopped
2021-07-26T18:07:59.280Z,1627322879.280 [WetLabsBB2FL](INFO): Powering up
2021-07-26T18:07:59.416Z,1627322879.416 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Running Loop=1
2021-07-26T18:07:59.417Z,1627322879.417 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2021-07-26T18:07:59.417Z,1627322879.417 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2021-07-26T18:07:59.417Z,1627322879.417 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2021-07-26T18:07:59.417Z,1627322879.417 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2021-07-26T18:07:59.417Z,1627322879.417 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2021-07-26T18:07:59.417Z,1627322879.417 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2021-07-26T18:07:59.417Z,1627322879.417 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Running Loop=1
2021-07-26T18:07:59.417Z,1627322879.417 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:G] Running Loop=1
2021-07-26T18:07:59.420Z,1627322879.420 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:G](INFO): Going to target depth. Speed set to 0.000000 m/s 
2021-07-26T18:07:59.420Z,1627322879.420 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:G] Stopped
2021-07-26T18:07:59.420Z,1627322879.420 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Running Loop=1
2021-07-26T18:07:59.420Z,1627322879.420 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2021-07-26T18:07:59.420Z,1627322879.420 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2021-07-26T18:07:59.420Z,1627322879.420 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Running Loop=1
2021-07-26T18:07:59.420Z,1627322879.420 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2021-07-26T18:07:59.420Z,1627322879.420 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Running Loop=1
2021-07-26T18:07:59.421Z,1627322879.421 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Initialize.
2021-07-26T18:07:59.421Z,1627322879.421 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Running Loop=1
2021-07-26T18:07:59.421Z,1627322879.421 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-07-26T18:07:59.421Z,1627322879.421 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Running Loop=1
2021-07-26T18:07:59.421Z,1627322879.421 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Initialize.
2021-07-26T18:07:59.421Z,1627322879.421 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Running Loop=1
2021-07-26T18:07:59.421Z,1627322879.421 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2021-07-26T18:07:59.422Z,1627322879.422 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Running Loop=1
2021-07-26T18:07:59.422Z,1627322879.422 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Running Loop=1
2021-07-26T18:07:59.422Z,1627322879.422 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Running Loop=1
2021-07-26T18:07:59.422Z,1627322879.422 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Running Loop=1
2021-07-26T18:07:59.423Z,1627322879.423 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Running Loop=1
2021-07-26T18:07:59.423Z,1627322879.423 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Running Loop=1
2021-07-26T18:07:59.423Z,1627322879.423 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Running Loop=1
2021-07-26T18:07:59.832Z,1627322879.832 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive] Stopped
2021-07-26T18:07:59.833Z,1627322879.833 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive
2021-07-26T18:07:59.833Z,1627322879.833 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A] Stopped
2021-07-26T18:07:59.833Z,1627322879.833 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Running Loop=1
2021-07-26T18:07:59.833Z,1627322879.833 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::initialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2021-07-26T18:07:59.833Z,1627322879.833 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2021-07-26T18:07:59.833Z,1627322879.833 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Initialize.
2021-07-26T18:07:59.833Z,1627322879.833 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Running Loop=1
2021-07-26T18:07:59.833Z,1627322879.833 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold] Stopped
2021-07-26T18:07:59.834Z,1627322879.834 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold
2021-07-26T18:07:59.834Z,1627322879.834 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point] Stopped
2021-07-26T18:07:59.834Z,1627322879.834 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy] Stopped
2021-07-26T18:07:59.834Z,1627322879.834 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-07-26T18:07:59.834Z,1627322879.834 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch] Stopped
2021-07-26T18:07:59.834Z,1627322879.834 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Running Loop=1
2021-07-26T18:08:00.224Z,1627322880.224 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Running Loop=1
2021-07-26T18:08:00.225Z,1627322880.225 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A](INFO): Moving to 2.000000 m 
2021-07-26T18:08:00.225Z,1627322880.225 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A] Stopped
2021-07-26T18:08:00.225Z,1627322880.225 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Running Loop=1
2021-07-26T18:08:00.225Z,1627322880.225 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Initialize.
2021-07-26T18:08:00.642Z,1627322880.642 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:00.642Z,1627322880.642 [VerticalControl](DEBUG): depth2buoyInt_ = 0.000000
2021-07-26T18:08:00.643Z,1627322880.643 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:00.643Z,1627322880.643 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:00.679Z,1627322880.679 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:00.680Z,1627322880.680 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:00.680Z,1627322880.680 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:00.680Z,1627322880.680 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:01.039Z,1627322881.039 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:01.039Z,1627322881.039 [VerticalControl](DEBUG): depth2buoyInt_ = -0.002087
2021-07-26T18:08:01.040Z,1627322881.040 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:01.040Z,1627322881.040 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:01.040Z,1627322881.040 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:01.040Z,1627322881.040 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:01.041Z,1627322881.041 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:01.041Z,1627322881.041 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:01.456Z,1627322881.456 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:01.456Z,1627322881.456 [VerticalControl](DEBUG): depth2buoyInt_ = -0.001587
2021-07-26T18:08:01.456Z,1627322881.456 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:01.456Z,1627322881.456 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:01.457Z,1627322881.457 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:01.457Z,1627322881.457 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:01.457Z,1627322881.457 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:01.457Z,1627322881.457 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:01.892Z,1627322881.892 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:01.892Z,1627322881.892 [VerticalControl](DEBUG): depth2buoyInt_ = -0.002454
2021-07-26T18:08:01.892Z,1627322881.892 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:01.892Z,1627322881.892 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:01.893Z,1627322881.893 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:01.893Z,1627322881.893 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:01.893Z,1627322881.893 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:01.893Z,1627322881.893 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:02.314Z,1627322882.314 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:02.314Z,1627322882.314 [VerticalControl](DEBUG): depth2buoyInt_ = -0.002641
2021-07-26T18:08:02.314Z,1627322882.314 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:02.314Z,1627322882.314 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:02.315Z,1627322882.315 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:02.315Z,1627322882.315 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:02.323Z,1627322882.323 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:02.324Z,1627322882.324 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:02.496Z,1627322882.496 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-07-26T18:08:02.683Z,1627322882.683 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:02.687Z,1627322882.687 [VerticalControl](DEBUG): depth2buoyInt_ = -0.003340
2021-07-26T18:08:02.688Z,1627322882.688 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:02.688Z,1627322882.688 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:02.688Z,1627322882.688 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:02.688Z,1627322882.688 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:02.688Z,1627322882.688 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:02.689Z,1627322882.689 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:03.057Z,1627322883.057 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:03.057Z,1627322883.057 [VerticalControl](DEBUG): depth2buoyInt_ = -0.005533
2021-07-26T18:08:03.057Z,1627322883.057 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:03.058Z,1627322883.058 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:03.058Z,1627322883.058 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:03.058Z,1627322883.058 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:03.058Z,1627322883.058 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:03.059Z,1627322883.059 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:03.511Z,1627322883.511 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:03.511Z,1627322883.511 [VerticalControl](DEBUG): depth2buoyInt_ = -0.004950
2021-07-26T18:08:03.519Z,1627322883.519 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:03.520Z,1627322883.520 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:03.520Z,1627322883.520 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:03.520Z,1627322883.520 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:03.521Z,1627322883.521 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:03.521Z,1627322883.521 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:03.917Z,1627322883.917 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:03.917Z,1627322883.917 [VerticalControl](DEBUG): depth2buoyInt_ = -0.003892
2021-07-26T18:08:03.917Z,1627322883.917 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:03.917Z,1627322883.917 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:03.918Z,1627322883.918 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:03.918Z,1627322883.918 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:03.919Z,1627322883.919 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:03.920Z,1627322883.920 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:04.343Z,1627322884.343 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:04.343Z,1627322884.343 [VerticalControl](DEBUG): depth2buoyInt_ = -0.006866
2021-07-26T18:08:04.344Z,1627322884.344 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:04.344Z,1627322884.344 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:04.344Z,1627322884.344 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:04.344Z,1627322884.344 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:04.345Z,1627322884.345 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:04.345Z,1627322884.345 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:04.711Z,1627322884.711 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:04.712Z,1627322884.712 [VerticalControl](DEBUG): depth2buoyInt_ = -0.009349
2021-07-26T18:08:04.712Z,1627322884.712 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:04.712Z,1627322884.712 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:04.712Z,1627322884.712 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:04.713Z,1627322884.713 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:04.713Z,1627322884.713 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:04.713Z,1627322884.713 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:05.122Z,1627322885.122 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:05.122Z,1627322885.122 [VerticalControl](DEBUG): depth2buoyInt_ = -0.009373
2021-07-26T18:08:05.122Z,1627322885.122 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:05.122Z,1627322885.122 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:05.123Z,1627322885.123 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:05.123Z,1627322885.123 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:05.143Z,1627322885.143 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:05.144Z,1627322885.144 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:05.539Z,1627322885.539 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:05.539Z,1627322885.539 [VerticalControl](DEBUG): depth2buoyInt_ = -0.011905
2021-07-26T18:08:05.544Z,1627322885.544 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:05.544Z,1627322885.544 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:05.544Z,1627322885.544 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:05.545Z,1627322885.545 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:05.545Z,1627322885.545 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:05.545Z,1627322885.545 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:05.919Z,1627322885.919 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:05.927Z,1627322885.927 [VerticalControl](DEBUG): depth2buoyInt_ = -0.012562
2021-07-26T18:08:05.928Z,1627322885.928 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:05.928Z,1627322885.928 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:05.928Z,1627322885.928 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:05.928Z,1627322885.928 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:05.929Z,1627322885.929 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:05.929Z,1627322885.929 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:06.306Z,1627322886.306 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:06.306Z,1627322886.306 [VerticalControl](DEBUG): depth2buoyInt_ = -0.012425
