Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
Supervisor::createTask() - externalCommsServer
S: Initializing worksiteServer
upervisor: WorkSite::WorkSite -- Adding attributes
::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/multibeam/workSite.cfg
createTask() - navigationServer
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/multibeam/vehicle.cfg"
upervisor::createTask() - layeredControlServer
Supervisor::createTask() - dynamicControlServer
: WorkSite::WorkSite -- Finished loading parameters
: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
: WorkSite server: 0x22f48
: New Navigation component constructor
Supervisor::createTask() - dropWeightServer
Supervisor::createTask() - simulator
Supervisor::createTask() - simTailCone
Supervisor::createTask() - kearfottServer
S: Create simulator...

upervisor::createTask() - kearfottDvlServer
Su: Create VehicleConfigurationIF...

perv: Okay...

isor::createTask: Create attributes...

(): Simulator:: initPsi = 0.000000

 - p: Done creating attributes. Parse 'em...

arosciServer
Superv: SerialDevice: done...

isor::createTask() - : Navigation - Using only the Dvl to compute altitude.
fanServ: creating if InsIFServer

er
Supe:  DropWeight::initialize - Resetting counters.
rv: **** EventTriggers::add() - attaching proxy
isor::cr: Preparing to fork

eateTask() - reson6046Server
:  etting counters to default

: I'm the child...forking

Supervisor::createTask() - gpsSe: Simulator:: initPsi = 225.000000

rve: Simulator:: zMax = 210.000000

r
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
:  The utm zone is 10

:  Simulator: The lat/long in workSite.cfg is 0.641196, -2.12721
:  Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.06638e+006, 599958
: Invoke simulator->run()...

: Launching Reson6046Server...
: Setting name...
: Creating server...
: Command constructor...
: Run server...
: SerialDevice: done...

: SerialDevice: done...

: SerialDevice: done...

: Launching Reson6046Driver...
: SerialDevice: done...

: Setting name to 'reson6046'...
: Creating Reson6046Driver instance...
: --> Starting Reson 6046 Driver....
: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: Command constructor...
: SerialDevice: done...

: Gps: initializing

: SerialDevice: done...

: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $PASHR,ACK*3D

: GpsUtils::parseFix() - $PASHR,ACK*3D


: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $PASHR,ACK*3D

: GpsUtils::parseFix() - $PASHR,ACK*3D


: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

: AshtechGps::processRecord() - $GPGGA,183352.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183352.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: AshtechGps::processRecord() - $GPGGA,183353.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183353.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Parosci.cc -- Initial pressure = 0.413686
: KearfottDriver: unable to open gps interface

: Parosci.cc -- Parosci initial pressure period = 29.706850
: Parosci.cc -- Parosci initial temp period = 5.879828
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,183354.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183354.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183355.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183355.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: KearfottDriver: unable to open ctd interface

: AshtechGps::processRecord() - $GPGGA,183356.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183356.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183356.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183356.00,,,,,1,00,,,M,,M,,

: KearfottDriver: updating with external sensors

: updating depth with 455.784992(45578)

: AshtechGps::processRecord() - $GPGGA,183357.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183357.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183357.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183357.00,,,,,1,00,,,M,,M,,

: AshtechGps::processRecord() - $GPGGA,183358.00,,,,,1,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,183358.00,,,,,1,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183358.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183358.00,,,,,1,00,,,M,,M,,

: KearfottDriver: updating with external sensors

: updating depth with 455.521535(45552)

: AshtechGps::processRecord() - $GPGGA,183359.00,,,,,1,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,183359.00,,,,,1,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183359.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183359.00,,,,,1,00,,,M,,M,,

: AshtechGps::processRecord() - $GPGGA,183400.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183400.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183400.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183400.00,,,,,1,00,,,M,,M,,

: KearfottDriver: updating with external sensors

: updating depth with 455.210180(45521)

: AshtechGps::processRecord() - $GPGGA,183401.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183401.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183401.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183401.00,,,,,1,00,,,M,,M,,

: reson6046: Caught exception while opening interfaces: Server "FastCat" not found
: reson6046: navigationIF is 0x3e208

: Serializing plcCommandFrame, 16 bytes...

