Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
Supervisor::createTask() - e: Initializing worksiteServer
xternalCom: WorkSite::WorkSite -- Adding attributes
m: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/multibeam/vehicle.cfg"
s: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/multibeam/workSite.cfg
Server
Supervisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
: WorkSite::WorkSite -- Finished loading parameters
: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
: 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: 0x22fec
: Creating NavigationServer...

S: *** NavigationServer::NavigationServer()...

uper: *** NavigationServer::NavigationServer() - DONE

visor: Done creating NavigationServer...

::createTask() - dynamicControlServer
: Navigation::Navigation _logOnly = 1
: Navigation - Using the Dvl and the echo sounder in the scanning mode to compute altitude.
: Navigation/EchoSounder:: epoch = (1289926118,20670645)
: Navigation: Opening Acoustic Modem Interface:
Supervisor::createTask() - dropWeightServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - kearfottServer
Supervisor::createTask() - kearfottDvlServer
Superv: SerialDevice: done...

isor::createTask() - parosciServer
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
Supervis: creating if InsIFServer

or::createTask() : Preparing to fork

- fanServer
: SerialDevice: done...

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
: I'm the child...forking

Su: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
pervisor:: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
:crea: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
teTas: SerialDevice: done...

k(): SerialDevice: done...

 - bluefinBattDriver
Supervisor::createTask() - gpsServer
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: SerialDevice: done...

Supe: SerialDevice: done...

rvisor::createTask() -: SerialDevice: done...

 benthosServer
S: BluefinBatt driver - running with 2 batteries
uperviso: SerialDevice: done...

r::crea: BluefineBatt::init() - 2 batteries on 10 second interval
teTask: SerialDevice: done...

() - echoSo: BluefinBatt.cc - Looking for Parosci server
unde: SerialDevice: done...

rServer
: BluefinBatt::init() - querying for batt ids
: BluefinBatt::init() - battery echo is !?


Supervisor::createTask(): Parosci.cc -- parsed PR (10) and TempInterval (10)
 - sonardyneServer
: SerialDevice: done...

: SerialDevice: done...

Supervisor::createTask() - cameraSer: Parosci.cc -- Serial # is 105112
ver
Supervisor::createTask() - m3: Parosci::init() - mode set okay
dmgx1
: Parosci.cc -- PR reply = 10

: Parosci.cc -- units = 1
: EchoSounderServer::Scanning sonar detected.
: SerialDevice: done...

: Gps: initializing

: SerialDevice: done...

: SonardyneServer.cc was last compiled on Nov 13 2010, 23:42:42

: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

: BenthosModem::commandMode() - confirming...
: SerialDevice: done...

: Attributes::parse() - Couldn't open CrossbowConstants attributes file "/home/dorado1/auv/altex/onboard/config/multibeam/crossbow.cfg"


: VehicleConstants -- Caught exception while loading vehicle constants
: EchoSounderDriver:: Constructor beginning.
: Kearfott:: depthif is 0x64b40

: SerialDevice: done...

: Navigation: acommsIF = 0x706a0

: Crossbow.cc: In getSerialNumber()
: Navigation::connectSensors core - connecting to DepthSensor at t = 7599.
: Navigation::connectSensors core - connecting to TailCone at t = 7609.
: Navigation::connectSensors core - connecting to KearfottServer at t = 7619.
: Navigation::connectSensors core - connecting to Dvl at t = 7629.
: Navigation::connectSensors aux - connecting to Gps at t = 7629.
: Navigation::connectSensors aux - connecting to EchoSounder at t = 7639.
: PeriodicTask::run() (fanDriver) - sampleInterval=10000, maxInterval=10000
: Navigation::connectSensors aux - connecting to Velocimeter at t = 7659.
: Navigation: Server for aux sensor "Velocimeter" not found
: Navigation::connectSensors aux - connecting to Usbl at t = 7669.
: Navigation::Navigation() - Error.  The echo sounder IF isn't 
yet connected; can't read it's data.
: Navigation::Navigation(). _es->valid() = 0 at t = 7679.
: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: SonardyneDriver.cc was last compiled on Nov 13 2010, 23:42:38

: **** EventTriggers::add() - attaching proxy
: CameraDriver:: Before navigation IF.
: Crossbow.cc: device->read succeeded
: m3dmgx1: Serial Number is 6548

: SerialDevice: done...

: PeriodicTask::run() (crossbow) - sampleInterval=200, maxInterval=200
: CameraDriver enabling 12V camera power supply
: AshtechGps::processRecord() - $GPGGA,164846.00,3649.01055,N,12150.22158,W,1,09,0.9,2.84,M,-32.59,M,,*5B

:  Navigation:: deltaT = 2.33 is impermissible.

: 3 Modules found
: PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200
: EchoSounder -- configuration:
	Maximum Range  = 100 m
	No Return Range= 60.00 m
	StartGain      = 10 dB
	Absorption     = 0.20 dB/m
	Pulse Length   = 270 microseconds
	Minimum Range  = 0.00 m
	Trigger Control= 0 
	Profile        = 1
	Delay          = 0 milliseconds
	xz mounting an.= 90.00 degrees
	Head angle     = -30.00 degrees
	Sector angle   = 60.00 degrees
	Step size      = 2.40 degrees
	Acoustic Freq  = 675 kHz
	Ping period    = 0.00 seconds

: Scaled and shifted frequency = 100
:  Navigation:: deltaT = 2.42 is impermissible.

: AshtechGps::processRecord() - $GPGGA,164847.00,3649.01061,N,12150.22171,W,1,09,0.9,2.65,M,-32.59,M,,*59

:  Navigation:: deltaT = 3.48 is impermissible.

: BluefinBatt::init() - battery ids are 
aa c0  
: dropWeightDriver::readRecord() - serial device timed out
: BluefinBatt::init() - found battery aa
: EchoSounderLog:: Constructor starting.
: **** EventTriggers::add() - attaching proxy
: BluefinBatt::init() - found battery c0
: EchoSounderLog:: Constructor finishing.
: SonardyneDriver -- configuration:
	PingDelay  = 400 ms
	PresetGain = 1
	PowerLevel = 0
	LblWait    = 3 s
	ESV        = 1490.000000 m/s
	Beacon     = V4,5
	MRPL       = 2 ms

: EchoSounderDriver:: Constructor finishing.
: BluefinBatt::init() - battery echo is #aawf


: Parosci.cc -- Initial pressure = -0.682581
:  Navigation:: deltaT = 4.63 is impermissible.

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,164850.33,000.0000,N,000.0000,W,1,03,00.5,1000.0,M,-99.9,M,,*63

: EchoSounderDriver::run() _toffset = 0
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - .59,M,,*53

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 
: Parosci.cc -- Parosci initial pressure period = 29.953970
: AshtechGps::processRecord() - $GPGGA,164849.00,3649.01067,N,12150.22214,W,1,09,0.9,2.10,M,-32.59,M,,*53

: Parosci.cc -- Parosci initial temp period = 5.813320
: Parosci.cc -- Paroscientific configured.
: AshtechGps::processRecord() - $GPGGA,164850.00,3649.01065,N,12150.22221,W,1,09,0.9,2.10,M,-32.59,M,,*5F

: KearfottDriver: unable to open ctd interface

:  Navigation:: deltaT = 4.82 is impermissible.

: Kearfott::deltaTime is 1289926132.559675

: SerialDevice::confirm() - Timed Out
: NMEA Update: $GPGGA,164852.56,000.0000,N,000.0000,W,1,03,00.5,1000.0,M,-99.9,M,,*62

: BenthosModem::commandMode() - no prompt after +++
: Kearfott::deltaTime is 1.049928

:  Navigation:: deltaT = 7.91 is impermissible.

: BenthosModem::commandMode() - trying EOL...
: dropWeightDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,164853.62,000.0000,N,000.0000,W,1,03,00.5,1000.0,M,-99.9,M,,*64

: BenthosModem::commandMode() - confirming...
: updating external sensors

:  Navigation:: deltaT = 8.96 is impermissible.

: BluefinBatt::init() - battery watchdog state is 
$aawf 1
 
: gpsDriver::readRecord() - serial device timed out
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Kearfott::deltaTime is 1.069927

: NMEA Update: $GPGGA,164854.70,3649.0106,N,-12150.2222,W,1,03,00.5,1000.0,M,-99.9,M,,*75

: Kearfott::parseGPS_GGA - lat(36.816847) lon(121.837028)

: Set verbose level
: Kearfott::parseGPS_GGA - lat(36.816846) lon(121.837026)

: Kearfott::parseGPS_GGA - lat(36.816843) lon(121.837026)

: BluefinBatt::init() - battery echo is #c0wf


: Kearfott::parseGPS_GGA - lat(36.816844) lon(121.837029)

: Kearfott::parseGPS_GGA - lat(36.816845) lon(121.837034)

: Kearfott::parseGPS_GGA - lat(36.816845) lon(121.837036)

: Kearfott::parseGPS_GGA - lat(36.816844) lon(121.837037)

: Kearfott::parseGPS_GGA - lat(36.816843) lon(121.837039)

: AshtechGps::processRecord() - ,12150.22235,W,1,09,0.9,2.09,M,-32.59,M,,*53

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: AshtechGps::processRecord() - $GPGGA,164852.00,3649.01045,N,12150.22245,W,1,09,0.9,2.47,M,-32.59,M,,*5F

: AshtechGps::processRecord() - $GPGGA,164853.00,3649.01044,N,12150.22247,W,1,09,0.9,2.66,M,-32.59,M,,*5E

: AshtechGps::processRecord() - $GPGGA,164854.00,3649.01041,N,12150.22246,W,1,09,0.9,2.80,M,-32.59,M,,*55

: AshtechGps::processRecord() - $GPGGA,164855.00,3649.01030,N,12150.22240,W,1,09,0.9,2.87,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.816838) lon(121.837040)

: Set write delay
: Set remote response waiting time
: NMEA Update: $GPGGA,164855.53,3649.0100,N,-12150.2227,W,1,03,00.5,101.2,M,-99.9,M,,*45

: Turn on doppler correction
: DynamicControl - Could not open TerrainAid IF.
: DepthEnvelope - Error. maxLowerPitch must be a postive number.
Flipping the sign now.
: maxLowerPitch = 1745.31
: DepthEnvelope - Error. maxLowerPitch must be a postive number.
Flipping the sign now.
: maxLowerPitch = 1745.31
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,164856.00,3649.01001,N,12150.22219,W,1,09,0.9,3.74,M,-32.59,M,,*53

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

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

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

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

: BenthosModem::onlineMode() - confirming...
: **** EventTriggers::add() - attaching proxy
: *** Mission started ***

: Kearfott::parseGPS_GGA - lat(36.816834) lon(121.837037)

: updating external sensors

: done initializing modem

: PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000
: Kearfott::deltaTime is 0.649955

:  Navigation:: deltaT = 2.07 is impermissible.

: updating external sensors

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,164858.20,3649.0099,N,-12150.2226,W,1,03,00.5,100.1,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = 0.00
: Kearfott::deltaTime is 1.049928

: Kearfott::parseGPS_GGA - lat(36.816833) lon(121.837037)

: Kearfott::parseGPS_GGA - lat(36.816835) lon(121.837040)

: AshtechGps::processRecord() - GPGGA,164857.00,3649.00999,N,12150.22222,W,1,09,0.9,3.16,M,-32.59,M,,*57

:  Navigation:: deltaT = 2.20 is impermissible.

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Kearfott::deltaTime is 0.859941

: dropWeightDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,164859.35,3649.0100,N,-12150.2229,W,1,03,00.5,099.0,M,-99.9,M,,*45

: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            1

: Kearfott::parseGPS_GGA - lat(36.816836) lon(121.837043)

: GetGPS::execute() -- The Keafott accepted the Gps hit: 2 of 10 needed
: AshtechGps::processRecord() - $GPGGA,164858.00,3649.01011,N,12150.22241,W,1,09,0.9,2.45,M,-32.59,M,,*52

: AshtechGps::processRecord() - $GPGGA,164859.00,3649.01015,N,12150.22258,W,1,09,0.9,2.49,M,-32.59,M,,*53

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 3 of 10 needed
: updating external sensors

: Kearfott::deltaTime is 0.869941

: BluefinBatt::init() - battery watchdog state is 
$c0wf 1
 
: NMEA Update: $GPGGA,164900.68,3649.0099,N,-12150.2230,W,1,03,00.5,101.1,M,-99.9,M,,*48

: Kearfott::parseGPS_GGA - lat(36.816835) lon(121.837045)

: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: AshtechGps::processRecord() - $GPGGA,164900.00,3649.01010,N,12150.22267,W,1,09,0.9,2.63,M,-32.59,M,,*5F

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 4 of 10 needed
: AshtechGps::processRecord() - $GPGGA,164901.00,3649.01001,N,12150.22283,W,1,09,0.9,2.57,M,-32.59,M,,*53

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: Kearfott::parseGPS_GGA - lat(36.816834) lon(121.837047)

: NMEA Update: $GPGGA,164901.50,3649.0098,N,-12150.2232,W,1,03,00.5,100.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,164902.00,3649.00991,N,12150.22301,W,1,09,0.9,2.61,M,-32.59,M,,*5F

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 5 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.816832) lon(121.837050)

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,164902.50,3649.0097,N,-12150.2234,W,1,03,00.5,100.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,164903.00,3649.00980,N,12150.22307,W,1,09,0.9,2.99,M,-32.59,M,,*5F

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 6 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.816830) lon(121.837051)

: updating external sensors

: Kearfott::deltaTime is 0.979933

: NMEA Update: $GPGGA,164904.46,3649.0096,N,-12150.2235,W,1,03,00.5,101.0,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::parseGPS_GGA - lat(36.816830) lon(121.837051)

: AshtechGps::processRecord() - $GPGGA,164904.00,3649.00978,N,12150.22306,W,1,09,0.9,3.06,M,-32.59,M,,*59

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

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,164905.00,3649.00962,N,12150.22305,W,1,09,0.9,3.13,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.816827) lon(121.837051)

: NMEA Update: $GPGGA,164905.30,3649.0094,N,-12150.2234,W,1,03,00.5,101.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,164906.00,3649.00959,N,12150.22307,W,1,09,0.9,3.22,M,-32.59,M,,*5F

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

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

: Kearfott::parseGPS_GGA - lat(36.816827) lon(121.837051)

: updating external sensors

: NMEA Update: $GPGGA,164906.30,3649.0094,N,-12150.2235,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,164907.00,3649.00958,N,12150.22315,W,1,09,0.9,3.40,M,-32.59,M,,*58

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 8 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.816826) lon(121.837053)

: NMEA Update: $GPGGA,164907.30,3649.0095,N,-12150.2236,W,1,03,00.5,101.2,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,164908.00,3649.00958,N,12150.22316,W,1,09,0.9,3.39,M,-32.59,M,,*5A

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 9 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.816826) lon(121.837053)

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,164908.30,3649.0094,N,-12150.2235,W,1,03,00.5,101.1,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,164909.00,3649.00946,N,12150.22302,W,1,09,0.9,3.38,M,-32.59,M,,*50

: GetGPS::execute() -- Got a new GPS hit: 11 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 12.999110) Behavior getgps:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 12.999110) Behavior setpoint:-1 has changed to state Active

: Kearfott::parseGPS_GGA - lat(36.816824) lon(121.837050)

: NMEA Update: $GPGGA,164909.30,3649.0093,N,-12150.2233,W,1,03,00.5,101.2,M,-99.9,M,,*46

: Kearfott::parseGPS_GGA - lat(36.816823) lon(121.837049)

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,164910.87,3649.0092,N,-12150.2232,W,1,03,00.5,101.3,M,-99.9,M,,*43

: Kearfott::deltaTime is 0.909938

: AshtechGps::processRecord() - $GPGGA,164910.00,3649.00940,N,12150.22292,W,1,09,0.9,3.14,M,-32.59,M,,*58

: AshtechGps::processRecord() - $GPGGA,164911.00,3649.00938,N,12150.22311,W,1,09,0.9,2.64,M,-32.59,M,,*5A

: Kearfott::parseGPS_GGA - lat(36.816823) lon(121.837052)

: NMEA Update: $GPGGA,164911.70,3649.0093,N,-12150.2237,W,1,03,00.5,100.2,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,164912.00,3649.00963,N,12150.22362,W,1,09,0.9,1.47,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.816827) lon(121.837060)

: BluefinBatt Reply: $aaq0 d- 33.09  1.74 15.82 4.12 4.14 0 12853.64 02:15:46 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,164912.70,3649.0092,N,-12150.2240,W,1,03,00.5,100.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,164913.00,3649.00949,N,12150.22378,W,1,09,0.9,2.26,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.816825) lon(121.837063)

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,164913.70,3649.0092,N,-12150.2241,W,1,03,00.5,101.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,164914.00,3649.00946,N,12150.22394,W,1,09,0.9,2.21,M,-32.59,M,,*5A