2021-07-26T18:08:06.307Z,1627322886.307 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:06.307Z,1627322886.307 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:06.307Z,1627322886.307 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:06.308Z,1627322886.308 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:06.308Z,1627322886.308 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:06.310Z,1627322886.310 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:06.693Z,1627322886.693 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:06.693Z,1627322886.693 [VerticalControl](DEBUG): depth2buoyInt_ = -0.013946
2021-07-26T18:08:06.693Z,1627322886.693 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:06.694Z,1627322886.694 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:06.694Z,1627322886.694 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:06.694Z,1627322886.694 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:06.694Z,1627322886.694 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:06.695Z,1627322886.695 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:07.100Z,1627322887.100 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:07.100Z,1627322887.100 [VerticalControl](DEBUG): depth2buoyInt_ = -0.015380
2021-07-26T18:08:07.100Z,1627322887.100 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:07.100Z,1627322887.100 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:07.101Z,1627322887.101 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:07.101Z,1627322887.101 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:07.101Z,1627322887.101 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:07.101Z,1627322887.101 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:07.521Z,1627322887.521 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:07.521Z,1627322887.521 [VerticalControl](DEBUG): depth2buoyInt_ = -0.016441
2021-07-26T18:08:07.521Z,1627322887.521 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:07.521Z,1627322887.521 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:07.522Z,1627322887.522 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:07.522Z,1627322887.522 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:07.522Z,1627322887.522 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:07.523Z,1627322887.523 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:07.934Z,1627322887.934 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:07.934Z,1627322887.934 [VerticalControl](DEBUG): depth2buoyInt_ = -0.018682
2021-07-26T18:08:07.934Z,1627322887.934 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:07.934Z,1627322887.934 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:07.935Z,1627322887.935 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:07.935Z,1627322887.935 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:07.935Z,1627322887.935 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:07.936Z,1627322887.936 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:08.310Z,1627322888.310 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:08.310Z,1627322888.310 [VerticalControl](DEBUG): depth2buoyInt_ = -0.018466
2021-07-26T18:08:08.311Z,1627322888.311 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:08.311Z,1627322888.311 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:08.311Z,1627322888.311 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:08.312Z,1627322888.312 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:08.312Z,1627322888.312 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:08.312Z,1627322888.312 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:08.720Z,1627322888.720 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:08.720Z,1627322888.720 [VerticalControl](DEBUG): depth2buoyInt_ = -0.020333
2021-07-26T18:08:08.721Z,1627322888.721 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:08.721Z,1627322888.721 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:08.721Z,1627322888.721 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:08.722Z,1627322888.722 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:08.722Z,1627322888.722 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:08.723Z,1627322888.723 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:09.142Z,1627322889.142 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:09.142Z,1627322889.142 [VerticalControl](DEBUG): depth2buoyInt_ = -0.022045
2021-07-26T18:08:09.142Z,1627322889.142 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:09.142Z,1627322889.142 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:09.143Z,1627322889.143 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:09.143Z,1627322889.143 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:09.143Z,1627322889.143 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:09.143Z,1627322889.143 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:09.541Z,1627322889.541 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:09.542Z,1627322889.542 [VerticalControl](DEBUG): depth2buoyInt_ = -0.023986
2021-07-26T18:08:09.542Z,1627322889.542 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:09.542Z,1627322889.542 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:09.542Z,1627322889.542 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:09.543Z,1627322889.543 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:09.548Z,1627322889.548 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:09.548Z,1627322889.548 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:09.939Z,1627322889.939 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:09.939Z,1627322889.939 [VerticalControl](DEBUG): depth2buoyInt_ = -0.027475
2021-07-26T18:08:09.940Z,1627322889.940 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:09.940Z,1627322889.940 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:09.940Z,1627322889.940 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:09.940Z,1627322889.940 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:09.940Z,1627322889.940 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:09.941Z,1627322889.941 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:10.347Z,1627322890.347 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:10.348Z,1627322890.348 [VerticalControl](DEBUG): depth2buoyInt_ = -0.028928
2021-07-26T18:08:10.348Z,1627322890.348 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:10.348Z,1627322890.348 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:10.348Z,1627322890.348 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:10.348Z,1627322890.348 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:10.349Z,1627322890.349 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:10.349Z,1627322890.349 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:10.759Z,1627322890.759 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:10.760Z,1627322890.760 [VerticalControl](DEBUG): depth2buoyInt_ = -0.031942
2021-07-26T18:08:10.760Z,1627322890.760 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:10.760Z,1627322890.760 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:10.760Z,1627322890.760 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:10.761Z,1627322890.761 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:10.761Z,1627322890.761 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:10.761Z,1627322890.761 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:11.148Z,1627322891.148 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:11.149Z,1627322891.149 [VerticalControl](DEBUG): depth2buoyInt_ = -0.036073
2021-07-26T18:08:11.149Z,1627322891.149 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:11.149Z,1627322891.149 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:11.149Z,1627322891.149 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:11.150Z,1627322891.150 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:11.150Z,1627322891.150 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:11.150Z,1627322891.150 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:11.559Z,1627322891.559 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:11.560Z,1627322891.560 [VerticalControl](DEBUG): depth2buoyInt_ = -0.040515
2021-07-26T18:08:11.560Z,1627322891.560 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:11.560Z,1627322891.560 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:11.560Z,1627322891.560 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:11.561Z,1627322891.561 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:11.561Z,1627322891.561 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:11.561Z,1627322891.561 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:11.962Z,1627322891.962 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:11.962Z,1627322891.962 [VerticalControl](DEBUG): depth2buoyInt_ = -0.043124
2021-07-26T18:08:11.962Z,1627322891.963 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:11.963Z,1627322891.963 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:11.963Z,1627322891.963 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:11.963Z,1627322891.963 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:11.964Z,1627322891.964 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:11.964Z,1627322891.964 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:12.374Z,1627322892.374 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:12.375Z,1627322892.375 [VerticalControl](DEBUG): depth2buoyInt_ = -0.045380
2021-07-26T18:08:12.375Z,1627322892.375 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:12.379Z,1627322892.379 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:12.380Z,1627322892.380 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:12.380Z,1627322892.380 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:12.380Z,1627322892.380 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:12.380Z,1627322892.380 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:12.761Z,1627322892.761 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:12.761Z,1627322892.761 [VerticalControl](DEBUG): depth2buoyInt_ = -0.048083
2021-07-26T18:08:12.761Z,1627322892.761 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:12.761Z,1627322892.761 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:12.762Z,1627322892.762 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:12.762Z,1627322892.762 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:12.762Z,1627322892.762 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:12.762Z,1627322892.762 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:13.164Z,1627322893.164 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:13.164Z,1627322893.164 [VerticalControl](DEBUG): depth2buoyInt_ = -0.051825
2021-07-26T18:08:13.164Z,1627322893.164 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:13.165Z,1627322893.165 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:13.165Z,1627322893.165 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:13.165Z,1627322893.165 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:13.165Z,1627322893.165 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:13.166Z,1627322893.166 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:13.598Z,1627322893.598 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:13.598Z,1627322893.598 [VerticalControl](DEBUG): depth2buoyInt_ = -0.054697
2021-07-26T18:08:13.598Z,1627322893.598 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:13.599Z,1627322893.599 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:13.599Z,1627322893.599 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:13.599Z,1627322893.599 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:13.600Z,1627322893.600 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:13.600Z,1627322893.600 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:13.986Z,1627322893.986 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:13.986Z,1627322893.986 [VerticalControl](DEBUG): depth2buoyInt_ = -0.055931
2021-07-26T18:08:13.986Z,1627322893.986 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:13.987Z,1627322893.987 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:13.991Z,1627322893.991 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:13.992Z,1627322893.992 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:13.992Z,1627322893.992 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:13.992Z,1627322893.992 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:14.371Z,1627322894.371 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:14.372Z,1627322894.372 [VerticalControl](DEBUG): depth2buoyInt_ = -0.061098
2021-07-26T18:08:14.372Z,1627322894.372 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:14.372Z,1627322894.372 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:14.372Z,1627322894.372 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:14.373Z,1627322894.373 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:14.373Z,1627322894.373 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:14.373Z,1627322894.373 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:14.803Z,1627322894.803 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:14.823Z,1627322894.823 [VerticalControl](DEBUG): depth2buoyInt_ = -0.064277
2021-07-26T18:08:14.824Z,1627322894.824 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:14.824Z,1627322894.824 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:14.824Z,1627322894.824 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:14.824Z,1627322894.824 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:14.825Z,1627322894.825 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:14.825Z,1627322894.825 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:15.199Z,1627322895.199 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:15.200Z,1627322895.200 [VerticalControl](DEBUG): depth2buoyInt_ = -0.068532
2021-07-26T18:08:15.200Z,1627322895.200 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:15.201Z,1627322895.201 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:15.201Z,1627322895.201 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:15.201Z,1627322895.201 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:15.202Z,1627322895.202 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:15.202Z,1627322895.202 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:15.614Z,1627322895.614 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:15.614Z,1627322895.614 [VerticalControl](DEBUG): depth2buoyInt_ = -0.071127