: Serializing commandBytes, 1 bytes at 16...

: Size of DRF and data = 85

: Serializing dataRecordFrame, 62 bytes...

: Serializing command frame and data, 17 bytes at 62...

: Serializing checksum, 4 bytes at 79...

: Serializing NF, 36 bytes...

: Adding DRF to NF, index at 36...

: Running Reson6046Driver...
: PeriodicTask::run() (reson6046) - sampleInterval=1000, maxInterval=1000
: AshtechGps::processRecord() - $GPGGA,183402.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183402.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183402.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183402.00,,,,,1,00,,,M,,M,,

: KearfottDriver: updating with external sensors

: updating depth with 455.042530(45504)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183403.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183403.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183403.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183403.00,,,,,1,00,,,M,,M,,

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183404.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183404.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183404.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183404.00,,,,,1,00,,,M,,M,,

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: KearfottDriver: updating with external sensors

: updating depth with 455.003864(45500)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183405.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183405.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183405.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183405.00,,,,,1,00,,,M,,M,,

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183406.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183406.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183406.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183406.00,,,,,1,00,,,M,,M,,

: KearfottDriver: updating with external sensors

: updating depth with 455.219415(45521)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183407.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183407.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183407.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183407.00,,,,,1,00,,,M,,M,,

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183408.00,,,,,1,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,183408.00,,,,,1,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183408.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183408.00,,,,,1,00,,,M,,M,,

: KearfottDriver: updating with external sensors

: updating depth with 455.641288(45564)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183409.00,,,,,1,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,183409.00,,,,,1,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183409.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183409.00,,,,,1,00,,,M,,M,,

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183410.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183410.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183410.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183410.00,,,,,1,00,,,M,,M,,

: KearfottDriver: updating with external sensors

: updating depth with 455.904746(45590)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183411.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183411.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183411.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183411.00,,,,,1,00,,,M,,M,,

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183412.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183412.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183412.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183412.00,,,,,1,00,,,M,,M,,

: KearfottDriver: updating with external sensors

: updating depth with 456.009785(45600)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183413.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183413.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183413.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183413.00,,,,,1,00,,,M,,M,,

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: AshtechGps::processRecord() - $GPGGA,183414.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183414.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183414.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183414.00,,,,,1,00,,,M,,M,,

: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

:  Navigation: The lat/long in workSite.cfg,  36.737845, -121.880423

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4066375.513033, 599958.355332

:  Navigation:  m_thetaM = 1.571

: Navigation::Navigation() m_a = 0.000000.2 

: Navigation::Navigation() m_b = 0.000000.2 

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: KearfottDriver: updating with external sensors

: updating depth with 456.120304(45612)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 456.120304
 Substitute previous depth value of 0.000000

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 0.000000) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active

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

: !!!! Simulator::missionStatusCallback() - Got event 0 from "layeredControl"

: Event received at _simTime=0.02
: Simulator::missionStatusCallback() - mission started

: AshtechGps::processRecord() - $GPGGA,183415.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183415.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183415.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 456.129540
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183415.00,,,,,1,00,,,M,,M,,

:  simTime  = 0.00, (simTime - realTime) = 0.00
: DepthSensor (Navigation): Received bad depth reading: 456.129540
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 456.081638
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 456.129540
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 456.081638
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183416.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183416.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183416.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183416.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 456.129540
 Substitute previous depth value of 0.000000

:  simTime  = 1.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 456.081638
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 456.081638
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 456.129540
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 456.129540(45612)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 456.129540
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183417.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183417.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthSensor (Navigation): Received bad depth reading: 456.129540
 Substitute previous depth value of 0.000000

:  simTime  = 2.00, (simTime - realTime) = 0.01
: Kearfott::parseGPS_GGA() GPGGA,183417.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183417.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 456.129540
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 456.129540
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 456.081638
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 456.081638
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183418.00,,,,,1,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,183418.00,,,,,1,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthSensor (Navigation): Received bad depth reading: 456.081638
 Substitute previous depth value of 0.000000