: Kearfott::parseGPS_GGA - lat(36.816824) lon(121.837066)

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  4.63 16.50 4.12 4.15 0  1475.20 02:15:48 m

: NMEA Update: $GPGGA,164914.70,3649.0090,N,-12150.2242,W,1,03,00.5,099.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,164915.00,3649.00929,N,12150.22411,W,1,09,0.9,1.92,M,-32.59,M,,*53

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.816822) lon(121.837069)

: updating external sensors

: Kearfott::deltaTime is 0.869940

: batts online 2, min cell voltage 4.120000, mean min cell voltage 4.120000

: NMEA Update: $GPGGA,164916.26,3649.0089,N,-12150.2244,W,1,03,00.5,100.5,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::parseGPS_GGA - lat(36.816821) lon(121.837074)

: AshtechGps::processRecord() - $GPGGA,164916.00,3649.00925,N,12150.22441,W,1,09,0.9,1.65,M,-32.59,M,,*51

: AshtechGps::processRecord() - $GPGGA,164917.00,3649.00905,N,12150.22452,W,1,09,0.9,2.46,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.816818) lon(121.837075)

: NMEA Update: $GPGGA,164917.10,3649.0089,N,-12150.2248,W,1,03,00.5,099.8,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164918.00,3649.00918,N,12150.22477,W,1,09,0.9,1.96,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.816820) lon(121.837080)

: updating external sensors

: NMEA Update: $GPGGA,164918.10,3649.0090,N,-12150.2250,W,1,03,00.5,101.7,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164919.00,3649.00911,N,12150.22529,W,1,09,0.9,1.76,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.816818) lon(121.837088)

: NMEA Update: $GPGGA,164919.10,3649.0089,N,-12150.2255,W,1,03,00.5,099.6,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,164920.00,3649.00916,N,12150.22587,W,1,09,0.9,1.91,M,-32.59,M,,*54

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.816819) lon(121.837098)

: updating external sensors

: NMEA Update: $GPGGA,164920.10,3649.0090,N,-12150.2261,W,1,03,00.5,100.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,164921.00,3649.00915,N,12150.22629,W,1,09,0.9,2.18,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.816819) lon(121.837105)

: NMEA Update: $GPGGA,164921.10,3649.0090,N,-12150.2265,W,1,03,00.5,101.2,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.98  3.30 15.82 4.12 4.14 0 12853.48 02:15:56 m

: AshtechGps::processRecord() - $GPGGA,164922.00,3649.00913,N,12150.22656,W,1,09,0.9,2.26,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.816819) lon(121.837109)

: updating external sensors

: NMEA Update: $GPGGA,164922.10,3649.0089,N,-12150.2267,W,1,03,00.5,099.3,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164923.00,3649.00918,N,12150.22685,W,1,09,0.9,2.19,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.816820) lon(121.837114)

: NMEA Update: $GPGGA,164923.10,3649.0090,N,-12150.2270,W,1,03,00.5,101.8,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,164924.00,3649.00914,N,12150.22740,W,1,09,0.9,2.09,M,-32.59,M,,*59

: Kearfott::parseGPS_GGA - lat(36.816819) lon(121.837123)

: BluefinBatt Reply: $c0q0 d- 33.13  5.64 16.50 4.12 4.15 0  1474.90 02:15:58 m

: updating external sensors

: NMEA Update: $GPGGA,164924.10,3649.0091,N,-12150.2275,W,1,03,00.5,099.9,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164925.00,3649.00922,N,12150.22790,W,1,09,0.9,2.49,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.816820) lon(121.837132)

: batts online 2, min cell voltage 4.120000, mean min cell voltage 4.120000

: NMEA Update: $GPGGA,164925.10,3649.0093,N,-12150.2281,W,1,03,00.5,099.1,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164926.00,3649.00937,N,12150.22845,W,1,09,0.9,2.42,M,-32.59,M,,*5F

: Kearfott::parseGPS_GGA - lat(36.816823) lon(121.837141)

: updating external sensors

: NMEA Update: $GPGGA,164926.10,3649.0094,N,-12150.2285,W,1,03,00.5,100.2,M,-99.9,M,,*42

: Kearfott::deltaTime is 1.029929

: Kearfott::parseGPS_GGA - lat(36.816825) lon(121.837151)

: NMEA Update: $GPGGA,164927.61,3649.0095,N,-12150.2289,W,1,03,00.5,101.1,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,164927.00,3649.00951,N,12150.22903,W,1,09,0.9,2.52,M,-32.59,M,,*5C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164928.00,3649.00979,N,12150.22956,W,1,09,0.9,2.39,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.816830) lon(121.837159)

: updating external sensors

: NMEA Update: $GPGGA,164928.50,3649.0100,N,-12150.2297,W,1,03,00.5,098.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,164929.00,3649.01000,N,12150.22992,W,1,09,0.9,2.53,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.816833) lon(121.837165)

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,164929.50,3649.0102,N,-12150.2302,W,1,03,00.5,098.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,164930.00,3649.01015,N,12150.23055,W,1,09,0.9,2.45,M,-32.59,M,,*5F

: Kearfott::parseGPS_GGA - lat(36.816836) lon(121.837176)

: updating external sensors

: NMEA Update: $GPGGA,164930.50,3649.0105,N,-12150.2309,W,1,03,00.5,099.4,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164931.00,3649.01057,N,12150.23131,W,1,09,0.9,1.92,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.816843) lon(121.837189)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,164931.50,3649.0109,N,-12150.2317,W,1,03,00.5,098.2,M,-99.9,M,,*4f

: BluefinBatt Reply: $aaq0 d- 33.05  2.63 15.82 4.10 4.12 0 12853.16 02:16:06 m

: AshtechGps::processRecord() - $GPGGA,164932.00,3649.01087,N,12150.23201,W,1,09,0.9,1.91,M,-32.59,M,,*5F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.816848) lon(121.837200)

: updating external sensors

: NMEA Update: $GPGGA,164932.50,3649.0111,N,-12150.2321,W,1,03,00.5,097.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,164933.00,3649.01083,N,12150.23206,W,1,08,1.0,3.79,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.816847) lon(121.837201)

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,164933.50,3649.0114,N,-12150.2321,W,1,03,00.5,099.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,164934.00,3649.01147,N,12150.23271,W,1,09,0.9,-2.55,M,-32.59,M,,*75

: Kearfott::parseGPS_GGA - lat(36.816858) lon(121.837212)

: BluefinBatt Reply: $c0q0 d- 33.17  5.06 16.60 4.09 4.13 0  1474.46 02:16:08 m

: updating external sensors

: NMEA Update: $GPGGA,164934.50,3649.0118,N,-12150.2323,W,1,03,00.5,099.8,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,164935.00,3649.01183,N,12150.23242,W,1,09,0.9,1.06,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.816864) lon(121.837207)

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,164935.50,3649.0123,N,-12150.2327,W,1,03,00.5,098.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,164936.00,3649.01241,N,12150.23311,W,1,09,0.9,1.99,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.816874) lon(121.837219)

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,164936.50,3649.0126,N,-12150.2331,W,1,03,00.5,099.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,164937.00,3649.01285,N,12150.23372,W,1,09,0.9,2.04,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.816881) lon(121.837229)

: NMEA Update: $GPGGA,164937.50,3649.0131,N,-12150.2339,W,1,03,00.5,099.9,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164938.00,3649.01342,N,12150.23424,W,1,09,0.9,2.05,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.816890) lon(121.837237)

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,164938.50,3649.0137,N,-12150.2342,W,1,03,00.5,098.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,164939.00,3649.01395,N,12150.23437,W,1,09,0.9,2.33,M,-32.59,M,,*5C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.816899) lon(121.837240)

: Behavior setpoint - Timed out!
: LayeredControl::execute() -- (t = 43.197041) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 43.197041) Behavior descend:-1 has changed to state Active

: NMEA Update: $GPGGA,164939.50,3649.0142,N,-12150.2342,W,1,03,00.5,097.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,164940.00,3649.01418,N,12150.23444,W,1,09,0.9,3.11,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.816903) lon(121.837241)

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,164940.50,3649.0146,N,-12150.2343,W,1,03,00.5,099.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,164941.00,3649.01476,N,12150.23482,W,1,09,0.9,1.67,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.816913) lon(121.837247)

: NMEA Update: $GPGGA,164941.50,3649.0151,N,-12150.2346,W,1,03,00.5,093.8,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.98  3.56 15.82 4.10 4.12 0 12852.85 02:16:16 m

: AshtechGps::processRecord() - $GPGGA,164942.00,3649.01531,N,12150.23507,W,1,09,0.9,1.40,M,-32.59,M,,*5D

: Kearfott::parseGPS_GGA - lat(36.816922) lon(121.837251)

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,164942.50,3649.0156,N,-12150.2349,W,1,03,00.5,095.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,164943.00,3649.01572,N,12150.23530,W,1,09,0.9,1.65,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.816929) lon(121.837255)

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,164943.50,3649.0162,N,-12150.2351,W,1,03,00.5,097.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,164944.00,3649.01616,N,12150.23537,W,1,09,0.9,1.57,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.816936) lon(121.837256)

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  4.96 16.60 4.09 4.13 0  1474.00 02:16:18 m

: NMEA Update: $GPGGA,164944.50,3649.0167,N,-12150.2351,W,1,03,00.5,095.5,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164945.00,3649.01682,N,12150.23563,W,1,09,0.9,2.01,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.816947) lon(121.837261)

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,164945.50,3649.0173,N,-12150.2353,W,1,03,00.5,097.3,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,164946.00,3649.01723,N,12150.23537,W,1,09,0.9,1.84,M,-32.59,M,,*53

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.816954) lon(121.837256)

: updating external sensors

: NMEA Update: $GPGGA,164946.50,3649.0178,N,-12150.2349,W,1,03,00.5,093.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,164947.00,3649.01789,N,12150.23537,W,1,06,1.3,1.22,M,-32.59,M,,*5A

: Kearfott::parseGPS_GGA - lat(36.816965) lon(121.837256)

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,164947.50,3649.0182,N,-12150.2346,W,1,03,00.5,098.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,164948.00,3649.01844,N,12150.23521,W,1,06,1.3,1.37,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.816974) lon(121.837254)

: updating external sensors

: NMEA Update: $GPGGA,164948.50,3649.0187,N,-12150.2342,W,1,03,00.5,098.2,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164949.00,3649.01886,N,12150.23478,W,1,07,1.2,1.44,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.816981) lon(121.837246)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,164949.50,3649.0192,N,-12150.2338,W,1,03,00.5,095.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,164950.00,3649.01935,N,12150.23396,W,1,08,1.0,2.12,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.816989) lon(121.837233)

: updating external sensors

: Kearfott::deltaTime is 0.749949

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.817003) lon(121.837226)

: NMEA Update: $GPGGA,164951.16,3649.0196,N,-12150.2334,W,1,03,00.5,096.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,164951.00,3649.02018,N,12150.23358,W,1,09,0.9,1.83,M,-32.59,M,,*51

: AshtechGps::processRecord() - $GPGGA,164952.00,3649.02063,N,12150.23308,W,1,09,0.9,1.30,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817011) lon(121.837218)

: updating external sensors

: NMEA Update: $GPGGA,164952.10,3649.0205,N,-12150.2327,W,1,03,00.5,097.8,M,-99.9,M,,*47

: BluefinBatt Reply: $aaq0 d- 32.94  4.15 15.91 4.10 4.12 0 12852.35 02:16:26 m

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164953.00,3649.02116,N,12150.23176,W,1,09,0.9,0.49,M,-32.59,M,,*55

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::parseGPS_GGA - lat(36.817019) lon(121.837196)

: NMEA Update: $GPGGA,164953.10,3649.0208,N,-12150.2324,W,1,03,00.5,096.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,164954.00,3649.02129,N,12150.23133,W,1,09,0.9,0.48,M,-32.59,M,,*5E

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.817022) lon(121.837189)

: updating external sensors

: NMEA Update: $GPGGA,164954.10,3649.0210,N,-12150.2319,W,1,03,00.5,097.4,M,-99.9,M,,*44

: BluefinBatt Reply: $c0q0 d- 33.28  2.48 16.60 4.09 4.12 0  1473.52 02:16:28 m

: AshtechGps::processRecord() - $GPGGA,164955.00,3649.02159,N,12150.23073,W,1,09,0.9,1.60,M,-32.59,M,,*56

: Kearfott::parseGPS_GGA - lat(36.817027) lon(121.837179)

: NMEA Update: $GPGGA,164955.10,3649.0212,N,-12150.2312,W,1,03,00.5,099.6,M,-99.9,M,,*40

: updating external sensors

: Kearfott::deltaTime is 0.899938

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,164956.17,3649.0213,N,-12150.2309,W,1,03,00.5,098.8,M,-99.9,M,,*40

: Kearfott::parseGPS_GGA - lat(36.817030) lon(121.837173)

: AshtechGps::processRecord() - $GPGGA,164956.00,3649.02181,N,12150.23037,W,1,09,0.9,1.79,M,-32.59,M,,*58

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,164957.00,3649.02194,N,12150.22968,W,1,09,0.9,1.70,M,-32.59,M,,*56

: Kearfott::parseGPS_GGA - lat(36.817032) lon(121.837161)

: NMEA Update: $GPGGA,164957.10,3649.0217,N,-12150.2295,W,1,03,00.5,100.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,164958.00,3649.02214,N,12150.22909,W,1,09,0.9,1.27,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.817036) lon(121.837152)

: updating external sensors

: NMEA Update: $GPGGA,164958.10,3649.0219,N,-12150.2289,W,1,03,00.5,097.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,164959.00,3649.02245,N,12150.22883,W,1,09,0.9,1.15,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.817041) lon(121.837147)

: NMEA Update: $GPGGA,164959.10,3649.0221,N,-12150.2286,W,1,03,00.5,096.1,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,165000.00,3649.02266,N,12150.22861,W,1,09,0.9,1.71,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.817044) lon(121.837144)

: updating external sensors

: NMEA Update: $GPGGA,165000.10,3649.0223,N,-12150.2285,W,1,03,00.5,099.1,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,165001.00,3649.02283,N,12150.22806,W,1,09,0.9,2.62,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.817047) lon(121.837134)

: NMEA Update: $GPGGA,165001.09,3649.0224,N,-12150.2282,W,1,03,00.5,096.7,M,-99.9,M,,*42

: BluefinBatt Reply: $aaq0 d- 32.94  4.30 15.91 4.10 4.12 0 12852.24 02:16:36 m

: AshtechGps::processRecord() - $GPGGA,165002.00,3649.02295,N,12150.22714,W,1,09,0.9,3.00,M,-32.59,M,,*5C

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.817049) lon(121.837119)

: updating external sensors

: NMEA Update: $GPGGA,165002.09,3649.0225,N,-12150.2273,W,1,03,00.5,098.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165003.00,3649.02306,N,12150.22624,W,1,09,0.9,3.74,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.817051) lon(121.837104)

: NMEA Update: $GPGGA,165003.09,3649.0226,N,-12150.2263,W,1,03,00.5,098.5,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165004.00,3649.02321,N,12150.22539,W,1,09,0.9,3.95,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.817054) lon(121.837090)

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  4.49 16.60 4.09 4.12 0  1473.27 02:16:38 m

: NMEA Update: $GPGGA,165004.09,3649.0227,N,-12150.2255,W,1,03,00.5,098.9,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,165005.00,3649.02318,N,12150.22472,W,1,09,0.9,3.97,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.817053) lon(121.837079)

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,165005.09,3649.0229,N,-12150.2248,W,1,03,00.5,097.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165006.00,3649.02338,N,12150.22396,W,1,09,0.9,4.26,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817056) lon(121.837066)

: updating external sensors

: NMEA Update: $GPGGA,165006.09,3649.0230,N,-12150.2241,W,1,03,00.5,099.5,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: Kearfott::deltaTime is 1.019930

: Kearfott::parseGPS_GGA - lat(36.817059) lon(121.837049)

: NMEA Update: $GPGGA,165007.48,3649.0231,N,-12150.2235,W,1,03,00.5,099.5,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165007.00,3649.02353,N,12150.22294,W,1,09,0.9,3.85,M,-32.59,M,,*52

: AshtechGps::processRecord() - $GPGGA,165008.00,3649.02366,N,12150.22206,W,1,09,0.9,3.35,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.817061) lon(121.837034)

: updating external sensors

: NMEA Update: $GPGGA,165008.29,3649.0233,N,-12150.2221,W,1,03,00.5,098.5,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,165009.00,3649.02373,N,12150.22139,W,1,09,0.9,3.10,M,-32.59,M,,*56

: Kearfott::parseGPS_GGA - lat(36.817062) lon(121.837023)

: NMEA Update: $GPGGA,165009.29,3649.0235,N,-12150.2215,W,1,03,00.5,097.1,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,165010.00,3649.02396,N,12150.22081,W,1,09,0.9,3.14,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817066) lon(121.837014)