2021-07-26T18:08:15.615Z,1627322895.615 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:15.615Z,1627322895.615 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:15.619Z,1627322895.619 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:15.620Z,1627322895.620 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:15.620Z,1627322895.620 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:15.620Z,1627322895.620 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:15.997Z,1627322895.997 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:15.998Z,1627322895.998 [VerticalControl](DEBUG): depth2buoyInt_ = -0.075932
2021-07-26T18:08:15.998Z,1627322895.998 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:15.998Z,1627322895.998 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:15.998Z,1627322895.998 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:15.998Z,1627322895.998 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:15.999Z,1627322895.999 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:15.999Z,1627322895.999 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:16.393Z,1627322896.393 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:16.393Z,1627322896.393 [VerticalControl](DEBUG): depth2buoyInt_ = -0.079766
2021-07-26T18:08:16.394Z,1627322896.394 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:16.394Z,1627322896.394 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:16.394Z,1627322896.394 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:16.394Z,1627322896.394 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:16.394Z,1627322896.394 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:16.395Z,1627322896.395 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:16.816Z,1627322896.816 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:16.817Z,1627322896.817 [VerticalControl](DEBUG): depth2buoyInt_ = -0.084483
2021-07-26T18:08:16.817Z,1627322896.817 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:16.818Z,1627322896.818 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:16.818Z,1627322896.818 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:16.818Z,1627322896.818 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:16.818Z,1627322896.818 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:16.819Z,1627322896.819 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:17.288Z,1627322897.288 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:17.288Z,1627322897.288 [VerticalControl](DEBUG): depth2buoyInt_ = -0.088387
2021-07-26T18:08:17.289Z,1627322897.289 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:17.289Z,1627322897.289 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:17.289Z,1627322897.289 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:17.289Z,1627322897.289 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:17.290Z,1627322897.290 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:17.290Z,1627322897.290 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:17.738Z,1627322897.738 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:17.738Z,1627322897.738 [VerticalControl](DEBUG): depth2buoyInt_ = -0.093248
2021-07-26T18:08:17.738Z,1627322897.738 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:17.739Z,1627322897.739 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:17.739Z,1627322897.739 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:17.757Z,1627322897.757 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:17.758Z,1627322897.758 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:17.758Z,1627322897.758 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:18.090Z,1627322898.090 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:18.090Z,1627322898.090 [VerticalControl](DEBUG): depth2buoyInt_ = -0.096515
2021-07-26T18:08:18.090Z,1627322898.090 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:18.091Z,1627322898.091 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:18.091Z,1627322898.091 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:18.119Z,1627322898.119 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:18.120Z,1627322898.120 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:18.120Z,1627322898.120 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:18.431Z,1627322898.431 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:18.431Z,1627322898.431 [VerticalControl](DEBUG): depth2buoyInt_ = -0.101052
2021-07-26T18:08:18.438Z,1627322898.438 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:18.439Z,1627322898.439 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:18.439Z,1627322898.439 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:18.439Z,1627322898.439 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:18.440Z,1627322898.440 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:18.440Z,1627322898.440 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:18.869Z,1627322898.869 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:18.869Z,1627322898.869 [VerticalControl](DEBUG): depth2buoyInt_ = -0.105158
2021-07-26T18:08:18.869Z,1627322898.869 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:18.869Z,1627322898.869 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:18.870Z,1627322898.870 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:18.870Z,1627322898.870 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:18.870Z,1627322898.870 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:18.870Z,1627322898.870 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:19.265Z,1627322899.265 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:19.265Z,1627322899.265 [VerticalControl](DEBUG): depth2buoyInt_ = -0.110784
2021-07-26T18:08:19.265Z,1627322899.265 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:19.266Z,1627322899.266 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:19.266Z,1627322899.266 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:19.266Z,1627322899.266 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:19.266Z,1627322899.266 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:19.267Z,1627322899.267 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:19.664Z,1627322899.664 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:19.665Z,1627322899.665 [VerticalControl](DEBUG): depth2buoyInt_ = -0.117714
2021-07-26T18:08:19.665Z,1627322899.665 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:19.665Z,1627322899.665 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:19.665Z,1627322899.665 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:19.666Z,1627322899.666 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:19.666Z,1627322899.666 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:19.666Z,1627322899.666 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:20.067Z,1627322900.067 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:20.071Z,1627322900.071 [VerticalControl](DEBUG): depth2buoyInt_ = -0.123204
2021-07-26T18:08:20.072Z,1627322900.072 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:20.072Z,1627322900.072 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:20.072Z,1627322900.072 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:20.072Z,1627322900.072 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:20.073Z,1627322900.073 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:20.073Z,1627322900.073 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:20.477Z,1627322900.477 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:20.477Z,1627322900.477 [VerticalControl](DEBUG): depth2buoyInt_ = -0.130468
2021-07-26T18:08:20.477Z,1627322900.477 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:20.478Z,1627322900.478 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:20.478Z,1627322900.478 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:20.478Z,1627322900.478 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:20.478Z,1627322900.478 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:20.479Z,1627322900.479 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:20.887Z,1627322900.887 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:20.888Z,1627322900.888 [VerticalControl](DEBUG): depth2buoyInt_ = -0.136854
2021-07-26T18:08:20.888Z,1627322900.888 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:20.888Z,1627322900.888 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:20.889Z,1627322900.889 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:20.889Z,1627322900.889 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:20.889Z,1627322900.889 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:20.889Z,1627322900.889 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:21.290Z,1627322901.290 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:21.290Z,1627322901.290 [VerticalControl](DEBUG): depth2buoyInt_ = -0.144244
2021-07-26T18:08:21.290Z,1627322901.290 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:21.290Z,1627322901.290 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:21.291Z,1627322901.291 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:21.291Z,1627322901.291 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:21.291Z,1627322901.291 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:21.291Z,1627322901.291 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:21.687Z,1627322901.687 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:21.696Z,1627322901.696 [VerticalControl](DEBUG): depth2buoyInt_ = -0.150203
2021-07-26T18:08:21.696Z,1627322901.696 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:21.696Z,1627322901.696 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:21.697Z,1627322901.697 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:21.697Z,1627322901.697 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:21.697Z,1627322901.697 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:21.698Z,1627322901.698 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:22.100Z,1627322902.100 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:22.100Z,1627322902.100 [VerticalControl](DEBUG): depth2buoyInt_ = -0.156970
2021-07-26T18:08:22.101Z,1627322902.101 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:22.101Z,1627322902.101 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:22.101Z,1627322902.101 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:22.101Z,1627322902.101 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:22.102Z,1627322902.102 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:22.102Z,1627322902.102 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:22.482Z,1627322902.482 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:22.482Z,1627322902.482 [VerticalControl](DEBUG): depth2buoyInt_ = -0.164696
2021-07-26T18:08:22.482Z,1627322902.482 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:22.482Z,1627322902.482 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:22.482Z,1627322902.483 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:22.483Z,1627322902.483 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:22.486Z,1627322902.486 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:22.486Z,1627322902.486 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:22.880Z,1627322902.880 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:22.880Z,1627322902.880 [VerticalControl](DEBUG): depth2buoyInt_ = -0.173692
2021-07-26T18:08:22.880Z,1627322902.880 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:22.880Z,1627322902.880 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:22.881Z,1627322902.881 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:22.881Z,1627322902.881 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:22.881Z,1627322902.881 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:22.881Z,1627322902.881 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:23.300Z,1627322903.300 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:23.300Z,1627322903.300 [VerticalControl](DEBUG): depth2buoyInt_ = -0.181650
2021-07-26T18:08:23.301Z,1627322903.301 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:23.301Z,1627322903.301 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:23.301Z,1627322903.301 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:23.301Z,1627322903.301 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:23.302Z,1627322903.302 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:23.302Z,1627322903.302 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:23.733Z,1627322903.733 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:23.733Z,1627322903.733 [VerticalControl](DEBUG): depth2buoyInt_ = -0.190413
2021-07-26T18:08:23.733Z,1627322903.733 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:23.733Z,1627322903.733 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:23.734Z,1627322903.734 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:23.734Z,1627322903.734 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:23.734Z,1627322903.734 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:23.734Z,1627322903.734 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:24.102Z,1627322904.102 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:24.103Z,1627322904.103 [VerticalControl](DEBUG): depth2buoyInt_ = -0.199057
2021-07-26T18:08:24.103Z,1627322904.103 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:24.108Z,1627322904.108 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:24.108Z,1627322904.108 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:24.108Z,1627322904.108 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:24.108Z,1627322904.108 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:24.109Z,1627322904.109 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:24.495Z,1627322904.495 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:24.499Z,1627322904.499 [VerticalControl](DEBUG): depth2buoyInt_ = -0.205779
2021-07-26T18:08:24.500Z,1627322904.500 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:24.500Z,1627322904.500 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:24.500Z,1627322904.500 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:24.500Z,1627322904.500 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:24.501Z,1627322904.501 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:24.501Z,1627322904.501 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:24.931Z,1627322904.931 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:24.931Z,1627322904.931 [VerticalControl](DEBUG): depth2buoyInt_ = -0.214828