: Kearfott::parseGPS_GGA() GPGGA,183418.00,,,,,1,00,,,M,,M,,
:  simTime  = 3.00, (simTime - realTime) = 0.01
: GpsUtils::parseFix() - GPGGA,183418.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 456.081638
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 456.009785
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: DepthSensor (Navigation): Received bad depth reading: 456.009785
 Substitute previous depth value of 0.000000

: updating depth with 456.009785(45600)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 455.961883
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183419.00,,,,,1,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,183419.00,,,,,1,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthSensor (Navigation): Received bad depth reading: 455.961883
 Substitute previous depth value of 0.000000

: Kearfott::parseGPS_GGA() GPGGA,183419.00,,,,,1,00,,,M,,M,,
:  simTime  = 4.00, (simTime - realTime) = 0.01
: GpsUtils::parseFix() - GPGGA,183419.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 455.961883
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.913981
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.961883
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 455.913981
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183420.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183420.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183420.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 455.913981
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183420.00,,,,,1,00,,,M,,M,,

:  simTime  = 5.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 455.913981
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.866079
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.866079
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 455.866079(45586)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 455.866079
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183421.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183421.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183421.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 455.866079
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183421.00,,,,,1,00,,,M,,M,,

:  simTime  = 6.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 455.794227
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.746326
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.794227
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 455.746326
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183422.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183422.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183422.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 455.794227
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183422.00,,,,,1,00,,,M,,M,,

:  simTime  = 7.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 455.746326
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.746326
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.698424
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 455.698424(45569)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 455.698424
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183423.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183423.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183423.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 455.698424
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183423.00,,,,,1,00,,,M,,M,,

:  simTime  = 8.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 455.746326
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.650523
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.698424
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 455.698424
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183424.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183424.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183424.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 455.661614
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183424.00,,,,,1,00,,,M,,M,,

:  simTime  = 9.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 455.661614
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.589762
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.541861
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 455.541861(45554)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 455.589762
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183425.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183425.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183425.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 455.589762
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183425.00,,,,,1,00,,,M,,M,,

:  simTime  = 10.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 455.578671
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.482869
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.434968
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 455.482869
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183426.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183426.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183426.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 455.434968
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183426.00,,,,,1,00,,,M,,M,,

:  simTime  = 11.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 455.434968
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.363117
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.363117
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 455.363117(45536)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 455.315216
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183427.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183427.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183427.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 455.315216
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183427.00,,,,,1,00,,,M,,M,,

:  simTime  = 12.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 455.267316
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.219415
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.147565
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 455.147565
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183428.00,,,,,1,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,183428.00,,,,,1,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183428.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 455.099665
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183428.00,,,,,1,00,,,M,,M,,

:  simTime  = 13.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 455.099665
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.051764
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 455.003864
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 455.003864(45500)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 455.003864
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183429.00,,,,,1,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,183429.00,,,,,1,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183429.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 454.884115
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183429.00,,,,,1,00,,,M,,M,,

:  simTime  = 14.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 454.836215
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 454.836215
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 454.764365
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 454.764365
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183430.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183430.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183430.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 454.668566
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183430.00,,,,,1,00,,,M,,M,,

:  simTime  = 15.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 454.668566
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 454.548818
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 454.500919
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 454.500919(45450)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 454.500919
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183431.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183431.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183431.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 454.453020
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183431.00,,,,,1,00,,,M,,M,,

:  simTime  = 16.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 454.416211
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 454.344363
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 454.296464
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 454.248566
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183432.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183432.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183432.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 454.200667
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183432.00,,,,,1,00,,,M,,M,,

:  simTime  = 17.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 454.128819
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 454.033023
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 454.033023
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 454.033023(45403)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 453.985125
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183433.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183433.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183433.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183433.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 453.913278
 Substitute previous depth value of 0.000000

:  simTime  = 18.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 453.854289
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 453.758494
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 453.686647
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 453.686647
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183434.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183434.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183434.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183434.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 453.638750
 Substitute previous depth value of 0.000000