: updating external sensors

: NMEA Update: $GPGGA,165010.29,3649.0236,N,-12150.2210,W,1,03,00.5,098.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165011.00,3649.02410,N,12150.22023,W,1,09,0.9,3.05,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817068) lon(121.837004)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,165011.29,3649.0239,N,-12150.2204,W,1,03,00.5,098.7,M,-99.9,M,,*4d

: BluefinBatt Reply: $aaq0 d- 32.94  3.37 15.91 4.10 4.13 0 12851.84 02:16:46 m

: AshtechGps::processRecord() - $GPGGA,165012.00,3649.02428,N,12150.21961,W,1,09,0.9,3.01,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817071) lon(121.836994)

: updating external sensors

: NMEA Update: $GPGGA,165012.29,3649.0242,N,-12150.2198,W,1,03,00.5,098.7,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,165013.00,3649.02472,N,12150.21930,W,1,09,0.9,2.76,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.817079) lon(121.836988)

: NMEA Update: $GPGGA,165013.29,3649.0246,N,-12150.2194,W,1,03,00.5,099.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165014.00,3649.02503,N,12150.21880,W,1,09,0.9,3.41,M,-32.59,M,,*57

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.817084) lon(121.836980)

: BluefinBatt Reply: $c0q0 d- 33.17  4.49 16.60 4.10 4.13 0  1472.76 02:16:48 m

: updating external sensors

: NMEA Update: $GPGGA,165014.29,3649.0249,N,-12150.2191,W,1,03,00.5,095.6,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165015.00,3649.02553,N,12150.21820,W,1,09,0.9,5.14,M,-32.59,M,,*5F

: Kearfott::parseGPS_GGA - lat(36.817092) lon(121.836970)

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.100000

: NMEA Update: $GPGGA,165015.29,3649.0252,N,-12150.2186,W,1,03,00.5,1000.0,M,-99.9,M,,*7a

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,165016.00,3649.02588,N,12150.21721,W,1,09,0.9,3.41,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.817098) lon(121.836954)

: updating external sensors

: NMEA Update: $GPGGA,165016.29,3649.0255,N,-12150.2178,W,1,03,00.5,1000.0,M,-99.9,M,,*7f

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,165017.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165017.29,3649.0257,N,-12150.2170,W,1,03,00.5,1000.0,M,-99.9,M,,*74

: AshtechGps::processRecord() - $GPGGA,165018.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,165018.29,3649.0260,N,-12150.2165,W,1,03,00.5,097.5,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165019.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165019.29,3649.0264,N,-12150.2159,W,1,03,00.5,097.0,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,165020.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165020.29,3649.0268,N,-12150.2155,W,1,03,00.5,094.4,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165021.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,165021.29,3649.0271,N,-12150.2152,W,1,03,00.5,095.5,M,-99.9,M,,*4d

: BluefinBatt Reply: $aaq0 d- 32.94  4.08 15.91 4.10 4.13 0 12851.58 02:16:56 m

: AshtechGps::processRecord() - $GPGGA,165022.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,165022.29,3649.0274,N,-12150.2149,W,1,03,00.5,093.7,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=1.03
	speedMode=1 speed=1.50

: Descend::execute() - Descend terminating on depth 3.191174 > 3.000000 at time 86.594068

: LayeredControl::execute() -- (t = 86.594068) Behavior descend:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 86.594068) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 86.59                             (wplog)
  The current location (N,E) = 4075216.9      , 603736.2         (wplog)
  The next waypoint          = 4075300.0      , 603931.2         (wplog)
  The bearing to the next w.p. is 66.9 Degrees.

: LayeredControl::execute() -- (t = 86.604067) Behavior waypoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,165023.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165023.29,3649.0277,N,-12150.2146,W,1,03,00.5,093.7,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165024.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.09  5.39 16.60 4.10 4.13 0  1472.46 02:16:58 m

: updating external sensors

: NMEA Update: $GPGGA,165024.29,3649.0281,N,-12150.2141,W,1,03,00.5,095.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165025.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.100000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165025.29,3649.0283,N,-12150.2132,W,1,03,00.5,1000.0,M,-99.9,M,,*7a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165026.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165026.29,3649.0285,N,-12150.2126,W,1,03,00.5,1000.0,M,-99.9,M,,*7a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 1.039929

: NMEA Update: $GPGGA,165027.61,3649.0286,N,-12150.2123,W,1,03,00.5,1000.0,M,-99.9,M,,*71

: AshtechGps::processRecord() - $GPGGA,165027.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165028.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165028.49,3649.0289,N,-12150.2114,W,1,03,00.5,1000.0,M,-99.9,M,,*7f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165029.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165029.49,3649.0291,N,-12150.2108,W,1,03,00.5,093.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165030.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165030.49,3649.0293,N,-12150.2101,W,1,03,00.5,094.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165031.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165031.49,3649.0295,N,-12150.2094,W,1,03,00.5,092.9,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 33.05  1.66 15.91 4.11 4.13 0 12851.21 02:17:06 m

: AshtechGps::processRecord() - $GPGGA,165032.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165032.49,3649.0297,N,-12150.2087,W,1,03,00.5,091.8,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165033.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165033.49,3649.0298,N,-12150.2082,W,1,03,00.5,092.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165034.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.25  2.80 16.69 4.10 4.13 0  1472.12 02:17:08 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165034.49,3649.0299,N,-12150.2077,W,1,03,00.5,092.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165035.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165035.49,3649.0300,N,-12150.2072,W,1,03,00.5,091.9,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165036.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165036.49,3649.0300,N,-12150.2066,W,1,03,00.5,091.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165037.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165037.49,3649.0301,N,-12150.2060,W,1,03,00.5,091.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165038.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165038.49,3649.0302,N,-12150.2053,W,1,03,00.5,092.4,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165039.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165039.49,3649.0303,N,-12150.2047,W,1,03,00.5,091.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165040.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165040.49,3649.0304,N,-12150.2041,W,1,03,00.5,091.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165041.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165041.49,3649.0305,N,-12150.2036,W,1,03,00.5,092.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165042.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  1.85 15.91 4.11 4.13 0 12851.04 02:17:16 m

: updating external sensors

: NMEA Update: $GPGGA,165042.49,3649.0306,N,-12150.2031,W,1,03,00.5,088.4,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165043.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165043.49,3649.0306,N,-12150.2026,W,1,03,00.5,088.2,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165044.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.12 16.69 4.10 4.13 0  1471.91 02:17:18 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165044.49,3649.0307,N,-12150.2020,W,1,03,00.5,089.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165045.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165045.49,3649.0308,N,-12150.2014,W,1,03,00.5,089.1,M,-99.9,M,,*4c

: Kearfott::deltaTime is 1.069927

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165046.53,3649.0308,N,-12150.2013,W,1,03,00.5,089.1,M,-99.9,M,,*43

:  Navigation:: deltaT = 2.30 is impermissible.

: gpsDriver::readRecord() - serial device timed out
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::deltaTime is 1.089926

: AshtechGps::processRecord() - ,165046.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165047.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165047.69,3649.0308,N,-12150.2007,W,1,03,00.5,090.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165048.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165048.69,3649.0310,N,-12150.1999,W,1,03,00.5,089.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165049.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165049.69,3649.0311,N,-12150.1997,W,1,03,00.5,088.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165050.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165050.69,3649.0312,N,-12150.1995,W,1,03,00.5,089.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165051.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165051.69,3649.0312,N,-12150.1993,W,1,03,00.5,089.8,M,-99.9,M,,*4c

: Kearfott::deltaTime is 0.889939

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 33.05  1.92 16.01 4.12 4.14 0 12850.85 02:17:26 m

: NMEA Update: $GPGGA,165052.75,3649.0312,N,-12150.1991,W,1,03,00.5,088.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165052.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165053.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165053.69,3649.0314,N,-12150.1986,W,1,03,00.5,090.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165054.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165054.69,3649.0315,N,-12150.1982,W,1,03,00.5,088.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165055.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.28  2.22 16.69 4.11 4.14 0  1471.54 02:17:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165055.69,3649.0316,N,-12150.1978,W,1,03,00.5,088.8,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165056.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.110000, mean min cell voltage 4.115000

: updating external sensors

: NMEA Update: $GPGGA,165056.69,3649.0317,N,-12150.1974,W,1,03,00.5,089.2,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165057.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165057.69,3649.0319,N,-12150.1971,W,1,03,00.5,088.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165058.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165058.69,3649.0320,N,-12150.1969,W,1,03,00.5,088.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165059.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165059.69,3649.0321,N,-12150.1967,W,1,03,00.5,086.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165100.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165100.69,3649.0323,N,-12150.1966,W,1,03,00.5,087.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165101.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165101.69,3649.0324,N,-12150.1965,W,1,03,00.5,084.8,M,-99.9,M,,*49

: BluefinBatt Reply: $aaq0 d- 33.05  2.00 16.01 4.12 4.14 0 12850.69 02:17:36 m

: AshtechGps::processRecord() - $GPGGA,165102.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165102.69,3649.0326,N,-12150.1962,W,1,03,00.5,086.7,M,-99.9,M,,*42

: Kearfott::deltaTime is 1.039929

: NMEA Update: $GPGGA,165103.90,3649.0326,N,-12150.1960,W,1,03,00.5,084.4,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: gpsDriver::readRecord() - serial device timed out
: AshtechGps::processRecord() - 3.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165104.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165104.89,3649.0328,N,-12150.1954,W,1,03,00.5,084.4,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165105.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.25  2.80 16.79 4.11 4.14 0  1471.33 02:17:39 m

: NMEA Update: $GPGGA,165105.89,3649.0330,N,-12150.1950,W,1,03,00.5,084.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165106.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.110000, mean min cell voltage 4.115000

: NMEA Update: $GPGGA,165106.89,3649.0332,N,-12150.1947,W,1,03,00.5,087.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165107.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165107.89,3649.0333,N,-12150.1945,W,1,03,00.5,086.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165108.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165108.89,3649.0335,N,-12150.1943,W,1,03,00.5,084.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165109.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165109.89,3649.0336,N,-12150.1940,W,1,03,00.5,084.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165110.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165110.89,3649.0337,N,-12150.1937,W,1,03,00.5,083.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165111.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 33.05  2.03 16.01 4.11 4.13 0 12850.44 02:17:46 m

: NMEA Update: $GPGGA,165111.89,3649.0338,N,-12150.1933,W,1,03,00.5,083.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165112.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165112.89,3649.0339,N,-12150.1929,W,1,03,00.5,082.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165113.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165113.89,3649.0340,N,-12150.1924,W,1,03,00.5,082.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165114.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.30 16.79 4.11 4.14 0  1470.97 02:17:48 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165114.70,3649.0341,N,-12150.1921,W,1,03,00.5,082.2,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165115.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.110000, mean min cell voltage 4.110000

: NMEA Update: $GPGGA,165115.70,3649.0342,N,-12150.1917,W,1,03,00.5,082.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165116.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165116.70,3649.0343,N,-12150.1913,W,1,03,00.5,082.5,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165117.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165117.70,3649.0344,N,-12150.1910,W,1,03,00.5,081.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165118.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165118.70,3649.0345,N,-12150.1908,W,1,03,00.5,081.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165119.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165119.70,3649.0346,N,-12150.1905,W,1,03,00.5,081.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165120.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165120.70,3649.0347,N,-12150.1902,W,1,03,00.5,081.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165121.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165121.70,3649.0347,N,-12150.1898,W,1,03,00.5,081.3,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 32.98  2.67 16.01 4.11 4.13 0 12850.28 02:17:56 m

: AshtechGps::processRecord() - $GPGGA,165122.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,165122.70,3649.0348,N,-12150.1893,W,1,03,00.5,083.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165123.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165123.70,3649.0350,N,-12150.1889,W,1,03,00.5,080.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165124.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.25  3.05 16.79 4.11 4.14 0  1470.73 02:17:58 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165124.70,3649.0351,N,-12150.1884,W,1,03,00.5,1000.0,M,-99.9,M,,*7f

: AshtechGps::processRecord() - $GPGGA,165125.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.110000, mean min cell voltage 4.110000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165125.70,3649.0353,N,-12150.1880,W,1,03,00.5,1000.0,M,-99.9,M,,*78

: AshtechGps::processRecord() - $GPGGA,165126.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165126.70,3649.0355,N,-12150.1877,W,1,03,00.5,1000.0,M,-99.9,M,,*75

: AshtechGps::processRecord() - $GPGGA,165127.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165127.70,3649.0356,N,-12150.1873,W,1,03,00.5,1000.0,M,-99.9,M,,*73

: AshtechGps::processRecord() - $GPGGA,165128.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165128.70,3649.0358,N,-12150.1870,W,1,03,00.5,081.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165129.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165129.70,3649.0360,N,-12150.1867,W,1,03,00.5,081.3,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165130.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165130.70,3649.0361,N,-12150.1864,W,1,03,00.5,081.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165131.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165131.70,3649.0363,N,-12150.1860,W,1,03,00.5,080.9,M,-99.9,M,,*40

: BluefinBatt Reply: $aaq0 d- 33.01  2.18 16.01 4.12 4.14 0 12850.05 02:18:06 m

: AshtechGps::processRecord() - $GPGGA,165132.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 0.989932

: updating external sensors

: NMEA Update: $GPGGA,165132.94,3649.0364,N,-12150.1858,W,1,03,00.5,080.9,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165133.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165133.90,3649.0367,N,-12150.1852,W,1,03,00.5,081.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165134.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.25  2.55 16.89 4.11 4.14 0  1470.40 02:18:08 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165134.90,3649.0369,N,-12150.1848,W,1,03,00.5,080.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165135.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.110000, mean min cell voltage 4.115000

: NMEA Update: $GPGGA,165135.90,3649.0371,N,-12150.1845,W,1,03,00.5,079.4,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165136.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165136.90,3649.0372,N,-12150.1841,W,1,03,00.5,079.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165137.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165137.90,3649.0374,N,-12150.1838,W,1,03,00.5,078.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165138.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165138.90,3649.0376,N,-12150.1835,W,1,03,00.5,078.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165139.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165139.90,3649.0377,N,-12150.1832,W,1,03,00.5,076.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165140.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165140.90,3649.0379,N,-12150.1829,W,1,03,00.5,076.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165141.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: Kearfott::deltaTime is 0.879940

: BluefinBatt Reply: $aaq0 d- 33.01  2.48 16.11 4.12 4.14 0 12849.87 02:18:16 m

: NMEA Update: $GPGGA,165142.22,3649.0379,N,-12150.1826,W,1,03,00.5,076.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165142.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165143.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165143.10,3649.0381,N,-12150.1820,W,1,03,00.5,075.9,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165144.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165144.10,3649.0383,N,-12150.1816,W,1,03,00.5,075.3,M,-99.9,M,,*4b

: BluefinBatt Reply: $c0q0 d- 33.28  2.08 16.89 4.11 4.14 0  1470.17 02:18:18 m

: AshtechGps::processRecord() - $GPGGA,165145.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165145.10,3649.0384,N,-12150.1812,W,1,03,00.5,075.1,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.110000, mean min cell voltage 4.115000

: AshtechGps::processRecord() - $GPGGA,165146.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165146.10,3649.0385,N,-12150.1808,W,1,03,00.5,077.8,M,-99.9,M,,*49

: Kearfott::deltaTime is 1.009931

: NMEA Update: $GPGGA,165147.36,3649.0386,N,-12150.1806,W,1,03,00.5,077.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165147.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165148.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: Kearfott::deltaTime is 0.989932

: NMEA Update: $GPGGA,165149.15,3649.0387,N,-12150.1799,W,1,03,00.5,076.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165149.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165150.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165150.10,3649.0389,N,-12150.1794,W,1,03,00.5,073.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165151.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165151.10,3649.0390,N,-12150.1791,W,1,03,00.5,076.2,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 33.05  1.44 16.01 4.12 4.14 0 12849.69 02:18:26 m

: AshtechGps::processRecord() - $GPGGA,165152.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165152.10,3649.0390,N,-12150.1788,W,1,03,00.5,075.3,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165153.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165153.10,3649.0391,N,-12150.1785,W,1,03,00.5,076.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165154.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.16 16.99 4.10 4.14 0  1469.91 02:18:28 m

: NMEA Update: $GPGGA,165154.10,3649.0392,N,-12150.1781,W,1,03,00.5,077.4,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165155.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.110000

: NMEA Update: $GPGGA,165155.10,3649.0393,N,-12150.1778,W,1,03,00.5,077.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165156.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165156.10,3649.0394,N,-12150.1774,W,1,03,00.5,076.1,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165157.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165157.10,3649.0395,N,-12150.1770,W,1,03,00.5,075.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165158.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165158.10,3649.0396,N,-12150.1766,W,1,03,00.5,075.8,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165159.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165159.10,3649.0398,N,-12150.1763,W,1,03,00.5,077.7,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165200.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165200.10,3649.0399,N,-12150.1759,W,1,03,00.5,075.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165201.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165201.10,3649.0401,N,-12150.1755,W,1,03,00.5,076.5,M,-99.9,M,,*49