2021-07-26T18:08:24.939Z,1627322904.939 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:24.940Z,1627322904.940 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:24.940Z,1627322904.940 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:24.940Z,1627322904.940 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:24.940Z,1627322904.940 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:24.941Z,1627322904.941 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:25.299Z,1627322905.299 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:25.299Z,1627322905.299 [VerticalControl](DEBUG): depth2buoyInt_ = -0.222361
2021-07-26T18:08:25.299Z,1627322905.299 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:25.300Z,1627322905.300 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:25.300Z,1627322905.300 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:25.300Z,1627322905.300 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:25.300Z,1627322905.300 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:25.301Z,1627322905.301 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:25.718Z,1627322905.718 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:25.718Z,1627322905.718 [VerticalControl](DEBUG): depth2buoyInt_ = -0.231686
2021-07-26T18:08:25.718Z,1627322905.718 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:25.718Z,1627322905.718 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:25.719Z,1627322905.719 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:25.719Z,1627322905.719 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:25.740Z,1627322905.740 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:25.740Z,1627322905.740 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:26.130Z,1627322906.130 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:26.131Z,1627322906.131 [VerticalControl](DEBUG): depth2buoyInt_ = -0.242532
2021-07-26T18:08:26.131Z,1627322906.131 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:26.131Z,1627322906.131 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:26.132Z,1627322906.132 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:26.132Z,1627322906.132 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:26.132Z,1627322906.132 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:26.132Z,1627322906.132 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:26.523Z,1627322906.523 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:26.531Z,1627322906.531 [VerticalControl](DEBUG): depth2buoyInt_ = -0.250318
2021-07-26T18:08:26.532Z,1627322906.532 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:26.532Z,1627322906.532 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:26.532Z,1627322906.532 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:26.533Z,1627322906.533 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:26.533Z,1627322906.533 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:26.533Z,1627322906.533 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:26.949Z,1627322906.949 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:26.949Z,1627322906.949 [VerticalControl](DEBUG): depth2buoyInt_ = -0.260668
2021-07-26T18:08:26.949Z,1627322906.949 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:26.949Z,1627322906.949 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:26.950Z,1627322906.950 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:26.950Z,1627322906.950 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:26.950Z,1627322906.950 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:26.950Z,1627322906.950 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:27.328Z,1627322907.328 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:27.328Z,1627322907.328 [VerticalControl](DEBUG): depth2buoyInt_ = -0.271002
2021-07-26T18:08:27.329Z,1627322907.329 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:27.329Z,1627322907.329 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:27.329Z,1627322907.329 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:27.329Z,1627322907.329 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:27.329Z,1627322907.329 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:27.330Z,1627322907.330 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:27.765Z,1627322907.765 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:27.765Z,1627322907.765 [VerticalControl](DEBUG): depth2buoyInt_ = -0.283201
2021-07-26T18:08:27.766Z,1627322907.766 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:27.766Z,1627322907.766 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:27.766Z,1627322907.766 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:27.766Z,1627322907.766 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:27.767Z,1627322907.767 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:27.767Z,1627322907.767 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:28.188Z,1627322908.188 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:28.189Z,1627322908.189 [VerticalControl](DEBUG): depth2buoyInt_ = -0.293914
2021-07-26T18:08:28.189Z,1627322908.189 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:28.189Z,1627322908.189 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:28.190Z,1627322908.190 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:28.190Z,1627322908.190 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:28.190Z,1627322908.190 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:28.191Z,1627322908.191 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:28.589Z,1627322908.589 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:28.589Z,1627322908.589 [VerticalControl](DEBUG): depth2buoyInt_ = -0.304635
2021-07-26T18:08:28.589Z,1627322908.589 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:28.589Z,1627322908.589 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:28.590Z,1627322908.590 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:28.590Z,1627322908.590 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:28.590Z,1627322908.590 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:28.590Z,1627322908.590 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:28.950Z,1627322908.950 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:28.950Z,1627322908.950 [VerticalControl](DEBUG): depth2buoyInt_ = -0.317839
2021-07-26T18:08:28.951Z,1627322908.951 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:28.951Z,1627322908.951 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:28.960Z,1627322908.960 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:28.960Z,1627322908.960 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:28.960Z,1627322908.960 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:28.960Z,1627322908.960 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:29.338Z,1627322909.338 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:29.339Z,1627322909.339 [VerticalControl](DEBUG): depth2buoyInt_ = -0.329655
2021-07-26T18:08:29.363Z,1627322909.363 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:29.364Z,1627322909.364 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:29.364Z,1627322909.364 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:29.364Z,1627322909.364 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:29.365Z,1627322909.365 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:29.365Z,1627322909.365 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:29.747Z,1627322909.747 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:29.747Z,1627322909.747 [VerticalControl](DEBUG): depth2buoyInt_ = -0.340820
2021-07-26T18:08:29.751Z,1627322909.751 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:29.752Z,1627322909.752 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:29.752Z,1627322909.752 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:29.752Z,1627322909.752 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:29.752Z,1627322909.752 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:29.753Z,1627322909.753 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:30.192Z,1627322910.193 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:30.193Z,1627322910.193 [VerticalControl](DEBUG): depth2buoyInt_ = -0.355178
2021-07-26T18:08:30.193Z,1627322910.193 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:30.193Z,1627322910.193 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:30.193Z,1627322910.193 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:30.194Z,1627322910.194 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:30.194Z,1627322910.194 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:30.194Z,1627322910.194 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:30.586Z,1627322910.586 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:30.586Z,1627322910.586 [VerticalControl](DEBUG): depth2buoyInt_ = -0.366087
2021-07-26T18:08:30.587Z,1627322910.587 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:30.595Z,1627322910.595 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:30.596Z,1627322910.596 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:30.596Z,1627322910.596 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:30.596Z,1627322910.596 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:30.596Z,1627322910.596 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:30.957Z,1627322910.957 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:30.958Z,1627322910.958 [VerticalControl](DEBUG): depth2buoyInt_ = -0.380652
2021-07-26T18:08:30.958Z,1627322910.958 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:30.958Z,1627322910.958 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:30.958Z,1627322910.958 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:30.959Z,1627322910.959 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:30.963Z,1627322910.963 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:30.964Z,1627322910.964 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:31.452Z,1627322911.452 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:31.452Z,1627322911.452 [VerticalControl](DEBUG): depth2buoyInt_ = -0.393521
2021-07-26T18:08:31.453Z,1627322911.453 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:31.453Z,1627322911.453 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:31.453Z,1627322911.453 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:31.453Z,1627322911.453 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:31.453Z,1627322911.453 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:31.454Z,1627322911.454 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:31.814Z,1627322911.814 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:31.814Z,1627322911.814 [VerticalControl](DEBUG): depth2buoyInt_ = -0.406075
2021-07-26T18:08:31.815Z,1627322911.815 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:31.815Z,1627322911.815 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:31.823Z,1627322911.823 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:31.824Z,1627322911.824 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:31.824Z,1627322911.824 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:31.824Z,1627322911.824 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:32.245Z,1627322912.245 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:32.245Z,1627322912.245 [VerticalControl](DEBUG): depth2buoyInt_ = -0.420939
2021-07-26T18:08:32.245Z,1627322912.245 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:32.245Z,1627322912.245 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:32.246Z,1627322912.246 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:32.246Z,1627322912.246 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:32.246Z,1627322912.246 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:32.246Z,1627322912.246 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:32.664Z,1627322912.664 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:32.664Z,1627322912.664 [VerticalControl](DEBUG): depth2buoyInt_ = -0.437672
2021-07-26T18:08:32.665Z,1627322912.665 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:32.665Z,1627322912.665 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:32.665Z,1627322912.665 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:32.666Z,1627322912.666 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:32.666Z,1627322912.666 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:32.666Z,1627322912.666 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:33.088Z,1627322913.088 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:33.088Z,1627322913.088 [VerticalControl](DEBUG): depth2buoyInt_ = -0.453499
2021-07-26T18:08:33.089Z,1627322913.089 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:33.089Z,1627322913.089 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:33.089Z,1627322913.089 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:33.089Z,1627322913.089 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:33.090Z,1627322913.090 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:33.090Z,1627322913.090 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:33.470Z,1627322913.470 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:33.470Z,1627322913.470 [VerticalControl](DEBUG): depth2buoyInt_ = -0.469203
2021-07-26T18:08:33.470Z,1627322913.470 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:33.470Z,1627322913.470 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:33.471Z,1627322913.471 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:33.471Z,1627322913.471 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:33.484Z,1627322913.484 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:33.484Z,1627322913.484 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:33.868Z,1627322913.868 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:33.869Z,1627322913.869 [VerticalControl](DEBUG): depth2buoyInt_ = -0.483712
2021-07-26T18:08:33.869Z,1627322913.869 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:33.869Z,1627322913.869 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:33.869Z,1627322913.869 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:33.870Z,1627322913.870 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:33.870Z,1627322913.870 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:33.870Z,1627322913.870 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:34.286Z,1627322914.286 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:34.286Z,1627322914.286 [VerticalControl](DEBUG): depth2buoyInt_ = -0.501470