:  simTime  = 19.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 453.554045
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 453.554045
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 453.434302
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 453.482199(45348)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 453.434302
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183435.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183435.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183435.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183435.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 453.386405
 Substitute previous depth value of 0.000000

:  simTime  = 20.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 453.314559
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 453.266663
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 453.218766
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 453.170869
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183436.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183436.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183436.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183436.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 453.099024
 Substitute previous depth value of 0.000000

:  simTime  = 21.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 453.051128
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 453.003232
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 453.003232
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 453.003232(45300)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 452.955335
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183437.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183437.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183437.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183437.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 452.835595
 Substitute previous depth value of 0.000000

:  simTime  = 22.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 452.835595
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 452.739803
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 452.667960
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 452.620064
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183438.00,,,,,1,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,183438.00,,,,,1,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183438.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183438.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 452.572168
 Substitute previous depth value of 0.000000

:  simTime  = 23.00, (simTime - realTime) = 0.00
: DepthSensor (Navigation): Received bad depth reading: 452.572168
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 452.452430
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 452.404535
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 452.404535(45240)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 452.308745
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183439.00,,,,,1,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,183439.00,,,,,1,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183439.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183439.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 452.236902
 Substitute previous depth value of 0.000000

:  simTime  = 24.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 452.236902
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 452.189007
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 452.141113
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 452.069271
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183440.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183440.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183440.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183440.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 451.973482
 Substitute previous depth value of 0.000000

:  simTime  = 25.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 451.973482
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 451.925587
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 451.853746
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 451.853746(45185)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 451.805852
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183441.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183441.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthSensor (Navigation): Received bad depth reading: 451.757958
 Substitute previous depth value of 0.000000

: Kearfott::parseGPS_GGA() GPGGA,183441.00,,,,,1,00,,,M,,M,,
:  simTime  = 26.00, (simTime - realTime) = 0.01
: GpsUtils::parseFix() - GPGGA,183441.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 451.710064
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 451.638223
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 451.590329
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 451.590329
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183442.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183442.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthSensor (Navigation): Received bad depth reading: 451.494542
 Substitute previous depth value of 0.000000

: Kearfott::parseGPS_GGA() GPGGA,183442.00,,,,,1,00,,,M,,M,,
:  simTime  = 27.00, (simTime - realTime) = 0.01
: GpsUtils::parseFix() - GPGGA,183442.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 451.494542
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 451.338014
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 451.290121
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 451.290121(45129)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 451.290121
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183443.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183443.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183443.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183443.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 451.170389
 Substitute previous depth value of 0.000000

:  simTime  = 28.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 451.122496
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 451.063504
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 451.063504
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.943773
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183444.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183444.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183444.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183444.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.895881
 Substitute previous depth value of 0.000000

:  simTime  = 29.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 450.824042
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.776150
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.728258
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 450.728258(45072)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.776150
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183445.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183445.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183445.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183445.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.608528
 Substitute previous depth value of 0.000000

:  simTime  = 30.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 450.608528
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.560636
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.560636
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.512744
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183446.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183446.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183446.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183446.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.464853
 Substitute previous depth value of 0.000000

:  simTime  = 31.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 450.393016
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.345124
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.297233
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 450.297233(45029)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.177505
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183447.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183447.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183447.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183447.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.129614
 Substitute previous depth value of 0.000000

:  simTime  = 32.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 450.081723
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.033832
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.033832
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.961996
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183448.00,,,,,1,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,183448.00,,,,,1,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183448.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183448.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.866215
 Substitute previous depth value of 0.000000

:  simTime  = 33.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.818325
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.757587
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.757587
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.757587(44975)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.709697
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183449.00,,,,,1,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,183449.00,,,,,1,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183449.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183449.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.709697
 Substitute previous depth value of 0.000000

:  simTime  = 34.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.589972
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.589972
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.530984
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.483094
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183450.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183450.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183450.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183450.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.363370
 Substitute previous depth value of 0.000000