: BluefinBatt Reply: $aaq0 d- 33.05  2.07 16.01 4.12 4.14 0 12849.55 02:18:36 m

: AshtechGps::processRecord() - $GPGGA,165202.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,165202.10,3649.0403,N,-12150.1752,W,1,03,00.5,075.3,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165203.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165203.10,3649.0404,N,-12150.1749,W,1,03,00.5,075.2,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165204.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  4.13 16.89 4.10 4.14 0  1469.62 02:18:38 m

: NMEA Update: $GPGGA,165204.10,3649.0406,N,-12150.1745,W,1,03,00.5,075.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165205.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.110000

: NMEA Update: $GPGGA,165205.10,3649.0408,N,-12150.1741,W,1,03,00.5,075.4,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165206.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165206.10,3649.0409,N,-12150.1737,W,1,03,00.5,074.5,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165207.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165207.10,3649.0411,N,-12150.1733,W,1,03,00.5,074.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165208.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165208.10,3649.0413,N,-12150.1729,W,1,03,00.5,073.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165209.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165209.10,3649.0414,N,-12150.1725,W,1,03,00.5,074.2,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165210.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165210.10,3649.0416,N,-12150.1721,W,1,03,00.5,074.3,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165211.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165211.10,3649.0418,N,-12150.1718,W,1,03,00.5,074.0,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 32.98  3.07 16.01 4.11 4.13 0 12849.26 02:18:46 m

: AshtechGps::processRecord() - $GPGGA,165212.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165212.10,3649.0419,N,-12150.1714,W,1,03,00.5,073.4,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 0.929936

: NMEA Update: $GPGGA,165213.77,3649.0421,N,-12150.1712,W,1,03,00.5,072.9,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165213.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165214.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165214.70,3649.0423,N,-12150.1705,W,1,03,00.5,070.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165215.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.25  2.76 16.99 4.10 4.14 0  1469.28 02:18:49 m

: NMEA Update: $GPGGA,165215.70,3649.0424,N,-12150.1701,W,1,03,00.5,071.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165216.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165216.70,3649.0425,N,-12150.1697,W,1,03,00.5,070.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165217.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165217.70,3649.0426,N,-12150.1693,W,1,03,00.5,071.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165218.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165218.70,3649.0427,N,-12150.1689,W,1,03,00.5,070.8,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165219.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165219.70,3649.0428,N,-12150.1685,W,1,03,00.5,070.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165220.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165220.70,3649.0429,N,-12150.1681,W,1,03,00.5,070.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165221.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165221.70,3649.0429,N,-12150.1677,W,1,03,00.5,070.3,M,-99.9,M,,*46

: BluefinBatt Reply: $aaq0 d- 33.01  1.92 16.11 4.11 4.13 0 12849.11 02:18:56 m

: AshtechGps::processRecord() - $GPGGA,165222.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165222.70,3649.0430,N,-12150.1674,W,1,03,00.5,070.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165223.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 1.149921

: BluefinBatt Reply: $c0q0 d- 33.21  2.94 16.99 4.10 4.14 0  1469.05 02:18:58 m

: NMEA Update: $GPGGA,165224.68,3649.0431,N,-12150.1669,W,1,03,00.5,070.3,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165224.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165225.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165225.50,3649.0432,N,-12150.1662,W,1,03,00.5,069.5,M,-99.9,M,,*40

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: AshtechGps::processRecord() - $GPGGA,165226.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165226.50,3649.0432,N,-12150.1658,W,1,03,00.5,068.9,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165227.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165227.49,3649.0433,N,-12150.1654,W,1,03,00.5,069.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165228.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165228.49,3649.0434,N,-12150.1650,W,1,03,00.5,069.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165229.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165229.49,3649.0435,N,-12150.1646,W,1,03,00.5,069.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165230.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165230.49,3649.0436,N,-12150.1643,W,1,03,00.5,068.9,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165231.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165231.49,3649.0437,N,-12150.1640,W,1,03,00.5,070.8,M,-99.9,M,,*4d

: BluefinBatt Reply: $aaq0 d- 33.01  2.15 16.01 4.12 4.14 0 12848.91 02:19:06 m

: AshtechGps::processRecord() - $GPGGA,165232.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165232.49,3649.0439,N,-12150.1637,W,1,03,00.5,070.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165233.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165233.49,3649.0440,N,-12150.1633,W,1,03,00.5,071.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165234.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  4.20 16.99 4.11 4.14 0  1468.73 02:19:08 m

: updating external sensors

: NMEA Update: $GPGGA,165234.49,3649.0442,N,-12150.1630,W,1,03,00.5,069.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165235.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.110000, mean min cell voltage 4.115000

: NMEA Update: $GPGGA,165235.49,3649.0443,N,-12150.1626,W,1,03,00.5,068.4,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165236.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165236.49,3649.0445,N,-12150.1622,W,1,03,00.5,067.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165237.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165237.49,3649.0446,N,-12150.1618,W,1,03,00.5,066.4,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165238.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165238.49,3649.0448,N,-12150.1614,W,1,03,00.5,066.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165239.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165239.49,3649.0450,N,-12150.1610,W,1,03,00.5,066.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165240.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165240.49,3649.0452,N,-12150.1606,W,1,03,00.5,065.8,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165241.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165241.49,3649.0454,N,-12150.1603,W,1,03,00.5,066.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165242.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.05  1.96 16.11 4.12 4.14 0 12848.76 02:19:16 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165242.49,3649.0455,N,-12150.1600,W,1,03,00.5,065.5,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165243.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165243.49,3649.0457,N,-12150.1596,W,1,03,00.5,065.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165244.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.08 16.99 4.11 4.14 0  1468.47 02:19:18 m

: NMEA Update: $GPGGA,165244.49,3649.0459,N,-12150.1593,W,1,03,00.5,064.5,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165245.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.110000, mean min cell voltage 4.115000

: NMEA Update: $GPGGA,165245.49,3649.0460,N,-12150.1589,W,1,03,00.5,067.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165246.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165246.49,3649.0462,N,-12150.1585,W,1,03,00.5,065.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165247.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165247.49,3649.0463,N,-12150.1581,W,1,03,00.5,065.6,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165248.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165248.49,3649.0465,N,-12150.1577,W,1,03,00.5,065.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165249.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165249.49,3649.0466,N,-12150.1572,W,1,03,00.5,064.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165250.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165250.49,3649.0467,N,-12150.1568,W,1,03,00.5,064.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165251.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165251.49,3649.0469,N,-12150.1565,W,1,03,00.5,063.6,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 33.01  2.22 16.21 4.11 4.14 0 12848.49 02:19:26 m

: AshtechGps::processRecord() - $GPGGA,165252.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165252.49,3649.0470,N,-12150.1561,W,1,03,00.5,063.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165253.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165253.49,3649.0471,N,-12150.1557,W,1,03,00.5,063.7,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165254.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.08 16.99 4.10 4.14 0  1468.13 02:19:28 m

: NMEA Update: $GPGGA,165254.49,3649.0472,N,-12150.1552,W,1,03,00.5,063.8,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165255.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165255.49,3649.0473,N,-12150.1548,W,1,03,00.5,063.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165256.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165256.49,3649.0474,N,-12150.1543,W,1,03,00.5,063.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165257.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165257.49,3649.0475,N,-12150.1539,W,1,03,00.5,063.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165258.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165258.49,3649.0477,N,-12150.1535,W,1,03,00.5,061.6,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165259.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165259.49,3649.0478,N,-12150.1530,W,1,03,00.5,061.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165300.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165300.49,3649.0479,N,-12150.1526,W,1,03,00.5,061.1,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165301.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165301.49,3649.0481,N,-12150.1522,W,1,03,00.5,061.1,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 33.01  2.15 16.11 4.11 4.14 0 12848.34 02:19:36 m

: AshtechGps::processRecord() - $GPGGA,165302.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165302.49,3649.0482,N,-12150.1517,W,1,03,00.5,060.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165303.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165303.49,3649.0483,N,-12150.1513,W,1,03,00.5,059.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165304.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  4.31 16.99 4.10 4.14 0  1467.89 02:19:38 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165304.49,3649.0485,N,-12150.1508,W,1,03,00.5,059.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165305.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165305.49,3649.0486,N,-12150.1503,W,1,03,00.5,059.9,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 1.059927

: updating external sensors

: NMEA Update: $GPGGA,165306.88,3649.0487,N,-12150.1500,W,1,03,00.5,059.6,M,-99.9,M,,*4c

: gpsDriver::readRecord() - serial device timed out
: AshtechGps::processRecord() - ,,*4F

: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
,,*4F

: AshtechGps::processRecord() - $GPGGA,165307.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165307.69,3649.0490,N,-12150.1493,W,1,03,00.5,058.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165308.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165308.69,3649.0491,N,-12150.1489,W,1,03,00.5,058.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165309.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165309.69,3649.0493,N,-12150.1484,W,1,03,00.5,058.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165310.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: Kearfott::deltaTime is 0.749949

: NMEA Update: $GPGGA,165311.18,3649.0495,N,-12150.1480,W,1,03,00.5,058.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165311.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165312.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165312.09,3649.0497,N,-12150.1473,W,1,03,00.5,057.6,M,-99.9,M,,*4a

: BluefinBatt Reply: $aaq0 d- 33.01  1.63 16.11 4.11 4.14 0 12848.03 02:19:46 m

: AshtechGps::processRecord() - $GPGGA,165313.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165313.09,3649.0499,N,-12150.1469,W,1,03,00.5,057.4,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165314.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165314.09,3649.0500,N,-12150.1464,W,1,03,00.5,059.4,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 33.25  2.48 17.08 4.10 4.14 0  1467.58 02:19:48 m

: AshtechGps::processRecord() - $GPGGA,165315.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165315.09,3649.0502,N,-12150.1459,W,1,03,00.5,059.5,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: AshtechGps::processRecord() - $GPGGA,165316.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165316.09,3649.0503,N,-12150.1454,W,1,03,00.5,058.6,M,-99.9,M,,*48

: Kearfott::deltaTime is 1.019930

: NMEA Update: $GPGGA,165317.24,3649.0504,N,-12150.1452,W,1,03,00.5,058.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165317.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165318.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165318.09,3649.0507,N,-12150.1445,W,1,03,00.5,058.4,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165319.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165319.09,3649.0508,N,-12150.1440,W,1,03,00.5,057.3,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165320.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165320.09,3649.0510,N,-12150.1436,W,1,03,00.5,057.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165321.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165321.09,3649.0511,N,-12150.1432,W,1,03,00.5,057.7,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 33.01  2.92 16.21 4.11 4.14 0 12847.92 02:19:56 m

: AshtechGps::processRecord() - $GPGGA,165322.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165322.09,3649.0513,N,-12150.1427,W,1,03,00.5,057.1,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165323.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165323.09,3649.0514,N,-12150.1423,W,1,03,00.5,057.1,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165324.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.16 16.99 4.10 4.14 0  1467.38 02:19:58 m

: NMEA Update: $GPGGA,165324.09,3649.0516,N,-12150.1418,W,1,03,00.5,057.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165325.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165325.09,3649.0517,N,-12150.1413,W,1,03,00.5,056.5,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165326.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165326.09,3649.0518,N,-12150.1408,W,1,03,00.5,056.5,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165327.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165327.09,3649.0520,N,-12150.1403,W,1,03,00.5,056.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165328.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165328.09,3649.0521,N,-12150.1398,W,1,03,00.5,056.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165329.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165329.09,3649.0523,N,-12150.1393,W,1,03,00.5,055.9,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165330.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165330.09,3649.0525,N,-12150.1388,W,1,03,00.5,056.4,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165331.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165331.09,3649.0526,N,-12150.1383,W,1,03,00.5,055.2,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 33.01  1.96 16.11 4.11 4.13 0 12847.68 02:20:06 m

: AshtechGps::processRecord() - $GPGGA,165332.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165332.09,3649.0528,N,-12150.1378,W,1,03,00.5,055.5,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165333.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165333.09,3649.0530,N,-12150.1372,W,1,03,00.5,055.1,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165334.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  2.94 16.99 4.10 4.14 0  1467.03 02:20:08 m

: NMEA Update: $GPGGA,165334.09,3649.0532,N,-12150.1367,W,1,03,00.5,055.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165335.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165335.09,3649.0534,N,-12150.1362,W,1,03,00.5,054.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165336.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165336.09,3649.0535,N,-12150.1357,W,1,03,00.5,054.5,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165337.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165337.09,3649.0537,N,-12150.1351,W,1,03,00.5,054.7,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165338.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165338.09,3649.0539,N,-12150.1346,W,1,03,00.5,054.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165339.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165339.09,3649.0541,N,-12150.1340,W,1,03,00.5,054.2,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165340.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165340.10,3649.0543,N,-12150.1335,W,1,03,00.5,053.4,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165341.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165341.10,3649.0544,N,-12150.1330,W,1,03,00.5,053.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165342.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  1.89 16.11 4.11 4.13 0 12847.53 02:20:16 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165342.10,3649.0546,N,-12150.1324,W,1,03,00.5,052.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165343.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165343.10,3649.0548,N,-12150.1319,W,1,03,00.5,052.8,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165344.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  3.26 16.99 4.10 4.14 0  1466.79 02:20:18 m

: NMEA Update: $GPGGA,165344.10,3649.0550,N,-12150.1313,W,1,03,00.5,052.5,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165345.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165345.10,3649.0553,N,-12150.1308,W,1,03,00.5,052.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165346.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165346.10,3649.0555,N,-12150.1302,W,1,03,00.5,051.7,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165347.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165347.10,3649.0557,N,-12150.1297,W,1,03,00.5,051.8,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165348.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165348.10,3649.0559,N,-12150.1291,W,1,03,00.5,051.4,M,-99.9,M,,*40

: Kearfott::deltaTime is 1.049928

: NMEA Update: $GPGGA,165349.56,3649.0560,N,-12150.1288,W,1,03,00.5,051.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165349.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165350.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165350.50,3649.0564,N,-12150.1277,W,1,03,00.5,051.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165351.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165351.50,3649.0566,N,-12150.1271,W,1,03,00.5,051.3,M,-99.9,M,,*49

: BluefinBatt Reply: $aaq0 d- 33.01  1.26 16.11 4.11 4.13 0 12847.33 02:20:26 m

: AshtechGps::processRecord() - $GPGGA,165352.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165352.50,3649.0567,N,-12150.1266,W,1,03,00.5,050.3,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165353.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165353.50,3649.0569,N,-12150.1260,W,1,03,00.5,050.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165354.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 33.21  2.76 16.89 4.10 4.14 0  1466.46 02:20:28 m

: updating external sensors

: Kearfott::deltaTime is 0.819944

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165355.27,3649.0571,N,-12150.1255,W,1,03,00.5,050.4,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165355.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165356.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165356.10,3649.0574,N,-12150.1247,W,1,03,00.5,050.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165357.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165357.10,3649.0576,N,-12150.1242,W,1,03,00.5,050.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165358.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165358.10,3649.0578,N,-12150.1237,W,1,03,00.5,049.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165359.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165359.10,3649.0580,N,-12150.1232,W,1,03,00.5,050.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165400.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165400.10,3649.0581,N,-12150.1227,W,1,03,00.5,049.9,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165401.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165401.10,3649.0583,N,-12150.1221,W,1,03,00.5,049.5,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.94  2.74 16.11 4.11 4.13 0 12847.19 02:20:36 m

: AshtechGps::processRecord() - $GPGGA,165402.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165402.10,3649.0585,N,-12150.1216,W,1,03,00.5,049.2,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165403.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165403.10,3649.0586,N,-12150.1210,W,1,03,00.5,049.0,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165404.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.05 16.79 4.10 4.14 0  1466.22 02:20:38 m

: NMEA Update: $GPGGA,165404.10,3649.0588,N,-12150.1205,W,1,03,00.5,048.7,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165405.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165405.10,3649.0590,N,-12150.1199,W,1,03,00.5,049.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165406.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165406.10,3649.0592,N,-12150.1194,W,1,03,00.5,048.7,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165407.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165407.10,3649.0593,N,-12150.1188,W,1,03,00.5,048.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165408.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165408.10,3649.0595,N,-12150.1182,W,1,03,00.5,048.5,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165409.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165409.10,3649.0597,N,-12150.1177,W,1,03,00.5,048.1,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165410.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165410.10,3649.0599,N,-12150.1171,W,1,03,00.5,048.0,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165411.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165411.10,3649.0601,N,-12150.1165,W,1,03,00.5,047.6,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165412.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  1.96 16.11 4.11 4.14 0 12846.97 02:20:46 m

: updating external sensors

: NMEA Update: $GPGGA,165412.10,3649.0603,N,-12150.1159,W,1,03,00.5,047.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165413.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165413.10,3649.0605,N,-12150.1153,W,1,03,00.5,047.3,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165414.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165414.10,3649.0607,N,-12150.1148,W,1,03,00.5,047.6,M,-99.9,M,,*44