2021-07-26T18:08:34.287Z,1627322914.287 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:34.299Z,1627322914.299 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:34.300Z,1627322914.300 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:34.300Z,1627322914.300 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:34.300Z,1627322914.300 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:34.300Z,1627322914.300 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:34.728Z,1627322914.728 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:34.729Z,1627322914.729 [VerticalControl](DEBUG): depth2buoyInt_ = -0.518575
2021-07-26T18:08:34.729Z,1627322914.729 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:34.729Z,1627322914.729 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:34.729Z,1627322914.729 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:34.730Z,1627322914.730 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:34.730Z,1627322914.730 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:34.730Z,1627322914.730 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:35.107Z,1627322915.107 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:35.107Z,1627322915.107 [VerticalControl](DEBUG): depth2buoyInt_ = -0.534052
2021-07-26T18:08:35.126Z,1627322915.126 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:35.126Z,1627322915.126 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:35.126Z,1627322915.126 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:35.127Z,1627322915.127 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:35.127Z,1627322915.127 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:35.139Z,1627322915.139 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:35.501Z,1627322915.501 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:35.501Z,1627322915.501 [VerticalControl](DEBUG): depth2buoyInt_ = -0.552829
2021-07-26T18:08:35.501Z,1627322915.501 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:35.502Z,1627322915.502 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:35.502Z,1627322915.502 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:35.502Z,1627322915.502 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:35.502Z,1627322915.502 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:35.503Z,1627322915.503 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:36.029Z,1627322916.029 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:36.029Z,1627322916.029 [VerticalControl](DEBUG): depth2buoyInt_ = -0.571974
2021-07-26T18:08:36.029Z,1627322916.029 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:36.030Z,1627322916.030 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:36.030Z,1627322916.030 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:36.030Z,1627322916.030 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:36.030Z,1627322916.030 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:36.031Z,1627322916.031 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:36.327Z,1627322916.327 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:36.327Z,1627322916.327 [VerticalControl](DEBUG): depth2buoyInt_ = -0.588787
2021-07-26T18:08:36.335Z,1627322916.335 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:36.336Z,1627322916.336 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:36.336Z,1627322916.336 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:36.336Z,1627322916.336 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:36.336Z,1627322916.336 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:36.337Z,1627322916.337 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:36.772Z,1627322916.772 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:36.773Z,1627322916.773 [VerticalControl](DEBUG): depth2buoyInt_ = -0.607916
2021-07-26T18:08:36.773Z,1627322916.773 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:36.773Z,1627322916.773 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:36.773Z,1627322916.773 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:36.774Z,1627322916.774 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:36.774Z,1627322916.774 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:36.774Z,1627322916.774 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:37.133Z,1627322917.133 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:37.133Z,1627322917.133 [VerticalControl](DEBUG): depth2buoyInt_ = -0.625019
2021-07-26T18:08:37.134Z,1627322917.134 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:37.134Z,1627322917.134 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:37.134Z,1627322917.134 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:37.135Z,1627322917.135 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:37.152Z,1627322917.152 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:37.152Z,1627322917.152 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:37.540Z,1627322917.540 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:37.540Z,1627322917.540 [VerticalControl](DEBUG): depth2buoyInt_ = -0.646510
2021-07-26T18:08:37.541Z,1627322917.541 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:37.541Z,1627322917.541 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:37.541Z,1627322917.541 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:37.542Z,1627322917.542 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:37.542Z,1627322917.542 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:37.542Z,1627322917.542 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:37.956Z,1627322917.956 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:37.956Z,1627322917.956 [VerticalControl](DEBUG): depth2buoyInt_ = -0.665715
2021-07-26T18:08:37.957Z,1627322917.957 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:37.957Z,1627322917.957 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:37.957Z,1627322917.957 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:37.957Z,1627322917.957 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:37.958Z,1627322917.958 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:37.958Z,1627322917.958 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:38.368Z,1627322918.368 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:38.368Z,1627322918.368 [VerticalControl](DEBUG): depth2buoyInt_ = -0.687598
2021-07-26T18:08:38.368Z,1627322918.368 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:38.369Z,1627322918.369 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:38.369Z,1627322918.369 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:38.369Z,1627322918.369 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:38.369Z,1627322918.369 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:38.369Z,1627322918.369 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:38.802Z,1627322918.802 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:38.802Z,1627322918.802 [VerticalControl](DEBUG): depth2buoyInt_ = -0.707956
2021-07-26T18:08:38.802Z,1627322918.802 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:38.803Z,1627322918.803 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:38.803Z,1627322918.803 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:38.819Z,1627322918.819 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:38.820Z,1627322918.820 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:38.820Z,1627322918.820 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:39.206Z,1627322919.206 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:39.206Z,1627322919.206 [VerticalControl](DEBUG): depth2buoyInt_ = -0.728907
2021-07-26T18:08:39.206Z,1627322919.206 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:39.207Z,1627322919.207 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:39.207Z,1627322919.207 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:39.219Z,1627322919.219 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:39.220Z,1627322919.220 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:39.220Z,1627322919.220 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:39.607Z,1627322919.607 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:39.608Z,1627322919.608 [VerticalControl](DEBUG): depth2buoyInt_ = -0.749791
2021-07-26T18:08:39.608Z,1627322919.608 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:39.608Z,1627322919.608 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:39.608Z,1627322919.608 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:39.609Z,1627322919.609 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:39.609Z,1627322919.609 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:39.609Z,1627322919.609 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:39.967Z,1627322919.967 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:39.967Z,1627322919.967 [VerticalControl](DEBUG): depth2buoyInt_ = -0.769937
2021-07-26T18:08:39.983Z,1627322919.983 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:39.984Z,1627322919.984 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:39.984Z,1627322919.984 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:39.984Z,1627322919.984 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:39.984Z,1627322919.984 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:39.985Z,1627322919.985 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:40.371Z,1627322920.371 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:40.371Z,1627322920.371 [VerticalControl](DEBUG): depth2buoyInt_ = -0.790957
2021-07-26T18:08:40.391Z,1627322920.391 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:40.392Z,1627322920.392 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:40.392Z,1627322920.392 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:40.392Z,1627322920.392 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:40.392Z,1627322920.392 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:40.393Z,1627322920.393 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:40.855Z,1627322920.855 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:40.883Z,1627322920.883 [VerticalControl](DEBUG): depth2buoyInt_ = -0.816220
2021-07-26T18:08:40.884Z,1627322920.884 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:40.884Z,1627322920.884 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:40.884Z,1627322920.884 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:40.884Z,1627322920.884 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:40.885Z,1627322920.885 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:40.885Z,1627322920.885 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:41.195Z,1627322921.195 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:41.196Z,1627322921.196 [VerticalControl](DEBUG): depth2buoyInt_ = -0.837387
2021-07-26T18:08:41.196Z,1627322921.196 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:41.196Z,1627322921.196 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:41.196Z,1627322921.196 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:41.197Z,1627322921.197 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:41.197Z,1627322921.197 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:41.197Z,1627322921.197 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:41.624Z,1627322921.624 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:41.624Z,1627322921.624 [VerticalControl](DEBUG): depth2buoyInt_ = -0.862835
2021-07-26T18:08:41.624Z,1627322921.624 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:41.625Z,1627322921.625 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:41.625Z,1627322921.625 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:41.625Z,1627322921.625 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:41.626Z,1627322921.626 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:41.626Z,1627322921.626 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:41.959Z,1627322921.959 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:41.959Z,1627322921.959 [VerticalControl](DEBUG): depth2buoyInt_ = -0.883791
2021-07-26T18:08:41.963Z,1627322921.963 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:41.964Z,1627322921.964 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:41.964Z,1627322921.964 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:41.964Z,1627322921.964 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:41.964Z,1627322921.964 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:41.965Z,1627322921.965 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:42.326Z,1627322922.326 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:42.326Z,1627322922.326 [VerticalControl](DEBUG): depth2buoyInt_ = -0.907907
2021-07-26T18:08:42.327Z,1627322922.327 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:42.327Z,1627322922.327 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:42.327Z,1627322922.327 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:42.328Z,1627322922.328 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:42.328Z,1627322922.328 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:42.328Z,1627322922.328 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:42.746Z,1627322922.746 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:42.746Z,1627322922.746 [VerticalControl](DEBUG): depth2buoyInt_ = -0.931930
2021-07-26T18:08:42.746Z,1627322922.746 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:42.746Z,1627322922.746 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:42.747Z,1627322922.747 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:42.747Z,1627322922.747 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:42.759Z,1627322922.759 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:42.760Z,1627322922.760 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:43.151Z,1627322923.151 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:43.151Z,1627322923.151 [VerticalControl](DEBUG): depth2buoyInt_ = -0.957789
2021-07-26T18:08:43.151Z,1627322923.151 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:43.152Z,1627322923.152 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:43.152Z,1627322923.152 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:43.152Z,1627322923.152 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:43.152Z,1627322923.152 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:43.153Z,1627322923.153 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:43.556Z,1627322923.556 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:43.556Z,1627322923.556 [VerticalControl](DEBUG): depth2buoyInt_ = -0.985221