:  simTime  = 35.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.435204
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.363370
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.278689
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.326578(44932)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.278689
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183451.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183451.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183451.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183451.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.230800
 Substitute previous depth value of 0.000000

:  simTime  = 36.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.158966
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.230800
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.111077
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.063188
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183452.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183452.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183452.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183452.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.063188
 Substitute previous depth value of 0.000000

:  simTime  = 37.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.943466
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.943466
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.895577
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.895577(44889)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.895577
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183453.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183453.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183453.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183453.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.847688
 Substitute previous depth value of 0.000000

:  simTime  = 38.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.799800
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.799800
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.727967
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.680079
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183454.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183454.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183454.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183454.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.680079
 Substitute previous depth value of 0.000000

:  simTime  = 39.00, (simTime - realTime) = 0.00
: DepthSensor (Navigation): Received bad depth reading: 448.632191
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.632191
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.584303
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.584303(44858)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.512471
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183455.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183455.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183455.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183455.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.464583
 Substitute previous depth value of 0.000000

:  simTime  = 40.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.512471
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.464583
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.453485
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.405597
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183456.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183456.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183456.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183456.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.453485
 Substitute previous depth value of 0.000000

:  simTime  = 41.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.333766
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.333766
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.416695(44841)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183457.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183457.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183457.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183457.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

:  simTime  = 42.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.416695
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.416695
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183458.00,,,,,1,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,183458.00,,,,,1,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183458.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183458.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

:  simTime  = 43.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.416695
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.416695(44841)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.416695
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183459.00,,,,,1,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,183459.00,,,,,1,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183459.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183459.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

:  simTime  = 44.00, (simTime - realTime) = 0.00
: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183500.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183500.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183500.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183500.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

:  simTime  = 45.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.249088(44824)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183501.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183501.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183501.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183501.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

:  simTime  = 46.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.201201
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.129370
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183502.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183502.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183502.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 448.201201
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183502.00,,,,,1,00,,,M,,M,,

:  simTime  = 47.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.201201
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.201201
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.249088(44824)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183503.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183503.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183503.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183503.00,,,,,1,00,,,M,,M,,

:  simTime  = 48.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183504.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183504.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183504.00,,,,,1,00,,,M,,M,,
: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: GpsUtils::parseFix() - GPGGA,183504.00,,,,,1,00,,,M,,M,,

:  simTime  = 49.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.296976(44829)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183505.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183505.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183505.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183505.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

:  simTime  = 50.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183506.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183506.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183506.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183506.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

:  simTime  = 51.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.249088(44824)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.201201
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183507.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183507.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183507.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183507.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.201201
 Substitute previous depth value of 0.000000

:  simTime  = 52.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.201201
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.129370
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183508.00,,,,,1,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,183508.00,,,,,1,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183508.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183508.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.201201
 Substitute previous depth value of 0.000000

:  simTime  = 53.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.201201
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.249088(44824)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183509.00,,,,,1,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,183509.00,,,,,1,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183509.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183509.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

:  simTime  = 54.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.249088
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183510.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183510.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183510.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183510.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

:  simTime  = 55.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.296976
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.344863(44834)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183511.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183511.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183511.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183511.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.416695
 Substitute previous depth value of 0.000000

:  simTime  = 56.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.416695
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.464583
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.416695
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183512.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183512.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183512.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183512.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.416695
 Substitute previous depth value of 0.000000

:  simTime  = 57.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.416695
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.416695
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.344863(44834)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.425950
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183513.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183513.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183513.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183513.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.354118
 Substitute previous depth value of 0.000000

:  simTime  = 58.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.425950
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.425950
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.354118
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.354118
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183514.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183514.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183514.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183514.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.354118
 Substitute previous depth value of 0.000000

:  simTime  = 59.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.354118
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.306231
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.306231
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.354118(44835)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.354118
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183515.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183515.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183515.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183515.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

:  simTime  = 60.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.344863
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.416695
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183516.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183516.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183516.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183516.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.425950
 Substitute previous depth value of 0.000000