: BluefinBatt Reply: $c0q0 d- 33.21  3.01 16.89 4.10 4.14 0  1465.90 02:20:48 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165415.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165415.10,3649.0609,N,-12150.1142,W,1,03,00.5,047.7,M,-99.9,M,,*40

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165416.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165416.10,3649.0611,N,-12150.1136,W,1,03,00.5,047.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165417.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165417.10,3649.0613,N,-12150.1129,W,1,03,00.5,047.4,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165418.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165418.10,3649.0615,N,-12150.1123,W,1,03,00.5,046.9,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165419.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165419.10,3649.0617,N,-12150.1117,W,1,03,00.5,047.1,M,-99.9,M,,*45

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 0.869940

: NMEA Update: $GPGGA,165420.90,3649.0619,N,-12150.1111,W,1,03,00.5,046.9,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: gpsDriver::readRecord() - serial device timed out
: AshtechGps::processRecord() - ,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165421.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165421.90,3649.0623,N,-12150.1100,W,1,03,00.5,046.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165422.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 33.01  1.78 16.11 4.11 4.14 0 12846.75 02:20:56 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165422.90,3649.0625,N,-12150.1094,W,1,03,00.5,045.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165423.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165423.90,3649.0627,N,-12150.1088,W,1,03,00.5,046.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165424.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  4.34 16.89 4.10 4.14 0  1465.70 02:20:58 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165424.90,3649.0629,N,-12150.1082,W,1,03,00.5,046.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165425.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165425.90,3649.0631,N,-12150.1076,W,1,03,00.5,045.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165426.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165426.90,3649.0634,N,-12150.1070,W,1,03,00.5,045.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165427.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 0.849942

: NMEA Update: $GPGGA,165428.80,3649.0636,N,-12150.1062,W,1,03,00.5,045.6,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165428.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165429.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165429.70,3649.0640,N,-12150.1052,W,1,03,00.5,045.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165430.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165430.70,3649.0642,N,-12150.1045,W,1,03,00.5,044.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165431.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165431.70,3649.0644,N,-12150.1039,W,1,03,00.5,045.2,M,-99.9,M,,*43

: BluefinBatt Reply: $aaq0 d- 33.05  1.26 16.11 4.11 4.13 0 12846.62 02:21:06 m

: AshtechGps::processRecord() - $GPGGA,165432.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165432.70,3649.0646,N,-12150.1033,W,1,03,00.5,044.7,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165433.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165433.70,3649.0648,N,-12150.1028,W,1,03,00.5,045.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165434.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  3.30 16.79 4.11 4.14 0  1465.38 02:21:08 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165434.70,3649.0650,N,-12150.1022,W,1,03,00.5,045.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165435.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.110000, mean min cell voltage 4.110000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165435.70,3649.0652,N,-12150.1016,W,1,03,00.5,044.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165436.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165436.70,3649.0654,N,-12150.1011,W,1,03,00.5,045.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165437.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165437.70,3649.0656,N,-12150.1005,W,1,03,00.5,044.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165438.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165438.70,3649.0658,N,-12150.0999,W,1,03,00.5,044.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165439.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165439.70,3649.0660,N,-12150.0993,W,1,03,00.5,044.6,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165440.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165440.70,3649.0662,N,-12150.0987,W,1,03,00.5,044.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165441.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165441.70,3649.0664,N,-12150.0980,W,1,03,00.5,044.3,M,-99.9,M,,*4c

: BluefinBatt Reply: $aaq0 d- 33.01  2.18 16.11 4.11 4.13 0 12846.48 02:21:16 m

: AshtechGps::processRecord() - $GPGGA,165442.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165442.70,3649.0666,N,-12150.0974,W,1,03,00.5,043.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165443.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165443.70,3649.0668,N,-12150.0967,W,1,03,00.5,044.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165444.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  3.16 16.79 4.11 4.14 0  1465.16 02:21:18 m

: NMEA Update: $GPGGA,165444.70,3649.0670,N,-12150.0961,W,1,03,00.5,044.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165445.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.110000, mean min cell voltage 4.110000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 1.109924

: NMEA Update: $GPGGA,165446.70,3649.0672,N,-12150.0954,W,1,03,00.5,043.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165446.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165447.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165447.70,3649.0676,N,-12150.0943,W,1,03,00.5,043.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165448.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165448.70,3649.0678,N,-12150.0936,W,1,03,00.5,043.4,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165449.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165449.70,3649.0680,N,-12150.0930,W,1,03,00.5,043.4,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165450.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165450.70,3649.0682,N,-12150.0924,W,1,03,00.5,043.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165451.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165451.70,3649.0684,N,-12150.0918,W,1,03,00.5,042.5,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 33.01  1.89 16.01 4.11 4.13 0 12846.23 02:21:26 m

: AshtechGps::processRecord() - $GPGGA,165452.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165452.70,3649.0686,N,-12150.0911,W,1,03,00.5,043.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165453.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165453.69,3649.0689,N,-12150.0905,W,1,03,00.5,043.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165454.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.12 16.79 4.10 4.14 0  1464.79 02:21:28 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165454.69,3649.0691,N,-12150.0898,W,1,03,00.5,042.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165455.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165455.69,3649.0693,N,-12150.0892,W,1,03,00.5,043.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165456.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165456.69,3649.0695,N,-12150.0886,W,1,03,00.5,043.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165457.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165457.69,3649.0697,N,-12150.0879,W,1,03,00.5,043.4,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165458.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165458.69,3649.0699,N,-12150.0873,W,1,03,00.5,042.4,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165459.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165459.69,3649.0701,N,-12150.0867,W,1,03,00.5,042.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165500.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165500.69,3649.0703,N,-12150.0860,W,1,03,00.5,042.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165501.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165501.69,3649.0705,N,-12150.0854,W,1,03,00.5,042.8,M,-99.9,M,,*42

: BluefinBatt Reply: $aaq0 d- 33.01  2.03 15.91 4.11 4.13 0 12846.08 02:21:36 m

: AshtechGps::processRecord() - $GPGGA,165502.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165502.69,3649.0707,N,-12150.0847,W,1,03,00.5,042.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165503.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165503.69,3649.0709,N,-12150.0841,W,1,03,00.5,042.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165504.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  2.91 16.69 4.10 4.14 0  1464.57 02:21:38 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.17
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165504.69,3649.0712,N,-12150.0834,W,1,03,00.5,042.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165505.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

:  Waypoint has set the state to finished.

: Waypoint (4075300.0, 603931.2), 
  reached at t = 369.39                                          (wplog)

: Vehicle Position is error is (-0.1, -0.1)

: LayeredControl::execute() -- (t = 369.394695) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 369.404694) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 369.40                            (wplog)
  The current location (N,E) = 4075300.2      , 603931.3         (wplog)
  The next waypoint          = 4075298.8      , 603428.0         (wplog)
  The bearing to the next w.p. is 269.8 Degrees.

: LayeredControl::execute() -- (t = 369.404694) Behavior waypoint:-1 has changed to state Active

: NMEA Update: $GPGGA,165505.69,3649.0714,N,-12150.0827,W,1,03,00.5,042.7,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165506.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165506.69,3649.0716,N,-12150.0821,W,1,03,00.5,042.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165507.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165507.69,3649.0718,N,-12150.0814,W,1,03,00.5,042.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165508.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165508.69,3649.0719,N,-12150.0807,W,1,03,00.5,042.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165509.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: Kearfott::deltaTime is 0.879940

: NMEA Update: $GPGGA,165510.29,3649.0721,N,-12150.0802,W,1,03,00.5,042.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165510.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165511.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165511.29,3649.0725,N,-12150.0791,W,1,03,00.5,042.6,M,-99.9,M,,*4d

: BluefinBatt Reply: $aaq0 d- 33.01  1.85 15.91 4.11 4.13 0 12845.85 02:21:46 m

: AshtechGps::processRecord() - $GPGGA,165512.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165512.29,3649.0727,N,-12150.0785,W,1,03,00.5,042.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165513.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165513.29,3649.0729,N,-12150.0779,W,1,03,00.5,042.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165514.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.25  2.80 16.79 4.10 4.14 0  1464.24 02:21:48 m

: NMEA Update: $GPGGA,165514.29,3649.0732,N,-12150.0773,W,1,03,00.5,041.7,M,-99.9,M,,*40

: Kearfott::deltaTime is 1.049928

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165515.54,3649.0733,N,-12150.0771,W,1,03,00.5,041.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165515.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165516.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165516.49,3649.0738,N,-12150.0761,W,1,03,00.5,041.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165517.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165517.49,3649.0742,N,-12150.0756,W,1,03,00.5,041.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165518.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165518.49,3649.0745,N,-12150.0752,W,1,03,00.5,041.8,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165519.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165519.49,3649.0748,N,-12150.0748,W,1,03,00.5,042.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165520.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165520.49,3649.0752,N,-12150.0744,W,1,03,00.5,042.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165521.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165521.49,3649.0756,N,-12150.0741,W,1,03,00.5,042.4,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.98  1.89 16.01 4.11 4.13 0 12845.75 02:21:56 m

: AshtechGps::processRecord() - $GPGGA,165522.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165522.49,3649.0759,N,-12150.0738,W,1,03,00.5,042.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165523.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165523.49,3649.0763,N,-12150.0735,W,1,03,00.5,041.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165524.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  2.98 16.79 4.10 4.14 0  1464.09 02:21:58 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165524.49,3649.0767,N,-12150.0733,W,1,03,00.5,041.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165525.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165525.49,3649.0772,N,-12150.0731,W,1,03,00.5,042.3,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165526.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165526.49,3649.0776,N,-12150.0730,W,1,03,00.5,042.6,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165527.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165527.49,3649.0780,N,-12150.0729,W,1,03,00.5,042.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165528.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165528.49,3649.0784,N,-12150.0728,W,1,03,00.5,042.7,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165529.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165529.49,3649.0788,N,-12150.0728,W,1,03,00.5,042.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165530.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165530.49,3649.0792,N,-12150.0728,W,1,03,00.5,042.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165531.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: Kearfott::deltaTime is 1.039929

: BluefinBatt Reply: $aaq0 d- 33.05  1.92 16.01 4.12 4.14 0 12845.55 02:22:06 m

: NMEA Update: $GPGGA,165532.11,3649.0796,N,-12150.0729,W,1,03,00.5,042.6,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165532.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165533.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165533.09,3649.0803,N,-12150.0730,W,1,03,00.5,042.7,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165534.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165534.09,3649.0806,N,-12150.0732,W,1,03,00.5,042.7,M,-99.9,M,,*4e

: BluefinBatt Reply: $c0q0 d- 33.13  3.84 16.69 4.10 4.14 0  1463.78 02:22:08 m

: AshtechGps::processRecord() - $GPGGA,165535.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165535.09,3649.0810,N,-12150.0734,W,1,03,00.5,042.7,M,-99.9,M,,*4e

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.110000

: AshtechGps::processRecord() - $GPGGA,165536.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165536.09,3649.0813,N,-12150.0736,W,1,03,00.5,042.7,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165537.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165537.09,3649.0817,N,-12150.0739,W,1,03,00.5,043.3,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165538.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165538.09,3649.0820,N,-12150.0742,W,1,03,00.5,043.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165539.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165539.09,3649.0822,N,-12150.0745,W,1,03,00.5,043.6,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165540.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165540.09,3649.0825,N,-12150.0748,W,1,03,00.5,043.7,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165541.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165541.09,3649.0827,N,-12150.0752,W,1,03,00.5,043.1,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 33.01  1.78 15.91 4.12 4.14 0 12845.41 02:22:16 m

: AshtechGps::processRecord() - $GPGGA,165542.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165542.09,3649.0830,N,-12150.0755,W,1,03,00.5,043.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165543.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165543.09,3649.0831,N,-12150.0759,W,1,03,00.5,043.7,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165544.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  2.76 16.69 4.10 4.14 0  1463.56 02:22:18 m

: NMEA Update: $GPGGA,165544.09,3649.0833,N,-12150.0762,W,1,03,00.5,043.7,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165545.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.110000

: NMEA Update: $GPGGA,165545.09,3649.0834,N,-12150.0766,W,1,03,00.5,043.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165546.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165546.09,3649.0835,N,-12150.0770,W,1,03,00.5,044.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165547.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165547.09,3649.0836,N,-12150.0775,W,1,03,00.5,043.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165548.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165548.09,3649.0837,N,-12150.0779,W,1,03,00.5,043.7,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165549.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165549.09,3649.0837,N,-12150.0784,W,1,03,00.5,044.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165550.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165550.09,3649.0837,N,-12150.0789,W,1,03,00.5,043.4,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165551.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165551.09,3649.0836,N,-12150.0793,W,1,03,00.5,044.1,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 33.01  1.89 15.91 4.11 4.14 0 12845.21 02:22:26 m

: AshtechGps::processRecord() - $GPGGA,165552.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,165552.09,3649.0835,N,-12150.0797,W,1,03,00.5,044.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165553.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165553.09,3649.0834,N,-12150.0802,W,1,03,00.5,044.8,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165554.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  2.76 16.69 4.10 4.13 0  1463.25 02:22:28 m

: NMEA Update: $GPGGA,165554.09,3649.0833,N,-12150.0805,W,1,03,00.5,044.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165555.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165555.09,3649.0831,N,-12150.0809,W,1,03,00.5,044.3,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165556.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165556.09,3649.0829,N,-12150.0812,W,1,03,00.5,044.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165557.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165557.09,3649.0827,N,-12150.0816,W,1,03,00.5,044.2,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165558.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165558.09,3649.0825,N,-12150.0819,W,1,03,00.5,044.2,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165559.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165559.09,3649.0822,N,-12150.0822,W,1,03,00.5,044.2,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165600.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165600.09,3649.0819,N,-12150.0825,W,1,03,00.5,044.2,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165601.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165601.09,3649.0816,N,-12150.0827,W,1,03,00.5,044.2,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.98  2.18 16.01 4.11 4.14 0 12845.05 02:22:36 m

: AshtechGps::processRecord() - $GPGGA,165602.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165602.09,3649.0813,N,-12150.0830,W,1,03,00.5,044.2,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165603.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165603.09,3649.0810,N,-12150.0832,W,1,03,00.5,044.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165604.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.05 16.60 4.10 4.13 0  1463.03 02:22:38 m

: NMEA Update: $GPGGA,165604.09,3649.0807,N,-12150.0834,W,1,03,00.5,045.5,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165605.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165605.09,3649.0803,N,-12150.0836,W,1,03,00.5,045.4,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165606.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165606.10,3649.0800,N,-12150.0837,W,1,03,00.5,044.9,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165607.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165607.10,3649.0796,N,-12150.0839,W,1,03,00.5,045.8,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165608.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165608.10,3649.0792,N,-12150.0840,W,1,03,00.5,045.4,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165609.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165609.10,3649.0788,N,-12150.0841,W,1,03,00.5,044.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165610.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165610.10,3649.0784,N,-12150.0843,W,1,03,00.5,045.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165611.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165611.10,3649.0780,N,-12150.0845,W,1,03,00.5,045.1,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.98  2.00 15.91 4.11 4.13 0 12844.83 02:22:46 m

: AshtechGps::processRecord() - $GPGGA,165612.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165612.10,3649.0776,N,-12150.0847,W,1,03,00.5,044.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165613.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165613.10,3649.0772,N,-12150.0850,W,1,03,00.5,044.8,M,-99.9,M,,*4e

: updating external sensors

: Kearfott::deltaTime is 0.989932

: BluefinBatt Reply: $c0q0 d- 33.21  3.08 16.60 4.10 4.13 0  1462.70 02:22:48 m

: NMEA Update: $GPGGA,165614.36,3649.0770,N,-12150.0851,W,1,03,00.5,044.6,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165614.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165615.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165615.30,3649.0763,N,-12150.0856,W,1,03,00.5,044.8,M,-99.9,M,,*4c

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: AshtechGps::processRecord() - $GPGGA,165616.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165616.30,3649.0760,N,-12150.0858,W,1,03,00.5,045.5,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165617.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165617.30,3649.0757,N,-12150.0861,W,1,03,00.5,044.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165618.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,165618.30,3649.0753,N,-12150.0864,W,1,03,00.5,044.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165619.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165619.30,3649.0750,N,-12150.0867,W,1,03,00.5,045.1,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165620.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165620.30,3649.0747,N,-12150.0870,W,1,03,00.5,044.7,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165621.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165621.30,3649.0744,N,-12150.0873,W,1,03,00.5,045.0,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165622.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.11 15.91 4.11 4.13 0 12844.69 02:22:56 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165622.30,3649.0741,N,-12150.0876,W,1,03,00.5,044.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165623.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165623.30,3649.0739,N,-12150.0880,W,1,03,00.5,044.1,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165624.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.52 16.60 4.10 4.13 0  1462.50 02:22:58 m