2021-07-26T18:08:43.557Z,1627322923.557 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:43.557Z,1627322923.557 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:43.557Z,1627322923.557 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:43.558Z,1627322923.558 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:43.558Z,1627322923.558 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:43.558Z,1627322923.558 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:43.962Z,1627322923.962 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:43.962Z,1627322923.962 [VerticalControl](DEBUG): depth2buoyInt_ = -1.011487
2021-07-26T18:08:43.963Z,1627322923.963 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:43.963Z,1627322923.963 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:43.967Z,1627322923.967 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:43.968Z,1627322923.968 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:43.968Z,1627322923.968 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:43.968Z,1627322923.968 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:44.346Z,1627322924.346 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:44.346Z,1627322924.346 [VerticalControl](DEBUG): depth2buoyInt_ = -1.036713
2021-07-26T18:08:44.346Z,1627322924.346 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:44.347Z,1627322924.347 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:44.347Z,1627322924.347 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:44.347Z,1627322924.347 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:44.348Z,1627322924.348 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:44.348Z,1627322924.348 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:44.776Z,1627322924.776 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:44.776Z,1627322924.776 [VerticalControl](DEBUG): depth2buoyInt_ = -1.062595
2021-07-26T18:08:44.777Z,1627322924.777 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:44.777Z,1627322924.777 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:44.777Z,1627322924.777 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:44.777Z,1627322924.777 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:44.778Z,1627322924.778 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:44.778Z,1627322924.778 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:45.167Z,1627322925.167 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:45.168Z,1627322925.168 [VerticalControl](DEBUG): depth2buoyInt_ = -1.088981
2021-07-26T18:08:45.168Z,1627322925.168 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:45.168Z,1627322925.168 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:45.168Z,1627322925.168 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:45.169Z,1627322925.169 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:45.169Z,1627322925.169 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:45.169Z,1627322925.169 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:45.588Z,1627322925.588 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:45.588Z,1627322925.588 [VerticalControl](DEBUG): depth2buoyInt_ = -1.117360
2021-07-26T18:08:45.588Z,1627322925.588 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:45.588Z,1627322925.588 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:45.589Z,1627322925.589 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:45.589Z,1627322925.589 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:45.589Z,1627322925.589 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:45.589Z,1627322925.589 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:45.966Z,1627322925.966 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:45.966Z,1627322925.966 [VerticalControl](DEBUG): depth2buoyInt_ = -1.143239
2021-07-26T18:08:45.967Z,1627322925.967 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:45.967Z,1627322925.967 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:45.967Z,1627322925.967 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:45.968Z,1627322925.968 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:45.968Z,1627322925.968 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:45.968Z,1627322925.968 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:46.376Z,1627322926.376 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:46.376Z,1627322926.376 [VerticalControl](DEBUG): depth2buoyInt_ = -1.173152
2021-07-26T18:08:46.377Z,1627322926.377 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:46.377Z,1627322926.377 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:46.377Z,1627322926.377 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:46.377Z,1627322926.377 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:46.378Z,1627322926.378 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:46.378Z,1627322926.378 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:46.796Z,1627322926.796 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:46.797Z,1627322926.797 [VerticalControl](DEBUG): depth2buoyInt_ = -1.202351
2021-07-26T18:08:46.797Z,1627322926.797 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:46.797Z,1627322926.797 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:46.797Z,1627322926.797 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:46.797Z,1627322926.797 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:46.798Z,1627322926.798 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:46.798Z,1627322926.798 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:47.173Z,1627322927.173 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:47.174Z,1627322927.174 [VerticalControl](DEBUG): depth2buoyInt_ = -1.231327
2021-07-26T18:08:47.174Z,1627322927.174 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:47.174Z,1627322927.174 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:47.174Z,1627322927.174 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:47.174Z,1627322927.174 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:47.175Z,1627322927.175 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:47.175Z,1627322927.175 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:47.586Z,1627322927.586 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:47.586Z,1627322927.586 [VerticalControl](DEBUG): depth2buoyInt_ = -1.261557
2021-07-26T18:08:47.587Z,1627322927.587 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:47.587Z,1627322927.587 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:47.588Z,1627322927.588 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:47.588Z,1627322927.588 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:47.588Z,1627322927.588 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:47.588Z,1627322927.588 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:48.008Z,1627322928.008 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:48.008Z,1627322928.008 [VerticalControl](DEBUG): depth2buoyInt_ = -1.292729
2021-07-26T18:08:48.009Z,1627322928.009 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:48.009Z,1627322928.009 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:48.009Z,1627322928.009 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:48.009Z,1627322928.009 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:48.010Z,1627322928.010 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:48.010Z,1627322928.010 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:48.406Z,1627322928.406 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:48.406Z,1627322928.406 [VerticalControl](DEBUG): depth2buoyInt_ = -1.323956
2021-07-26T18:08:48.407Z,1627322928.407 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:48.407Z,1627322928.407 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:48.411Z,1627322928.411 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:48.412Z,1627322928.412 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:48.412Z,1627322928.412 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:48.412Z,1627322928.412 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:48.793Z,1627322928.793 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:48.793Z,1627322928.793 [VerticalControl](DEBUG): depth2buoyInt_ = -1.354966
2021-07-26T18:08:48.794Z,1627322928.794 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:48.794Z,1627322928.794 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:48.794Z,1627322928.794 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:48.794Z,1627322928.794 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:48.795Z,1627322928.795 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:48.795Z,1627322928.795 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:49.198Z,1627322929.198 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:49.198Z,1627322929.198 [VerticalControl](DEBUG): depth2buoyInt_ = -1.386988
2021-07-26T18:08:49.198Z,1627322929.198 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:49.198Z,1627322929.198 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:49.199Z,1627322929.199 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:49.199Z,1627322929.199 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:49.199Z,1627322929.199 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:49.199Z,1627322929.199 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:49.606Z,1627322929.606 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:49.606Z,1627322929.606 [VerticalControl](DEBUG): depth2buoyInt_ = -1.418792
2021-07-26T18:08:49.607Z,1627322929.607 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:49.607Z,1627322929.607 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:49.608Z,1627322929.608 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:49.608Z,1627322929.608 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:49.608Z,1627322929.608 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:49.609Z,1627322929.609 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:50.036Z,1627322930.036 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:50.037Z,1627322930.037 [VerticalControl](DEBUG): depth2buoyInt_ = -1.453597
2021-07-26T18:08:50.037Z,1627322930.037 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:50.037Z,1627322930.037 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:50.037Z,1627322930.037 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:50.038Z,1627322930.038 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:50.038Z,1627322930.038 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:50.038Z,1627322930.038 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:50.407Z,1627322930.407 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:50.408Z,1627322930.408 [VerticalControl](DEBUG): depth2buoyInt_ = -1.486445
2021-07-26T18:08:50.408Z,1627322930.408 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:50.408Z,1627322930.408 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:50.408Z,1627322930.408 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:50.409Z,1627322930.409 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:50.409Z,1627322930.409 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:50.409Z,1627322930.409 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:50.846Z,1627322930.846 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:50.846Z,1627322930.846 [VerticalControl](DEBUG): depth2buoyInt_ = -1.521168
2021-07-26T18:08:50.846Z,1627322930.846 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:50.847Z,1627322930.847 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:50.851Z,1627322930.851 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:50.852Z,1627322930.852 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:50.852Z,1627322930.852 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:50.852Z,1627322930.852 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:51.242Z,1627322931.242 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:51.242Z,1627322931.242 [VerticalControl](DEBUG): depth2buoyInt_ = -1.554358
2021-07-26T18:08:51.243Z,1627322931.243 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:51.247Z,1627322931.247 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:51.248Z,1627322931.248 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:51.248Z,1627322931.248 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:51.248Z,1627322931.248 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:51.248Z,1627322931.248 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:51.671Z,1627322931.671 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:51.671Z,1627322931.671 [VerticalControl](DEBUG): depth2buoyInt_ = -1.590527
2021-07-26T18:08:51.671Z,1627322931.671 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:51.672Z,1627322931.672 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:51.672Z,1627322931.672 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:51.672Z,1627322931.672 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:51.672Z,1627322931.672 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:51.673Z,1627322931.673 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:52.053Z,1627322932.053 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:52.053Z,1627322932.053 [VerticalControl](DEBUG): depth2buoyInt_ = -1.624232
2021-07-26T18:08:52.053Z,1627322932.053 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:52.054Z,1627322932.054 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:52.054Z,1627322932.054 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:52.054Z,1627322932.054 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:52.054Z,1627322932.054 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:52.054Z,1627322932.054 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:52.472Z,1627322932.472 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:52.473Z,1627322932.473 [VerticalControl](DEBUG): depth2buoyInt_ = -1.658699
2021-07-26T18:08:52.473Z,1627322932.473 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:52.473Z,1627322932.473 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:52.473Z,1627322932.473 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:52.474Z,1627322932.474 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:52.474Z,1627322932.474 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:52.474Z,1627322932.474 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:52.886Z,1627322932.886 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:52.887Z,1627322932.887 [VerticalControl](DEBUG): depth2buoyInt_ = -1.693732