:  simTime  = 61.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.425950
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.473838
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.354118
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.354118(44835)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.473838
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183517.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183517.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183517.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183517.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.473838
 Substitute previous depth value of 0.000000

:  simTime  = 62.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.473838
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.473838
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.473838
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.521726
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183518.00,,,,,1,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,183518.00,,,,,1,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183518.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183518.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.521726
 Substitute previous depth value of 0.000000

:  simTime  = 63.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.521726
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.593558
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.593558
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.593558(44859)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.593558
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183519.00,,,,,1,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,183519.00,,,,,1,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183519.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183519.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.473838
 Substitute previous depth value of 0.000000

:  simTime  = 64.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.521726
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.521726
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.593558
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.473838
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183520.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183520.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183520.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183520.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.521726
 Substitute previous depth value of 0.000000

:  simTime  = 65.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.521726
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.425950
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.521726
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.473838(44847)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.473838
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183521.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183521.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183521.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183521.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.521726
 Substitute previous depth value of 0.000000

:  simTime  = 66.00, (simTime - realTime) = 0.00
: DepthSensor (Navigation): Received bad depth reading: 448.593558
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.521726
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.593558
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.593558
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183522.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183522.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183522.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183522.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.641446
 Substitute previous depth value of 0.000000

:  simTime  = 67.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.641446
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.641446
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.689334
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.689334(44868)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.689334
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183523.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183523.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183523.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183523.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.748338
 Substitute previous depth value of 0.000000

:  simTime  = 68.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.700449
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.748338
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.820170
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.748338
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183524.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183524.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183524.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183524.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.820170
 Substitute previous depth value of 0.000000

:  simTime  = 69.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.868059
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.868059
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.915948
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.915948(44891)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.868059
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183525.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183525.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183525.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183525.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.915948
 Substitute previous depth value of 0.000000

:  simTime  = 70.00, (simTime - realTime) = 0.00
: DepthSensor (Navigation): Received bad depth reading: 448.915948
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.868059
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.915948
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.915948
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183526.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183526.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183526.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183526.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.915948
 Substitute previous depth value of 0.000000

:  simTime  = 71.00, (simTime - realTime) = 0.00
: DepthSensor (Navigation): Received bad depth reading: 448.856944
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.856944
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.856944
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.856944(44885)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.809055
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183527.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183527.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183527.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183527.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.856944
 Substitute previous depth value of 0.000000

:  simTime  = 72.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.820170
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.820170
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.820170
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.868059
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183528.00,,,,,1,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,183528.00,,,,,1,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183528.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183528.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.820170
 Substitute previous depth value of 0.000000

:  simTime  = 73.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 448.809055
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.856944
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.856944
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.856944(44885)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.856944
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183529.00,,,,,1,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,183529.00,,,,,1,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183529.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183529.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.904832
 Substitute previous depth value of 0.000000

:  simTime  = 74.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 448.904832
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.856944
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.904832
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 448.904832
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183530.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183530.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183530.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183530.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.952721
 Substitute previous depth value of 0.000000

:  simTime  = 75.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 448.915948
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.963836
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.035670
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 448.963836(44896)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.035670
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183531.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183531.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183531.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183531.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 448.963836
 Substitute previous depth value of 0.000000

:  simTime  = 76.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.024554
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.024554
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.024554
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.024554
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183532.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183532.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183532.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183532.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.024554
 Substitute previous depth value of 0.000000

:  simTime  = 77.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.035670
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 448.963836
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.035670
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.035670(44903)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.035670
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183533.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183533.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183533.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183533.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.035670
 Substitute previous depth value of 0.000000

:  simTime  = 78.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.083559
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.035670
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.035670
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.035670
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183534.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183534.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183534.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183534.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.083559
 Substitute previous depth value of 0.000000

:  simTime  = 79.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.083559
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.083559
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.131448
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.131448(44913)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.179337
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183535.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183535.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183535.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183535.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.131448
 Substitute previous depth value of 0.000000

:  simTime  = 80.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.179337
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.179337
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.251171
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.299060
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183536.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183536.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183536.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183536.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.251171
 Substitute previous depth value of 0.000000