: NMEA Update: $GPGGA,165624.30,3649.0736,N,-12150.0884,W,1,03,00.5,044.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165625.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165625.30,3649.0734,N,-12150.0889,W,1,03,00.5,044.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165626.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165626.30,3649.0732,N,-12150.0893,W,1,03,00.5,045.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165627.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165627.30,3649.0730,N,-12150.0898,W,1,03,00.5,044.6,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165628.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165628.30,3649.0728,N,-12150.0903,W,1,03,00.5,044.9,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165629.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165629.30,3649.0726,N,-12150.0908,W,1,03,00.5,044.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165630.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165630.30,3649.0724,N,-12150.0913,W,1,03,00.5,044.6,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165631.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165631.30,3649.0723,N,-12150.0918,W,1,03,00.5,045.0,M,-99.9,M,,*4c

: BluefinBatt Reply: $aaq0 d- 33.05  2.03 15.91 4.11 4.13 0 12844.47 02:23:06 m

: AshtechGps::processRecord() - $GPGGA,165632.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165632.30,3649.0721,N,-12150.0923,W,1,03,00.5,045.0,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165633.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165633.30,3649.0720,N,-12150.0928,W,1,03,00.5,045.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165634.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  4.02 16.60 4.10 4.13 0  1462.17 02:23:08 m

: NMEA Update: $GPGGA,165634.30,3649.0719,N,-12150.0933,W,1,03,00.5,044.9,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165635.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165635.30,3649.0718,N,-12150.0938,W,1,03,00.5,044.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165636.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165636.30,3649.0717,N,-12150.0944,W,1,03,00.5,045.3,M,-99.9,M,,*46

: Kearfott::deltaTime is 1.029929

: NMEA Update: $GPGGA,165637.71,3649.0716,N,-12150.0947,W,1,03,00.5,045.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165637.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165638.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165638.70,3649.0715,N,-12150.0957,W,1,03,00.5,044.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165639.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165639.70,3649.0714,N,-12150.0963,W,1,03,00.5,045.3,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165640.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165640.70,3649.0714,N,-12150.0968,W,1,03,00.5,044.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165641.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165641.70,3649.0713,N,-12150.0974,W,1,03,00.5,045.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165642.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.00 15.91 4.11 4.13 0 12844.32 02:23:16 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165642.70,3649.0713,N,-12150.0979,W,1,03,00.5,045.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165643.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165643.70,3649.0712,N,-12150.0985,W,1,03,00.5,045.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165644.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  4.34 16.60 4.10 4.13 0  1461.96 02:23:18 m

: NMEA Update: $GPGGA,165644.70,3649.0712,N,-12150.0990,W,1,03,00.5,045.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165645.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165645.70,3649.0711,N,-12150.0996,W,1,03,00.5,044.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165646.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165646.70,3649.0711,N,-12150.1002,W,1,03,00.5,044.4,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165647.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165647.70,3649.0711,N,-12150.1008,W,1,03,00.5,045.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165648.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165648.70,3649.0711,N,-12150.1014,W,1,03,00.5,045.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165649.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165649.70,3649.0710,N,-12150.1019,W,1,03,00.5,044.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165650.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165650.70,3649.0710,N,-12150.1025,W,1,03,00.5,044.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165651.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165651.70,3649.0710,N,-12150.1031,W,1,03,00.5,044.9,M,-99.9,M,,*45

: BluefinBatt Reply: $aaq0 d- 32.94  2.11 15.82 4.11 4.13 0 12844.09 02:23:26 m

: AshtechGps::processRecord() - $GPGGA,165652.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165652.70,3649.0710,N,-12150.1037,W,1,03,00.5,045.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165653.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165653.70,3649.0710,N,-12150.1043,W,1,03,00.5,045.4,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165654.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.21  2.91 16.50 4.10 4.13 0  1461.63 02:23:28 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165654.70,3649.0710,N,-12150.1049,W,1,03,00.5,045.4,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165655.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165655.70,3649.0710,N,-12150.1055,W,1,03,00.5,045.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165656.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165656.70,3649.0710,N,-12150.1061,W,1,03,00.5,045.6,M,-99.9,M,,*49

: Kearfott::deltaTime is 1.049928

: NMEA Update: $GPGGA,165657.83,3649.0710,N,-12150.1062,W,1,03,00.5,045.7,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165657.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165658.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165658.70,3649.0710,N,-12150.1072,W,1,03,00.5,045.5,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165659.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165659.70,3649.0710,N,-12150.1078,W,1,03,00.5,045.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165700.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165700.70,3649.0710,N,-12150.1084,W,1,03,00.5,045.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165701.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165701.70,3649.0710,N,-12150.1090,W,1,03,00.5,045.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165702.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  1.96 15.82 4.11 4.13 0 12843.95 02:23:36 m

: updating external sensors

: NMEA Update: $GPGGA,165702.70,3649.0710,N,-12150.1095,W,1,03,00.5,045.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165703.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165703.70,3649.0710,N,-12150.1101,W,1,03,00.5,045.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165704.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  2.87 16.50 4.10 4.13 0  1461.41 02:23:38 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165704.70,3649.0710,N,-12150.1107,W,1,03,00.5,045.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165705.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165705.70,3649.0710,N,-12150.1112,W,1,03,00.5,045.4,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165706.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165706.70,3649.0710,N,-12150.1118,W,1,03,00.5,045.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165707.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165707.70,3649.0710,N,-12150.1124,W,1,03,00.5,045.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165708.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165708.70,3649.0710,N,-12150.1129,W,1,03,00.5,045.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165709.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165709.70,3649.0710,N,-12150.1135,W,1,03,00.5,045.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165710.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165710.70,3649.0710,N,-12150.1141,W,1,03,00.5,045.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165711.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165711.70,3649.0710,N,-12150.1147,W,1,03,00.5,045.8,M,-99.9,M,,*40

: BluefinBatt Reply: $aaq0 d- 32.98  2.18 15.82 4.11 4.13 0 12843.72 02:23:46 m

: AshtechGps::processRecord() - $GPGGA,165712.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165712.70,3649.0711,N,-12150.1153,W,1,03,00.5,046.4,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165713.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165713.70,3649.0710,N,-12150.1159,W,1,03,00.5,046.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165714.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  3.26 16.50 4.10 4.13 0  1461.07 02:23:48 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165714.70,3649.0711,N,-12150.1165,W,1,03,00.5,046.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165715.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165715.70,3649.0711,N,-12150.1171,W,1,03,00.5,046.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165716.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,165716.70,3649.0711,N,-12150.1178,W,1,03,00.5,046.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165717.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165717.70,3649.0711,N,-12150.1183,W,1,03,00.5,046.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165718.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165718.70,3649.0711,N,-12150.1189,W,1,03,00.5,046.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165719.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165719.69,3649.0711,N,-12150.1195,W,1,03,00.5,046.3,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165720.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165720.69,3649.0711,N,-12150.1201,W,1,03,00.5,046.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165721.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165721.69,3649.0711,N,-12150.1207,W,1,03,00.5,046.6,M,-99.9,M,,*40

: BluefinBatt Reply: $aaq0 d- 32.98  2.15 15.82 4.11 4.13 0 12843.56 02:23:56 m

: AshtechGps::processRecord() - $GPGGA,165722.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165722.69,3649.0711,N,-12150.1213,W,1,03,00.5,046.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165723.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165723.69,3649.0711,N,-12150.1220,W,1,03,00.5,047.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165724.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.05 16.50 4.10 4.13 0  1460.81 02:23:58 m

: NMEA Update: $GPGGA,165724.69,3649.0712,N,-12150.1226,W,1,03,00.5,047.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165725.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165725.69,3649.0712,N,-12150.1233,W,1,03,00.5,047.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165726.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165726.69,3649.0712,N,-12150.1239,W,1,03,00.5,047.4,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165727.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165727.69,3649.0712,N,-12150.1245,W,1,03,00.5,047.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165728.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165728.69,3649.0712,N,-12150.1252,W,1,03,00.5,047.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165729.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165729.69,3649.0713,N,-12150.1257,W,1,03,00.5,047.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165730.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165730.69,3649.0713,N,-12150.1263,W,1,03,00.5,048.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165731.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165731.69,3649.0713,N,-12150.1269,W,1,03,00.5,047.7,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 33.01  2.11 15.72 4.11 4.13 0 12843.33 02:24:06 m

: AshtechGps::processRecord() - $GPGGA,165732.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165732.69,3649.0713,N,-12150.1275,W,1,03,00.5,047.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165733.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 0.999931

: NMEA Update: $GPGGA,165733.95,3649.0713,N,-12150.1278,W,1,03,00.5,048.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165734.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165734.89,3649.0713,N,-12150.1289,W,1,03,00.5,048.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165735.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.21  2.73 16.40 4.10 4.14 0  1460.48 02:24:08 m

: NMEA Update: $GPGGA,165735.89,3649.0714,N,-12150.1295,W,1,03,00.5,047.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165736.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: updating external sensors

: NMEA Update: $GPGGA,165736.89,3649.0714,N,-12150.1302,W,1,03,00.5,048.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165737.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165737.89,3649.0714,N,-12150.1308,W,1,03,00.5,048.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165738.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165738.89,3649.0714,N,-12150.1314,W,1,03,00.5,048.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165739.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165739.89,3649.0714,N,-12150.1320,W,1,03,00.5,048.3,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165740.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165740.89,3649.0714,N,-12150.1326,W,1,03,00.5,048.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165741.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.98  2.11 15.72 4.11 4.13 0 12843.18 02:24:16 m

: NMEA Update: $GPGGA,165741.89,3649.0715,N,-12150.1333,W,1,03,00.5,048.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165742.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165742.89,3649.0715,N,-12150.1339,W,1,03,00.5,048.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165743.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165743.89,3649.0715,N,-12150.1345,W,1,03,00.5,048.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165744.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.21  2.94 16.50 4.10 4.14 0  1460.25 02:24:18 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165744.89,3649.0715,N,-12150.1351,W,1,03,00.5,048.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165745.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165745.89,3649.0715,N,-12150.1358,W,1,03,00.5,049.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165746.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165746.89,3649.0715,N,-12150.1364,W,1,03,00.5,049.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165747.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165747.89,3649.0716,N,-12150.1370,W,1,03,00.5,049.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165748.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165748.89,3649.0716,N,-12150.1376,W,1,03,00.5,049.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165749.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165749.89,3649.0716,N,-12150.1382,W,1,03,00.5,049.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165750.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165750.89,3649.0716,N,-12150.1388,W,1,03,00.5,049.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165751.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165751.89,3649.0716,N,-12150.1394,W,1,03,00.5,049.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165752.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.11 15.72 4.11 4.13 0 12842.91 02:24:26 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165752.89,3649.0717,N,-12150.1401,W,1,03,00.5,049.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165753.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165753.89,3649.0717,N,-12150.1407,W,1,03,00.5,049.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165754.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  3.30 16.40 4.10 4.13 0  1459.93 02:24:28 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165754.89,3649.0717,N,-12150.1414,W,1,03,00.5,049.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165755.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165755.89,3649.0717,N,-12150.1420,W,1,03,00.5,049.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165756.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165756.89,3649.0717,N,-12150.1426,W,1,03,00.5,049.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165757.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165757.89,3649.0717,N,-12150.1432,W,1,03,00.5,049.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165758.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165758.89,3649.0718,N,-12150.1438,W,1,03,00.5,049.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165759.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165759.89,3649.0718,N,-12150.1444,W,1,03,00.5,049.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165800.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165800.89,3649.0718,N,-12150.1450,W,1,03,00.5,049.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165801.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.98  2.00 15.72 4.11 4.13 0 12842.76 02:24:36 m

: NMEA Update: $GPGGA,165801.89,3649.0718,N,-12150.1457,W,1,03,00.5,049.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165802.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165802.89,3649.0718,N,-12150.1463,W,1,03,00.5,049.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165803.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165803.89,3649.0718,N,-12150.1469,W,1,03,00.5,049.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165804.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 33.21  2.91 16.40 4.10 4.13 0  1459.71 02:24:38 m

: updating external sensors

: NMEA Update: $GPGGA,165804.89,3649.0718,N,-12150.1476,W,1,03,00.5,049.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165805.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165805.89,3649.0718,N,-12150.1482,W,1,03,00.5,050.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165806.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165806.89,3649.0718,N,-12150.1488,W,1,03,00.5,050.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165807.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165807.89,3649.0718,N,-12150.1495,W,1,03,00.5,051.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165808.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165808.89,3649.0718,N,-12150.1501,W,1,03,00.5,050.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165809.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165809.89,3649.0718,N,-12150.1507,W,1,03,00.5,050.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165810.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::deltaTime is 1.039929

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 33.01  2.03 15.82 4.11 4.13 0 12842.51 02:24:46 m

: NMEA Update: $GPGGA,165811.90,3649.0718,N,-12150.1514,W,1,03,00.5,049.9,M,-99.9,M,,*46

: gpsDriver::readRecord() - serial device timed out
: AshtechGps::processRecord() - 1.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165812.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165812.89,3649.0718,N,-12150.1526,W,1,03,00.5,050.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165813.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165813.89,3649.0718,N,-12150.1532,W,1,03,00.5,050.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165814.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  2.87 16.40 4.10 4.13 0  1459.36 02:24:48 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165814.89,3649.0718,N,-12150.1538,W,1,03,00.5,050.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165815.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165815.89,3649.0718,N,-12150.1545,W,1,03,00.5,050.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165816.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165816.89,3649.0718,N,-12150.1551,W,1,03,00.5,050.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165817.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 0.919937

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165818.37,3649.0718,N,-12150.1556,W,1,03,00.5,051.1,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165818.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165819.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165819.29,3649.0718,N,-12150.1566,W,1,03,00.5,050.9,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165820.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165820.29,3649.0718,N,-12150.1572,W,1,03,00.5,051.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,165821.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165821.29,3649.0718,N,-12150.1578,W,1,03,00.5,050.6,M,-99.9,M,,*4a

: BluefinBatt Reply: $aaq0 d- 33.01  1.78 15.82 4.11 4.13 0 12842.37 02:24:56 m

: AshtechGps::processRecord() - $GPGGA,165822.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,165822.29,3649.0718,N,-12150.1584,W,1,03,00.5,050.7,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165823.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165823.29,3649.0718,N,-12150.1590,W,1,03,00.5,050.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165824.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 33.17  3.30 16.40 4.10 4.13 0  1459.16 02:24:58 m

: updating external sensors

: NMEA Update: $GPGGA,165824.29,3649.0718,N,-12150.1596,W,1,03,00.5,050.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165825.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165825.29,3649.0718,N,-12150.1602,W,1,03,00.5,051.2,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165826.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165826.29,3649.0718,N,-12150.1608,W,1,03,00.5,051.0,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165827.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165827.29,3649.0718,N,-12150.1614,W,1,03,00.5,051.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,165828.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165828.29,3649.0719,N,-12150.1620,W,1,03,00.5,051.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165829.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165829.29,3649.0719,N,-12150.1626,W,1,03,00.5,051.2,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165830.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165830.29,3649.0719,N,-12150.1632,W,1,03,00.5,051.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165831.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165831.29,3649.0719,N,-12150.1638,W,1,03,00.5,051.1,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 32.90  2.70 15.72 4.11 4.13 0 12842.14 02:25:06 m

: AshtechGps::processRecord() - $GPGGA,165832.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165832.10,3649.0719,N,-12150.1643,W,1,03,00.5,051.1,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165833.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165833.10,3649.0719,N,-12150.1649,W,1,03,00.5,050.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165834.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.21  2.91 16.30 4.10 4.13 0  1458.84 02:25:08 m

: updating external sensors

: NMEA Update: $GPGGA,165834.10,3649.0719,N,-12150.1655,W,1,03,00.5,051.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165835.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165835.10,3649.0719,N,-12150.1662,W,1,03,00.5,050.7,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165836.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165836.10,3649.0719,N,-12150.1668,W,1,03,00.5,051.1,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165837.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165837.10,3649.0719,N,-12150.1674,W,1,03,00.5,051.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165838.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165838.10,3649.0719,N,-12150.1680,W,1,03,00.5,051.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165839.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165839.10,3649.0719,N,-12150.1686,W,1,03,00.5,051.1,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 1.019930

: NMEA Update: $GPGGA,165840.86,3649.0719,N,-12150.1692,W,1,03,00.5,051.2,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165840.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165841.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165841.70,3649.0719,N,-12150.1702,W,1,03,00.5,051.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165842.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  1.74 15.72 4.11 4.13 0 12841.90 02:25:16 m