2021-07-26T18:08:52.887Z,1627322932.887 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:52.900Z,1627322932.900 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:52.900Z,1627322932.900 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:52.900Z,1627322932.900 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:52.900Z,1627322932.900 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:52.901Z,1627322932.901 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:53.288Z,1627322933.288 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:53.288Z,1627322933.288 [VerticalControl](DEBUG): depth2buoyInt_ = -1.729311
2021-07-26T18:08:53.288Z,1627322933.288 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:53.289Z,1627322933.289 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:53.289Z,1627322933.289 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:53.289Z,1627322933.289 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:53.289Z,1627322933.289 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:53.290Z,1627322933.290 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:53.662Z,1627322933.662 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:53.662Z,1627322933.662 [VerticalControl](DEBUG): depth2buoyInt_ = -1.762959
2021-07-26T18:08:53.663Z,1627322933.663 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:53.663Z,1627322933.663 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:53.663Z,1627322933.663 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:53.664Z,1627322933.664 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:53.664Z,1627322933.664 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:53.664Z,1627322933.664 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:54.078Z,1627322934.078 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:54.078Z,1627322934.078 [VerticalControl](DEBUG): depth2buoyInt_ = -1.801224
2021-07-26T18:08:54.079Z,1627322934.079 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:54.092Z,1627322934.092 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:54.092Z,1627322934.092 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:54.092Z,1627322934.092 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:54.093Z,1627322934.093 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:54.093Z,1627322934.093 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:54.454Z,1627322934.454 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:54.454Z,1627322934.454 [VerticalControl](DEBUG): depth2buoyInt_ = -1.837416
2021-07-26T18:08:54.454Z,1627322934.454 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:54.455Z,1627322934.455 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:54.455Z,1627322934.455 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:54.455Z,1627322934.455 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:54.456Z,1627322934.456 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:54.456Z,1627322934.456 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:54.873Z,1627322934.873 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:54.873Z,1627322934.873 [VerticalControl](DEBUG): depth2buoyInt_ = -1.873938
2021-07-26T18:08:54.874Z,1627322934.874 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:54.874Z,1627322934.874 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:54.874Z,1627322934.874 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:54.874Z,1627322934.874 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:54.874Z,1627322934.874 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:54.875Z,1627322934.875 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:55.303Z,1627322935.303 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:55.303Z,1627322935.303 [VerticalControl](DEBUG): depth2buoyInt_ = -1.913215
2021-07-26T18:08:55.307Z,1627322935.307 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:55.308Z,1627322935.308 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:55.308Z,1627322935.308 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:55.308Z,1627322935.308 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:55.308Z,1627322935.308 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:55.309Z,1627322935.309 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:55.686Z,1627322935.686 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:55.687Z,1627322935.687 [VerticalControl](DEBUG): depth2buoyInt_ = -1.951181
2021-07-26T18:08:55.691Z,1627322935.691 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:55.691Z,1627322935.691 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:55.692Z,1627322935.692 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:55.692Z,1627322935.692 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:55.692Z,1627322935.692 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:55.692Z,1627322935.692 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:56.094Z,1627322936.094 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:56.094Z,1627322936.094 [VerticalControl](DEBUG): depth2buoyInt_ = -1.989453
2021-07-26T18:08:56.094Z,1627322936.094 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:56.094Z,1627322936.094 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:56.095Z,1627322936.095 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:56.095Z,1627322936.095 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:56.096Z,1627322936.096 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:56.096Z,1627322936.096 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:56.503Z,1627322936.503 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:56.515Z,1627322936.515 [VerticalControl](DEBUG): depth2buoyInt_ = -2.028871
2021-07-26T18:08:56.516Z,1627322936.516 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:56.516Z,1627322936.516 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:56.516Z,1627322936.516 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:56.516Z,1627322936.516 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:56.517Z,1627322936.517 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:56.517Z,1627322936.517 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:56.952Z,1627322936.952 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:56.952Z,1627322936.952 [VerticalControl](DEBUG): depth2buoyInt_ = -2.068525
2021-07-26T18:08:56.953Z,1627322936.953 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:56.953Z,1627322936.953 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:56.953Z,1627322936.953 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:56.953Z,1627322936.953 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:56.954Z,1627322936.954 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:56.954Z,1627322936.954 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:57.326Z,1627322937.326 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:57.326Z,1627322937.326 [VerticalControl](DEBUG): depth2buoyInt_ = -2.105701
2021-07-26T18:08:57.326Z,1627322937.326 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:57.327Z,1627322937.327 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:57.327Z,1627322937.327 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:57.335Z,1627322937.335 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:57.336Z,1627322937.336 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:57.336Z,1627322937.336 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:57.708Z,1627322937.708 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:57.708Z,1627322937.708 [VerticalControl](DEBUG): depth2buoyInt_ = -2.144399
2021-07-26T18:08:57.709Z,1627322937.709 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:57.709Z,1627322937.709 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:57.709Z,1627322937.709 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:57.709Z,1627322937.709 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:57.710Z,1627322937.710 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:57.710Z,1627322937.710 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:58.139Z,1627322938.139 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:58.151Z,1627322938.151 [VerticalControl](DEBUG): depth2buoyInt_ = -2.185721
2021-07-26T18:08:58.152Z,1627322938.152 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:58.152Z,1627322938.152 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:58.152Z,1627322938.152 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:58.152Z,1627322938.152 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:58.153Z,1627322938.153 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:58.153Z,1627322938.153 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:58.497Z,1627322938.497 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:58.497Z,1627322938.497 [VerticalControl](DEBUG): depth2buoyInt_ = -2.221859
2021-07-26T18:08:58.497Z,1627322938.497 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:58.498Z,1627322938.498 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:58.498Z,1627322938.498 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:58.498Z,1627322938.498 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:58.498Z,1627322938.498 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:58.499Z,1627322938.499 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:58.929Z,1627322938.929 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:58.929Z,1627322938.929 [VerticalControl](DEBUG): depth2buoyInt_ = -2.263192
2021-07-26T18:08:58.930Z,1627322938.930 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:58.930Z,1627322938.930 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:58.930Z,1627322938.930 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:58.930Z,1627322938.930 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:58.931Z,1627322938.931 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:58.931Z,1627322938.931 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:59.298Z,1627322939.298 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:59.298Z,1627322939.298 [VerticalControl](DEBUG): depth2buoyInt_ = -2.301738
2021-07-26T18:08:59.298Z,1627322939.298 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:59.299Z,1627322939.299 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:59.299Z,1627322939.299 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:59.299Z,1627322939.299 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:59.300Z,1627322939.300 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:59.300Z,1627322939.300 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:08:59.720Z,1627322939.720 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:08:59.720Z,1627322939.720 [VerticalControl](DEBUG): depth2buoyInt_ = -2.343350
2021-07-26T18:08:59.720Z,1627322939.720 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:08:59.721Z,1627322939.721 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:08:59.721Z,1627322939.721 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:08:59.721Z,1627322939.721 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:08:59.721Z,1627322939.721 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:08:59.722Z,1627322939.722 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:09:00.124Z,1627322940.124 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:09:00.124Z,1627322940.124 [VerticalControl](DEBUG): depth2buoyInt_ = -2.385991
2021-07-26T18:09:00.125Z,1627322940.125 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:09:00.125Z,1627322940.125 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:09:00.125Z,1627322940.125 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:09:00.125Z,1627322940.125 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:09:00.126Z,1627322940.126 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:09:00.126Z,1627322940.126 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:09:00.506Z,1627322940.506 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:09:00.506Z,1627322940.506 [VerticalControl](DEBUG): depth2buoyInt_ = -2.426104
2021-07-26T18:09:00.506Z,1627322940.506 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:09:00.507Z,1627322940.507 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:09:00.507Z,1627322940.507 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:09:00.507Z,1627322940.507 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:09:00.508Z,1627322940.508 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:09:00.508Z,1627322940.508 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:09:00.912Z,1627322940.912 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:09:00.912Z,1627322940.912 [VerticalControl](DEBUG): depth2buoyInt_ = -2.469524
2021-07-26T18:09:00.912Z,1627322940.912 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:09:00.913Z,1627322940.913 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:09:00.913Z,1627322940.913 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:09:00.913Z,1627322940.913 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:09:00.913Z,1627322940.913 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:09:00.914Z,1627322940.914 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:09:01.325Z,1627322941.325 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:09:01.325Z,1627322941.325 [VerticalControl](DEBUG): depth2buoyInt_ = -2.510670
2021-07-26T18:09:01.326Z,1627322941.326 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:09:01.326Z,1627322941.326 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:09:01.326Z,1627322941.326 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:09:01.326Z,1627322941.326 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:09:01.326Z,1627322941.326 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:09:01.327Z,1627322941.327 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:09:01.359Z,1627322941.359 [CommandLine](IMPORTANT): got command stop
2021-07-26T18:09:01.359Z,1627322941.359 [CommandLine](IMPORTANT): Scheduling is paused
2021-07-26T18:09:01.361Z,1627322941.361 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2021-07-26T18:09:01.738Z,1627322941.738 [MissionManager](INFO): MissionManager is completed.