:  simTime  = 81.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.251171
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.299060
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.346949
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.346949(44934)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.346949
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183537.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183537.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183537.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183537.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.346949
 Substitute previous depth value of 0.000000

:  simTime  = 82.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.383723
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.383723
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.455558
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.455558
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183538.00,,,,,1,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,183538.00,,,,,1,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183538.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183538.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.503448
 Substitute previous depth value of 0.000000

:  simTime  = 83.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.503448
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.562453
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.610343
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.610343(44961)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.610343
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183539.00,,,,,1,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,183539.00,,,,,1,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183539.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183539.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.682178
 Substitute previous depth value of 0.000000

:  simTime  = 84.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.682178
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.730068
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.730068
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.777959
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183540.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183540.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183540.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183540.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.730068
 Substitute previous depth value of 0.000000

:  simTime  = 85.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.777959
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.849794
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.897685(44989)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183541.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183541.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183541.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183541.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.849794
 Substitute previous depth value of 0.000000

:  simTime  = 86.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.849794
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183542.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183542.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183542.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183542.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

:  simTime  = 87.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.945575
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.897685(44989)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.945575
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183543.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183543.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183543.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183543.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.945575
 Substitute previous depth value of 0.000000

:  simTime  = 88.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.945575
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.993466
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.945575
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183544.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183544.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183544.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183544.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

:  simTime  = 89.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.849794
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.849794
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.849794
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.849794(44984)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.849794
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183545.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183545.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183545.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183545.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

:  simTime  = 90.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.897685
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.860920
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.860920
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.908810
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183546.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183546.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183546.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183546.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.908810
 Substitute previous depth value of 0.000000

:  simTime  = 91.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.908810
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.945575
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.945575
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.993466(44999)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.993466
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183547.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183547.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183547.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183547.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.065302
 Substitute previous depth value of 0.000000

:  simTime  = 92.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.993466
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.065302
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.065302
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.065302
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183548.00,,,,,1,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,183548.00,,,,,1,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183548.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183548.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

:  simTime  = 93.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 450.161084(45016)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.208975
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183549.00,,,,,1,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,183549.00,,,,,1,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183549.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183549.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

:  simTime  = 94.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183550.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183550.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183550.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183550.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

:  simTime  = 95.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.124318
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 450.124318(45012)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183551.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183551.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183551.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183551.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

:  simTime  = 96.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.124318
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.124318
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.065302
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183552.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183552.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183552.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183552.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

:  simTime  = 97.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 450.113193(45011)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183553.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183553.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183553.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183553.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

:  simTime  = 98.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.124318
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183554.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183554.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183554.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183554.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

:  simTime  = 99.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.220101
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.280812
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 450.280812(45028)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.208975
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183555.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183555.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183555.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183555.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.208975
 Substitute previous depth value of 0.000000

:  simTime  = 100.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 450.280812
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.208975
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.208975
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.280812
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183556.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183556.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183556.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183556.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.208975
 Substitute previous depth value of 0.000000

:  simTime  = 101.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.208975
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.220101
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 450.220101(45022)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.291937
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183557.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183557.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183557.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183557.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.220101
 Substitute previous depth value of 0.000000

:  simTime  = 102.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.220101
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.220101
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.208975
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183558.00,,,,,1,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,183558.00,,,,,1,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183558.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183558.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

:  simTime  = 103.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.161084
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 450.161084(45016)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183559.00,,,,,1,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,183559.00,,,,,1,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183559.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183559.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

:  simTime  = 104.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.113193
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.124318
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183600.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183600.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183600.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183600.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.220101
 Substitute previous depth value of 0.000000

:  simTime  = 105.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 450.172209(45017)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.124318
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183601.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183601.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183601.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183601.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.124318
 Substitute previous depth value of 0.000000

:  simTime  = 106.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.172209
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.124318
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.124318
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183602.00,,,,,1,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,183602.00,,,,,1,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183602.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183602.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.124318
 Substitute previous depth value of 0.000000