: updating external sensors

: NMEA Update: $GPGGA,165842.70,3649.0719,N,-12150.1708,W,1,03,00.5,051.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165843.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165843.70,3649.0719,N,-12150.1714,W,1,03,00.5,051.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165844.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  2.94 16.30 4.10 4.13 0  1458.65 02:25:18 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165844.70,3649.0719,N,-12150.1720,W,1,03,00.5,051.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165845.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165845.70,3649.0719,N,-12150.1726,W,1,03,00.5,050.9,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165846.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165846.70,3649.0719,N,-12150.1732,W,1,03,00.5,051.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165847.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165847.70,3649.0719,N,-12150.1738,W,1,03,00.5,051.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165848.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165848.70,3649.0719,N,-12150.1744,W,1,03,00.5,051.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165849.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165849.70,3649.0720,N,-12150.1750,W,1,03,00.5,051.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165850.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165850.70,3649.0720,N,-12150.1756,W,1,03,00.5,051.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165851.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165851.70,3649.0720,N,-12150.1761,W,1,03,00.5,051.4,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.98  2.26 15.72 4.11 4.13 0 12841.75 02:25:26 m

: AshtechGps::processRecord() - $GPGGA,165852.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165852.70,3649.0720,N,-12150.1767,W,1,03,00.5,052.0,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165853.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: Kearfott::deltaTime is 1.049928

: BluefinBatt Reply: $c0q0 d- 33.17  3.05 16.30 4.10 4.13 0  1458.34 02:25:28 m

: NMEA Update: $GPGGA,165854.08,3649.0720,N,-12150.1771,W,1,03,00.5,051.9,M,-99.9,M,,*45

: gpsDriver::readRecord() - serial device timed out
: Kearfott::deltaTime is 1.029929

: AshtechGps::processRecord() - GA,165854.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165855.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165855.30,3649.0720,N,-12150.1773,W,1,03,00.5,051.5,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165856.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165856.30,3649.0720,N,-12150.1789,W,1,03,00.5,051.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165857.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165857.30,3649.0720,N,-12150.1795,W,1,03,00.5,051.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165858.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165858.30,3649.0720,N,-12150.1801,W,1,03,00.5,052.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165859.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165859.30,3649.0721,N,-12150.1806,W,1,03,00.5,051.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165900.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165900.30,3649.0721,N,-12150.1812,W,1,03,00.5,051.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165901.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165901.30,3649.0721,N,-12150.1818,W,1,03,00.5,051.9,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165902.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.00 15.62 4.11 4.13 0 12841.60 02:25:36 m

: updating external sensors

: NMEA Update: $GPGGA,165902.30,3649.0721,N,-12150.1824,W,1,03,00.5,051.8,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165903.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165903.30,3649.0721,N,-12150.1829,W,1,03,00.5,051.4,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,165904.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  3.05 16.30 4.10 4.13 0  1458.13 02:25:38 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165904.30,3649.0721,N,-12150.1834,W,1,03,00.5,051.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165905.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165905.30,3649.0721,N,-12150.1840,W,1,03,00.5,051.3,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165906.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165906.30,3649.0721,N,-12150.1846,W,1,03,00.5,051.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,165907.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165907.30,3649.0721,N,-12150.1852,W,1,03,00.5,051.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165908.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165908.30,3649.0721,N,-12150.1858,W,1,03,00.5,050.8,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165909.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165909.30,3649.0721,N,-12150.1864,W,1,03,00.5,051.2,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165910.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165910.30,3649.0721,N,-12150.1871,W,1,03,00.5,051.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165911.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165911.30,3649.0721,N,-12150.1877,W,1,03,00.5,051.3,M,-99.9,M,,*4c

: BluefinBatt Reply: $aaq0 d- 33.01  2.59 15.62 4.11 4.13 0 12841.37 02:25:46 m

: AshtechGps::processRecord() - $GPGGA,165912.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165912.30,3649.0721,N,-12150.1883,W,1,03,00.5,051.8,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165913.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165913.30,3649.0721,N,-12150.1889,W,1,03,00.5,051.0,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165914.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  2.98 16.30 4.10 4.13 0  1457.76 02:25:48 m

: NMEA Update: $GPGGA,165914.30,3649.0721,N,-12150.1895,W,1,03,00.5,051.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,165915.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165915.30,3649.0721,N,-12150.1900,W,1,03,00.5,051.0,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165916.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165916.30,3649.0721,N,-12150.1906,W,1,03,00.5,051.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165917.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165917.30,3649.0722,N,-12150.1912,W,1,03,00.5,050.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165918.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165918.30,3649.0722,N,-12150.1919,W,1,03,00.5,051.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165919.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165919.30,3649.0722,N,-12150.1925,W,1,03,00.5,051.8,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165920.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165920.30,3649.0722,N,-12150.1932,W,1,03,00.5,051.3,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165921.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165921.30,3649.0722,N,-12150.1938,W,1,03,00.5,051.3,M,-99.9,M,,*46

: BluefinBatt Reply: $aaq0 d- 33.01  2.00 15.62 4.11 4.13 0 12841.23 02:25:56 m

: AshtechGps::processRecord() - $GPGGA,165922.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165922.30,3649.0722,N,-12150.1945,W,1,03,00.5,051.7,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165923.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165923.30,3649.0722,N,-12150.1951,W,1,03,00.5,051.8,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165924.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  2.51 16.30 4.10 4.13 0  1457.54 02:25:58 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165924.30,3649.0722,N,-12150.1957,W,1,03,00.5,051.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165925.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165925.30,3649.0722,N,-12150.1964,W,1,03,00.5,051.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165926.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165926.30,3649.0722,N,-12150.1970,W,1,03,00.5,050.8,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165927.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165927.30,3649.0722,N,-12150.1976,W,1,03,00.5,050.6,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165928.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165928.30,3649.0722,N,-12150.1982,W,1,03,00.5,050.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165929.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165929.30,3649.0722,N,-12150.1988,W,1,03,00.5,050.8,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165930.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165930.30,3649.0722,N,-12150.1995,W,1,03,00.5,050.9,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165931.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165931.30,3649.0722,N,-12150.2001,W,1,03,00.5,050.6,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 33.01  1.96 15.62 4.11 4.13 0 12840.98 02:26:06 m

: AshtechGps::processRecord() - $GPGGA,165932.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165932.30,3649.0722,N,-12150.2008,W,1,03,00.5,051.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165933.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165933.30,3649.0722,N,-12150.2015,W,1,03,00.5,050.8,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165934.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  2.76 16.30 4.10 4.13 0  1457.18 02:26:08 m

: NMEA Update: $GPGGA,165934.30,3649.0722,N,-12150.2021,W,1,03,00.5,050.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,165935.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165935.30,3649.0722,N,-12150.2028,W,1,03,00.5,050.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165936.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165936.30,3649.0722,N,-12150.2034,W,1,03,00.5,050.6,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165937.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165937.30,3649.0722,N,-12150.2040,W,1,03,00.5,051.0,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165938.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165938.30,3649.0722,N,-12150.2046,W,1,03,00.5,050.6,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165939.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165939.30,3649.0722,N,-12150.2053,W,1,03,00.5,050.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,165940.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165940.30,3649.0722,N,-12150.2059,W,1,03,00.5,050.0,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165941.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165941.30,3649.0722,N,-12150.2066,W,1,03,00.5,050.6,M,-99.9,M,,*45

: BluefinBatt Reply: $aaq0 d- 32.98  1.89 15.62 4.11 4.13 0 12840.81 02:26:16 m

: AshtechGps::processRecord() - $GPGGA,165942.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165942.30,3649.0722,N,-12150.2072,W,1,03,00.5,050.6,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165943.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165943.30,3649.0722,N,-12150.2078,W,1,03,00.5,050.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165944.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.12 16.30 4.10 4.13 0  1456.97 02:26:18 m

: NMEA Update: $GPGGA,165944.30,3649.0722,N,-12150.2085,W,1,03,00.5,050.6,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165945.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,165945.29,3649.0722,N,-12150.2091,W,1,03,00.5,050.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,165946.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165946.29,3649.0722,N,-12150.2098,W,1,03,00.5,049.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,165947.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165947.29,3649.0722,N,-12150.2104,W,1,03,00.5,050.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 0.749949

: NMEA Update: $GPGGA,165948.77,3649.0721,N,-12150.2108,W,1,03,00.5,050.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,165948.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,165949.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165949.69,3649.0721,N,-12150.2120,W,1,03,00.5,050.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,165950.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,165950.69,3649.0722,N,-12150.2126,W,1,03,00.5,050.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165951.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165951.69,3649.0722,N,-12150.2133,W,1,03,00.5,050.2,M,-99.9,M,,*4d

: BluefinBatt Reply: $aaq0 d- 32.94  2.11 15.52 4.11 4.13 0 12840.59 02:26:26 m

: AshtechGps::processRecord() - $GPGGA,165952.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165952.69,3649.0722,N,-12150.2138,W,1,03,00.5,050.1,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,165953.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,165953.69,3649.0722,N,-12150.2144,W,1,03,00.5,050.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,165954.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.30 16.30 4.10 4.13 0  1456.60 02:26:28 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165954.69,3649.0722,N,-12150.2150,W,1,03,00.5,050.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,165955.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165955.69,3649.0722,N,-12150.2156,W,1,03,00.5,050.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,165956.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,165956.69,3649.0722,N,-12150.2162,W,1,03,00.5,050.3,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,165957.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165957.69,3649.0722,N,-12150.2168,W,1,03,00.5,050.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,165958.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,165958.69,3649.0722,N,-12150.2174,W,1,03,00.5,050.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,165959.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,165959.69,3649.0722,N,-12150.2180,W,1,03,00.5,049.8,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170000.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170000.69,3649.0723,N,-12150.2187,W,1,03,00.5,050.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170001.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170001.69,3649.0723,N,-12150.2193,W,1,03,00.5,049.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170002.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.30 15.62 4.11 4.13 0 12840.45 02:26:36 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170002.69,3649.0723,N,-12150.2199,W,1,03,00.5,049.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170003.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170003.69,3649.0723,N,-12150.2205,W,1,03,00.5,049.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170004.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $c0q0 d- 33.17  2.98 16.21 4.10 4.13 0  1456.38 02:26:38 m

: NMEA Update: $GPGGA,170004.69,3649.0723,N,-12150.2211,W,1,03,00.5,049.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170005.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170005.69,3649.0723,N,-12150.2218,W,1,03,00.5,049.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170006.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170006.69,3649.0722,N,-12150.2224,W,1,03,00.5,049.0,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170007.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170007.69,3649.0722,N,-12150.2231,W,1,03,00.5,049.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170008.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170008.69,3649.0722,N,-12150.2237,W,1,03,00.5,049.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170009.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170009.69,3649.0723,N,-12150.2244,W,1,03,00.5,049.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170010.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170010.69,3649.0723,N,-12150.2250,W,1,03,00.5,048.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170011.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170011.69,3649.0723,N,-12150.2256,W,1,03,00.5,049.4,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 32.94  2.63 15.62 4.11 4.13 0 12840.23 02:26:46 m

: AshtechGps::processRecord() - $GPGGA,170012.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170012.69,3649.0723,N,-12150.2262,W,1,03,00.5,049.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170013.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170013.69,3649.0723,N,-12150.2268,W,1,03,00.5,049.4,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170014.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  3.16 16.21 4.10 4.13 0  1456.05 02:26:48 m

: NMEA Update: $GPGGA,170014.69,3649.0723,N,-12150.2275,W,1,03,00.5,049.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170015.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170015.69,3649.0723,N,-12150.2281,W,1,03,00.5,049.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170016.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170016.69,3649.0723,N,-12150.2287,W,1,03,00.5,048.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170017.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170017.69,3649.0723,N,-12150.2294,W,1,03,00.5,048.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170018.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170018.69,3649.0723,N,-12150.2300,W,1,03,00.5,049.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170019.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170019.69,3649.0723,N,-12150.2307,W,1,03,00.5,048.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170020.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170020.69,3649.0723,N,-12150.2313,W,1,03,00.5,048.7,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170021.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170021.69,3649.0723,N,-12150.2319,W,1,03,00.5,049.3,M,-99.9,M,,*45

: BluefinBatt Reply: $aaq0 d- 32.94  2.41 15.52 4.11 4.13 0 12840.08 02:26:56 m

: AshtechGps::processRecord() - $GPGGA,170022.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170022.69,3649.0723,N,-12150.2325,W,1,03,00.5,048.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170023.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170023.69,3649.0723,N,-12150.2332,W,1,03,00.5,049.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170024.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.44 16.21 4.10 4.13 0  1455.83 02:26:58 m

: NMEA Update: $GPGGA,170024.69,3649.0723,N,-12150.2338,W,1,03,00.5,049.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170025.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170025.69,3649.0723,N,-12150.2344,W,1,03,00.5,049.0,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170026.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170026.69,3649.0723,N,-12150.2351,W,1,03,00.5,048.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170027.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170027.69,3649.0723,N,-12150.2357,W,1,03,00.5,049.0,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170028.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170028.69,3649.0723,N,-12150.2364,W,1,03,00.5,049.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170029.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170029.69,3649.0723,N,-12150.2370,W,1,03,00.5,049.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170030.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170030.69,3649.0723,N,-12150.2377,W,1,03,00.5,049.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170031.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170031.69,3649.0723,N,-12150.2383,W,1,03,00.5,048.9,M,-99.9,M,,*4c

: BluefinBatt Reply: $aaq0 d- 32.98  2.07 15.52 4.11 4.13 0 12839.85 02:27:06 m

: AshtechGps::processRecord() - $GPGGA,170032.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170032.69,3649.0723,N,-12150.2389,W,1,03,00.5,048.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170033.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170033.69,3649.0723,N,-12150.2395,W,1,03,00.5,048.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170034.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  3.34 16.21 4.10 4.13 0  1455.53 02:27:08 m

: NMEA Update: $GPGGA,170034.69,3649.0724,N,-12150.2401,W,1,03,00.5,048.5,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170035.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170035.69,3649.0723,N,-12150.2408,W,1,03,00.5,048.5,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170036.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170036.69,3649.0724,N,-12150.2414,W,1,03,00.5,048.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170037.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170037.69,3649.0724,N,-12150.2420,W,1,03,00.5,048.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170038.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170038.69,3649.0723,N,-12150.2427,W,1,03,00.5,048.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170039.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170039.69,3649.0723,N,-12150.2433,W,1,03,00.5,048.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170040.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170040.69,3649.0723,N,-12150.2440,W,1,03,00.5,047.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170041.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170041.69,3649.0723,N,-12150.2446,W,1,03,00.5,048.6,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.94  2.89 15.42 4.11 4.13 0 12839.70 02:27:16 m

: AshtechGps::processRecord() - $GPGGA,170042.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170042.69,3649.0723,N,-12150.2453,W,1,03,00.5,047.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170043.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170043.69,3649.0723,N,-12150.2459,W,1,03,00.5,047.8,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170044.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  2.80 16.21 4.10 4.13 0  1455.31 02:27:18 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170044.69,3649.0723,N,-12150.2466,W,1,03,00.5,048.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170045.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170045.69,3649.0723,N,-12150.2472,W,1,03,00.5,047.7,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170046.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170046.69,3649.0723,N,-12150.2478,W,1,03,00.5,048.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170047.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170047.69,3649.0724,N,-12150.2485,W,1,03,00.5,048.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170048.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: Kearfott::deltaTime is 0.839942

: NMEA Update: $GPGGA,170049.10,3649.0724,N,-12150.2488,W,1,03,00.5,047.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170049.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170050.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170050.09,3649.0724,N,-12150.2500,W,1,03,00.5,047.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170051.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170051.09,3649.0724,N,-12150.2506,W,1,03,00.5,047.8,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.98  2.07 15.62 4.11 4.13 0 12839.48 02:27:26 m

: AshtechGps::processRecord() - $GPGGA,170052.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170052.09,3649.0724,N,-12150.2513,W,1,03,00.5,047.5,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170053.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170053.09,3649.0724,N,-12150.2519,W,1,03,00.5,047.0,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170054.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  2.66 16.21 4.10 4.13 0  1454.99 02:27:28 m

: NMEA Update: $GPGGA,170054.09,3649.0724,N,-12150.2526,W,1,03,00.5,047.4,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170055.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170055.09,3649.0724,N,-12150.2532,W,1,03,00.5,047.6,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170056.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170056.09,3649.0724,N,-12150.2539,W,1,03,00.5,047.8,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170057.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170057.09,3649.0724,N,-12150.2545,W,1,03,00.5,048.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170058.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170058.10,3649.0724,N,-12150.2552,W,1,03,00.5,048.0,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170059.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170059.10,3649.0724,N,-12150.2558,W,1,03,00.5,047.9,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170100.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170100.10,3649.0724,N,-12150.2564,W,1,03,00.5,046.8,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170101.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170101.10,3649.0724,N,-12150.2571,W,1,03,00.5,046.8,M,-99.9,M,,*43

: BluefinBatt Reply: $aaq0 d- 32.98  2.74 15.52 4.11 4.13 0 12839.33 02:27:36 m

: AshtechGps::processRecord() - $GPGGA,170102.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,170102.10,3649.0724,N,-12150.2577,W,1,03,00.5,046.8,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170103.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170103.10,3649.0724,N,-12150.2583,W,1,03,00.5,047.5,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170104.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  2.98 16.21 4.10 4.13 0  1454.78 02:27:38 m