2021-07-26T18:09:01.738Z,1627322941.738 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2021-07-26T18:09:01.739Z,1627322941.739 [ballast_and_trim] Stopped
2021-07-26T18:09:01.739Z,1627322941.739 [ballast_and_trim](DEBUG): Aggregate::uninitialize ballast_and_trim
2021-07-26T18:09:01.739Z,1627322941.739 [ballast_and_trim:Science] Stopped
2021-07-26T18:09:01.740Z,1627322941.740 [ballast_and_trim:Science](DEBUG): Aggregate::uninitialize ballast_and_trim:Science
2021-07-26T18:09:01.740Z,1627322941.740 [ballast_and_trim:Science:B] Stopped
2021-07-26T18:09:01.740Z,1627322941.740 [ballast_and_trim:Science:C] Stopped
2021-07-26T18:09:01.740Z,1627322941.740 [ballast_and_trim:Science:E] Stopped
2021-07-26T18:09:01.740Z,1627322941.740 [ballast_and_trim:Science:OceanCurrent] Stopped
2021-07-26T18:09:01.740Z,1627322941.740 [ballast_and_trim:Science:OceanCurrent](DEBUG): Aggregate::uninitialize ballast_and_trim:Science:OceanCurrent
2021-07-26T18:09:01.740Z,1627322941.740 [ballast_and_trim:Science:OceanCurrent:A.] Stopped
2021-07-26T18:09:01.740Z,1627322941.740 [ballast_and_trim:RunBallastAndTrim] Stopped
2021-07-26T18:09:01.740Z,1627322941.740 [ballast_and_trim:RunBallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim
2021-07-26T18:09:01.740Z,1627322941.740 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim] Stopped
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A] Stopped
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B] Stopped
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C] Stopped
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D] Stopped
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E] Stopped
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F] Stopped
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth] Stopped
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A] Stopped
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth] Stopped
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth
2021-07-26T18:09:01.741Z,1627322941.741 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed] Stopped
2021-07-26T18:09:01.742Z,1627322941.742 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Uninitialize.
2021-07-26T18:09:01.742Z,1627322941.742 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch] Stopped
2021-07-26T18:09:01.742Z,1627322941.742 [ballast_and_trim:RunBallastAndTrim:Depth1] Stopped
2021-07-26T18:09:01.742Z,1627322941.742 [ballast_and_trim:RunBallastAndTrim:Depth1](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:Depth1
2021-07-26T18:09:01.742Z,1627322941.742 [ballast_and_trim:RunBallastAndTrim:Depth1:B] Stopped
2021-07-26T18:09:01.742Z,1627322941.742 [ballast_and_trim:RunBallastAndTrim:Depth1:B](DEBUG): Aggregate::uninitialize ballast_and_trim:RunBallastAndTrim:Depth1:B
2021-07-26T18:09:01.845Z,1627322941.845 [VerticalControl](DEBUG): depthIntegral_ = 0.000000
2021-07-26T18:09:01.846Z,1627322941.846 [VerticalControl](DEBUG): depth2buoyInt_ = -2.510661
2021-07-26T18:09:01.846Z,1627322941.846 [VerticalControl](DEBUG): maxBuoyInt_    = 200.000000
2021-07-26T18:09:01.846Z,1627322941.846 [VerticalControl](DEBUG): depthDeadband_ = 0.100000
2021-07-26T18:09:01.846Z,1627322941.846 [VerticalControl](DEBUG): kpDepthBuoy_   = 62.000000
2021-07-26T18:09:01.847Z,1627322941.847 [VerticalControl](DEBUG): kiDepthBuoy_   = 0.300000
2021-07-26T18:09:01.847Z,1627322941.847 [VerticalControl](DEBUG): kdDepthBuoy_   = 2680.000000
2021-07-26T18:09:01.851Z,1627322941.851 [VerticalControl](DEBUG): buoyancyNeutral_   = 395.683533
2021-07-26T18:09:01.935Z,1627322941.935 [WetLabsBB2FL](INFO): Powering down
2021-07-26T18:09:02.124Z,1627322942.124 [MissionManager](IMPORTANT): Started mission Default
2021-07-26T18:09:02.124Z,1627322942.124 [Default] Running Loop=1
2021-07-26T18:09:02.124Z,1627322942.124 [Default](DEBUG): Aggregate::initialize Default
2021-07-26T18:09:02.124Z,1627322942.124 [Default:B.GoToSurface] Running Loop=1
2021-07-26T18:09:02.124Z,1627322942.124 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-07-26T18:09:02.125Z,1627322942.125 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-07-26T18:09:02.125Z,1627322942.125 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-07-26T18:09:02.125Z,1627322942.125 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-07-26T18:09:02.126Z,1627322942.126 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-07-26T18:09:02.126Z,1627322942.126 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-07-26T18:09:02.126Z,1627322942.126 [Default:A.Wait] Running Loop=1
2021-07-26T18:09:02.127Z,1627322942.127 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-07-26T18:09:07.885Z,1627322947.885 [DataOverHttps](IMPORTANT): SBD MTMSN=20210726T180906
2021-07-26T18:09:15.449Z,1627322955.449 [Default:A.Wait](INFO): Done Waiting.
2021-07-26T18:09:15.449Z,1627322955.449 [Default:A.Wait] Stopped
2021-07-26T18:09:15.449Z,1627322955.449 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-07-26T18:09:15.461Z,1627322955.461 [DataOverHttps](INFO): Received command:stop
2021-07-26T18:09:15.500Z,1627322955.500 [CommandLine](IMPORTANT): got command stop
2021-07-26T18:09:15.867Z,1627322955.867 [Default:CheckIn] Running Loop=1
2021-07-26T18:09:15.867Z,1627322955.867 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-07-26T18:09:15.867Z,1627322955.867 [Default:CheckIn:Read_GPS] Running Loop=1
2021-07-26T18:09:17.863Z,1627322957.863 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180916.00,A,3648.16362,N,12147.28847,W,0.175,292.43,260721,,,A*7F
2021-07-26T18:09:17.866Z,1627322957.866 [NAL9602](INFO): GPS fix at 20210726T180916: (36.802727, -121.788141)
2021-07-26T18:09:17.877Z,1627322957.877 [Default:CheckIn:Read_GPS] Stopped
2021-07-26T18:09:17.877Z,1627322957.877 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-07-26T18:09:26.887Z,1627322966.887 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20210726T180011/Courier0007.lzma
2021-07-26T18:09:27.889Z,1627322967.889 [DataOverHttps](INFO): Moved sent file to Logs/20210726T180011/Courier0007.lzma.bak
2021-07-26T18:09:27.889Z,1627322967.889 [DataOverHttps](INFO): SBD MOMSN=15761842
2021-07-26T18:09:39.005Z,1627322979.005 [DataOverHttps](IMPORTANT): SBD MTMSN=20210726T180938
2021-07-26T18:09:46.341Z,1627322986.341 [DataOverHttps](INFO): Sending 947 bytes from file Logs/20210726T180011/Express0008.lzma
2021-07-26T18:09:46.345Z,1627322986.345 [DataOverHttps](INFO): Received command:restart logs