:  simTime  = 107.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.124318
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.076428
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.076428
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 450.076428(45007)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183603.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183603.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183603.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183603.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

:  simTime  = 108.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.956701
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.993466
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183604.00,,,,,1,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,183604.00,,,,,1,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183604.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183604.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.945575
 Substitute previous depth value of 0.000000

:  simTime  = 109.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.945575
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.945575
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.945575
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.945575(44994)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.956701
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183605.00,,,,,1,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,183605.00,,,,,1,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183605.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183605.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.956701
 Substitute previous depth value of 0.000000

:  simTime  = 110.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.956701
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.956701
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.076428
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183606.00,,,,,1,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,183606.00,,,,,1,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183606.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183606.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

:  simTime  = 111.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.076428
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 450.004591(45000)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.076428
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183607.00,,,,,1,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,183607.00,,,,,1,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183607.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183607.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.076428
 Substitute previous depth value of 0.000000

:  simTime  = 112.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.076428
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183608.00,,,,,1,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,183608.00,,,,,1,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183608.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183608.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

:  simTime  = 113.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 450.004591
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.908810
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.908810
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.908810(44990)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.908810
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183609.00,,,,,1,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,183609.00,,,,,1,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183609.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183609.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.956701
 Substitute previous depth value of 0.000000

:  simTime  = 114.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.908810
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.908810
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.860920
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.908810
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183610.00,,,,,1,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,183610.00,,,,,1,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183610.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183610.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.860920
 Substitute previous depth value of 0.000000

:  simTime  = 115.00, (simTime - realTime) = 0.02
: DepthSensor (Navigation): Received bad depth reading: 449.860920
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.860920
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.789084
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.789084(44978)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.870198
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183611.00,,,,,1,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,183611.00,,,,,1,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183611.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183611.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.918089
 Substitute previous depth value of 0.000000

:  simTime  = 116.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.870198
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.870198
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.870198
 Substitute previous depth value of 0.000000

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: DepthSensor (Navigation): Received bad depth reading: 449.860920
 Substitute previous depth value of 0.000000

: AshtechGps::processRecord() - $GPGGA,183612.00,,,,,1,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,183612.00,,,,,1,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::parseGPS_GGA() GPGGA,183612.00,,,,,1,00,,,M,,M,,
: GpsUtils::parseFix() - GPGGA,183612.00,,,,,1,00,,,M,,M,,

: DepthSensor (Navigation): Received bad depth reading: 449.789084
 Substitute previous depth value of 0.000000

:  simTime  = 117.00, (simTime - realTime) = 0.01
: DepthSensor (Navigation): Received bad depth reading: 449.789084
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.789084
 Substitute previous depth value of 0.000000

: DepthSensor (Navigation): Received bad depth reading: 449.860920
 Substitute previous depth value of 0.000000

: KearfottDriver: updating with external sensors

: updating depth with 449.860920(44986)

: Size of command frame structure is 16

: Size of Data Record frame structure is 68

: Size of network frame structure is 36

: sent 128 bytes in nav record

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object kearfottOutput ****

: TaskServer::signalHandler() for task InsIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: TaskServer::signalHandler() for task SimulatorIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
:  Fan Destructor Executing.
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task Reson6046IFServer - exit()
: Supervisor::signalHandler(); caught signal 2
: TaskServer::signalHandler() for task EventLogIFServer - exit()
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: **** SharedData destructor for object DvlOutput_ShmemName ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: Command destructor...
: **** SharedData destructor for object kearfottOutput ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

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

: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: Reson6046Server - killing driver
: Supervisor::signalHandler(); 
Never received a SIGTERM from slay, or a SIGQUIT.
I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES!
To prevent a weight-drop, you must manually start
dropWeightServer before the countdown timer expires.
See devices.cfg for the syntax and serial port number.
: **** SharedData destructor for object dropWeightOutput ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task InsIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: TaskServer::signalHandler() for task Reson6046IFServer - exit()
: Supervisor::cleanup() - delete _theSupervisor

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: Supervisor::shutdown()

: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task LayeredControlIFServer - exit()