: NMEA Update: $GPGGA,170104.10,3649.0724,N,-12150.2590,W,1,03,00.5,047.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170105.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170105.10,3649.0724,N,-12150.2596,W,1,03,00.5,047.4,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170106.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170106.10,3649.0724,N,-12150.2603,W,1,03,00.5,047.4,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170107.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170107.10,3649.0724,N,-12150.2609,W,1,03,00.5,047.4,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170108.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170108.10,3649.0724,N,-12150.2616,W,1,03,00.5,047.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170109.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170109.10,3649.0724,N,-12150.2622,W,1,03,00.5,047.3,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: Kearfott::deltaTime is 1.029929

: NMEA Update: $GPGGA,170110.62,3649.0724,N,-12150.2627,W,1,03,00.5,047.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170110.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,170111.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170111.50,3649.0724,N,-12150.2637,W,1,03,00.5,046.9,M,-99.9,M,,*46

: BluefinBatt Reply: $aaq0 d- 33.01  2.15 15.52 4.11 4.13 0 12839.10 02:27:46 m

: AshtechGps::processRecord() - $GPGGA,170112.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170112.50,3649.0725,N,-12150.2644,W,1,03,00.5,047.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170113.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170113.50,3649.0725,N,-12150.2650,W,1,03,00.5,046.7,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170114.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  2.73 16.11 4.10 4.13 0  1454.45 02:27:48 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170114.50,3649.0725,N,-12150.2656,W,1,03,00.5,046.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170115.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170115.50,3649.0725,N,-12150.2662,W,1,03,00.5,046.9,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170116.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170116.50,3649.0725,N,-12150.2668,W,1,03,00.5,046.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170117.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170117.50,3649.0725,N,-12150.2674,W,1,03,00.5,047.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170118.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170118.50,3649.0725,N,-12150.2680,W,1,03,00.5,047.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170119.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170119.50,3649.0726,N,-12150.2686,W,1,03,00.5,047.3,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170120.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170120.50,3649.0726,N,-12150.2692,W,1,03,00.5,046.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170121.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170121.50,3649.0726,N,-12150.2698,W,1,03,00.5,047.4,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 32.94  3.04 15.52 4.11 4.13 0 12838.94 02:27:56 m

: AshtechGps::processRecord() - $GPGGA,170122.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170122.50,3649.0726,N,-12150.2704,W,1,03,00.5,046.8,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170123.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170123.50,3649.0726,N,-12150.2710,W,1,03,00.5,046.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170124.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.21  2.73 16.11 4.10 4.13 0  1454.24 02:27:58 m

: NMEA Update: $GPGGA,170124.50,3649.0726,N,-12150.2717,W,1,03,00.5,046.7,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170125.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170125.50,3649.0726,N,-12150.2723,W,1,03,00.5,046.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170126.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170126.50,3649.0726,N,-12150.2729,W,1,03,00.5,045.9,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170127.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170127.50,3649.0726,N,-12150.2736,W,1,03,00.5,046.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170128.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170128.50,3649.0726,N,-12150.2742,W,1,03,00.5,046.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170129.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170129.50,3649.0726,N,-12150.2748,W,1,03,00.5,045.8,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170130.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170130.50,3649.0726,N,-12150.2755,W,1,03,00.5,046.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170131.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170131.50,3649.0726,N,-12150.2761,W,1,03,00.5,046.0,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.94  2.22 15.52 4.11 4.13 0 12838.70 02:28:06 m

: AshtechGps::processRecord() - $GPGGA,170132.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170132.50,3649.0726,N,-12150.2767,W,1,03,00.5,046.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170133.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170133.50,3649.0726,N,-12150.2773,W,1,03,00.5,046.6,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170134.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  3.05 16.11 4.10 4.13 0  1453.90 02:28:08 m

: NMEA Update: $GPGGA,170134.50,3649.0726,N,-12150.2780,W,1,03,00.5,046.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170135.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170135.50,3649.0726,N,-12150.2786,W,1,03,00.5,046.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170136.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170136.50,3649.0726,N,-12150.2793,W,1,03,00.5,046.0,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170137.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170137.50,3649.0726,N,-12150.2799,W,1,03,00.5,046.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170138.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170138.50,3649.0726,N,-12150.2806,W,1,03,00.5,046.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170139.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170139.50,3649.0726,N,-12150.2812,W,1,03,00.5,046.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170140.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170140.50,3649.0726,N,-12150.2819,W,1,03,00.5,046.2,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170141.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170141.50,3649.0726,N,-12150.2825,W,1,03,00.5,045.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170142.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.18 15.42 4.11 4.13 0 12838.53 02:28:16 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170142.50,3649.0726,N,-12150.2832,W,1,03,00.5,046.2,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170143.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170143.50,3649.0726,N,-12150.2838,W,1,03,00.5,045.7,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170144.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  3.12 16.11 4.10 4.13 0  1453.66 02:28:18 m

: NMEA Update: $GPGGA,170144.50,3649.0726,N,-12150.2845,W,1,03,00.5,046.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170145.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170145.50,3649.0726,N,-12150.2851,W,1,03,00.5,045.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170146.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170146.50,3649.0726,N,-12150.2858,W,1,03,00.5,046.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170147.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170147.50,3649.0726,N,-12150.2865,W,1,03,00.5,046.3,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170148.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170148.50,3649.0726,N,-12150.2872,W,1,03,00.5,046.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170149.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170149.50,3649.0726,N,-12150.2878,W,1,03,00.5,045.5,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170150.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170150.50,3649.0726,N,-12150.2885,W,1,03,00.5,045.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170151.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170151.50,3649.0726,N,-12150.2891,W,1,03,00.5,045.6,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 32.98  2.37 15.52 4.11 4.13 0 12838.30 02:28:26 m

: AshtechGps::processRecord() - $GPGGA,170152.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170152.50,3649.0726,N,-12150.2897,W,1,03,00.5,045.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170153.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170153.50,3649.0727,N,-12150.2903,W,1,03,00.5,045.4,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170154.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  2.91 16.01 4.10 4.13 0  1453.34 02:28:28 m

: NMEA Update: $GPGGA,170154.50,3649.0727,N,-12150.2909,W,1,03,00.5,046.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170155.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170155.50,3649.0727,N,-12150.2915,W,1,03,00.5,046.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170156.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170156.50,3649.0727,N,-12150.2922,W,1,03,00.5,045.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170157.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170157.50,3649.0727,N,-12150.2929,W,1,03,00.5,046.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170158.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170158.50,3649.0727,N,-12150.2936,W,1,03,00.5,045.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170159.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170159.50,3649.0727,N,-12150.2943,W,1,03,00.5,045.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170200.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170200.50,3649.0727,N,-12150.2950,W,1,03,00.5,045.7,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170201.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170201.50,3649.0727,N,-12150.2956,W,1,03,00.5,045.2,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.98  2.00 15.52 4.11 4.13 0 12838.11 02:28:36 m

: AshtechGps::processRecord() - $GPGGA,170202.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170202.50,3649.0727,N,-12150.2962,W,1,03,00.5,044.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170203.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170203.50,3649.0727,N,-12150.2968,W,1,03,00.5,045.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170204.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  2.83 16.01 4.10 4.13 0  1453.11 02:28:38 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170204.50,3649.0727,N,-12150.2974,W,1,03,00.5,045.6,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170205.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170205.50,3649.0727,N,-12150.2981,W,1,03,00.5,044.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170206.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170206.50,3649.0727,N,-12150.2987,W,1,03,00.5,044.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170207.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170207.50,3649.0728,N,-12150.2993,W,1,03,00.5,045.5,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170208.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,170208.50,3649.0728,N,-12150.3000,W,1,03,00.5,045.5,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170209.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170209.50,3649.0728,N,-12150.3006,W,1,03,00.5,045.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170210.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170210.50,3649.0728,N,-12150.3013,W,1,03,00.5,045.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170211.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170211.49,3649.0728,N,-12150.3019,W,1,03,00.5,044.7,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.98  2.15 15.52 4.10 4.13 0 12837.89 02:28:46 m

: AshtechGps::processRecord() - $GPGGA,170212.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170212.49,3649.0728,N,-12150.3025,W,1,03,00.5,045.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170213.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 0.969934

: NMEA Update: $GPGGA,170213.95,3649.0728,N,-12150.3030,W,1,03,00.5,045.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170214.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170214.89,3649.0728,N,-12150.3041,W,1,03,00.5,045.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170215.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  3.05 16.01 4.10 4.13 0  1452.75 02:28:48 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170215.89,3649.0728,N,-12150.3047,W,1,03,00.5,045.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170216.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.100000

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170216.89,3649.0729,N,-12150.3053,W,1,03,00.5,045.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170217.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170217.89,3649.0729,N,-12150.3060,W,1,03,00.5,045.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170218.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170218.89,3649.0729,N,-12150.3067,W,1,03,00.5,045.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170219.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170219.89,3649.0729,N,-12150.3073,W,1,03,00.5,045.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170220.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170220.89,3649.0729,N,-12150.3080,W,1,03,00.5,044.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170221.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.18 15.42 4.10 4.13 0 12837.73 02:28:56 m

: NMEA Update: $GPGGA,170221.89,3649.0729,N,-12150.3086,W,1,03,00.5,044.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170222.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170222.89,3649.0729,N,-12150.3093,W,1,03,00.5,045.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170223.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170223.89,3649.0729,N,-12150.3099,W,1,03,00.5,045.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170224.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  3.05 16.01 4.10 4.13 0  1452.53 02:28:58 m

: NMEA Update: $GPGGA,170224.89,3649.0729,N,-12150.3105,W,1,03,00.5,044.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170225.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.100000

: NMEA Update: $GPGGA,170225.89,3649.0729,N,-12150.3111,W,1,03,00.5,044.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170226.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170226.89,3649.0729,N,-12150.3117,W,1,03,00.5,044.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170227.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170227.89,3649.0729,N,-12150.3124,W,1,03,00.5,044.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170228.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170228.89,3649.0729,N,-12150.3130,W,1,03,00.5,044.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170229.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170229.89,3649.0729,N,-12150.3137,W,1,03,00.5,044.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170230.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170230.89,3649.0729,N,-12150.3143,W,1,03,00.5,045.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170231.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  1.96 15.42 4.11 4.13 0 12837.46 02:29:06 m

: NMEA Update: $GPGGA,170231.89,3649.0729,N,-12150.3150,W,1,03,00.5,045.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170232.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170232.89,3649.0729,N,-12150.3156,W,1,03,00.5,044.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170233.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170233.89,3649.0729,N,-12150.3162,W,1,03,00.5,044.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170234.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.98 16.11 4.10 4.13 0  1452.18 02:29:08 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170234.89,3649.0729,N,-12150.3169,W,1,03,00.5,045.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170235.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170235.89,3649.0729,N,-12150.3175,W,1,03,00.5,045.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170236.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170236.89,3649.0729,N,-12150.3181,W,1,03,00.5,044.6,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170237.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170237.89,3649.0729,N,-12150.3187,W,1,03,00.5,044.6,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170238.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170238.89,3649.0729,N,-12150.3194,W,1,03,00.5,044.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170239.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170239.89,3649.0729,N,-12150.3200,W,1,03,00.5,044.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170240.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170240.89,3649.0730,N,-12150.3207,W,1,03,00.5,044.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170241.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 1.099925

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.94  2.44 15.42 4.11 4.13 0 12837.29 02:29:16 m

: NMEA Update: $GPGGA,170242.48,3649.0730,N,-12150.3211,W,1,03,00.5,044.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170242.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170243.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170243.29,3649.0730,N,-12150.3222,W,1,03,00.5,044.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170244.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170244.29,3649.0730,N,-12150.3228,W,1,03,00.5,044.6,M,-99.9,M,,*48

: BluefinBatt Reply: $c0q0 d- 33.13  3.62 16.01 4.10 4.13 0  1451.96 02:29:19 m

: AshtechGps::processRecord() - $GPGGA,170245.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170245.29,3649.0730,N,-12150.3234,W,1,03,00.5,044.6,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: AshtechGps::processRecord() - $GPGGA,170246.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170246.29,3649.0730,N,-12150.3240,W,1,03,00.5,045.2,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170247.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170247.29,3649.0730,N,-12150.3246,W,1,03,00.5,044.5,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170248.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170248.29,3649.0730,N,-12150.3253,W,1,03,00.5,044.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170249.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170249.29,3649.0730,N,-12150.3259,W,1,03,00.5,044.6,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170250.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: Kearfott::deltaTime is 0.979933

: NMEA Update: $GPGGA,170250.94,3649.0730,N,-12150.3265,W,1,03,00.5,044.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170251.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170251.89,3649.0730,N,-12150.3276,W,1,03,00.5,044.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170252.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.94  1.96 15.42 4.11 4.13 0 12837.06 02:29:26 m

: NMEA Update: $GPGGA,170252.89,3649.0730,N,-12150.3283,W,1,03,00.5,044.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170253.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170253.89,3649.0730,N,-12150.3289,W,1,03,00.5,044.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170254.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  2.73 16.01 4.10 4.13 0  1451.63 02:29:28 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170254.89,3649.0730,N,-12150.3296,W,1,03,00.5,044.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170255.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170255.89,3649.0730,N,-12150.3302,W,1,03,00.5,045.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170256.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170256.89,3649.0730,N,-12150.3307,W,1,03,00.5,044.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170257.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170257.89,3649.0731,N,-12150.3313,W,1,03,00.5,044.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170258.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170258.89,3649.0731,N,-12150.3319,W,1,03,00.5,044.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170259.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170259.89,3649.0731,N,-12150.3324,W,1,03,00.5,044.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170300.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170300.89,3649.0731,N,-12150.3330,W,1,03,00.5,044.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170301.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170301.89,3649.0731,N,-12150.3336,W,1,03,00.5,044.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170302.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  3.00 15.42 4.11 4.13 0 12836.91 02:29:36 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170302.89,3649.0731,N,-12150.3343,W,1,03,00.5,043.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170303.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170303.89,3649.0731,N,-12150.3349,W,1,03,00.5,044.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170304.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.05 16.01 4.10 4.13 0  1451.40 02:29:38 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170304.89,3649.0731,N,-12150.3356,W,1,03,00.5,044.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170305.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170305.89,3649.0731,N,-12150.3363,W,1,03,00.5,1000.0,M,-99.9,M,,*7e

: AshtechGps::processRecord() - $GPGGA,170306.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170306.89,3649.0731,N,-12150.3369,W,1,03,00.5,1000.0,M,-99.9,M,,*77

: AshtechGps::processRecord() - $GPGGA,170307.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170307.89,3649.0731,N,-12150.3375,W,1,03,00.5,043.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170308.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170308.89,3649.0731,N,-12150.3381,W,1,03,00.5,043.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170309.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170309.89,3649.0731,N,-12150.3387,W,1,03,00.5,044.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170310.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170310.89,3649.0732,N,-12150.3393,W,1,03,00.5,044.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170311.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.98  2.18 15.42 4.11 4.13 0 12836.68 02:29:46 m

: NMEA Update: $GPGGA,170311.89,3649.0732,N,-12150.3399,W,1,03,00.5,043.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170312.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170312.89,3649.0732,N,-12150.3406,W,1,03,00.5,043.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170313.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170313.89,3649.0732,N,-12150.3412,W,1,03,00.5,043.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170314.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.23 16.01 4.10 4.13 0  1451.07 02:29:48 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170314.89,3649.0732,N,-12150.3419,W,1,03,00.5,044.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170315.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170315.89,3649.0732,N,-12150.3425,W,1,03,00.5,044.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170316.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170316.89,3649.0732,N,-12150.3432,W,1,03,00.5,043.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170317.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170317.89,3649.0732,N,-12150.3438,W,1,03,00.5,043.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170318.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170318.89,3649.0732,N,-12150.3444,W,1,03,00.5,043.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170319.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170319.89,3649.0732,N,-12150.3450,W,1,03,00.5,044.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170320.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170320.89,3649.0732,N,-12150.3457,W,1,03,00.5,044.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170321.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 1.079926

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.98  2.07 15.33 4.11 4.13 0 12836.52 02:29:56 m

: NMEA Update: $GPGGA,170322.25,3649.0732,N,-12150.3460,W,1,03,00.5,044.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170322.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,170323.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170323.09,3649.0732,N,-12150.3471,W,1,03,00.5,044.6,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170324.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,170324.10,3649.0732,N,-12150.3477,W,1,03,00.5,043.8,M,-99.9,M,,*42

: BluefinBatt Reply: $c0q0 d- 33.17  2.30 16.01 4.10 4.13 0  1450.86 02:29:58 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170325.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170325.10,3649.0732,N,-12150.3484,W,1,03,00.5,043.3,M,-99.9,M,,*44

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: AshtechGps::processRecord() - $GPGGA,170326.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170326.10,3649.0732,N,-12150.3490,W,1,03,00.5,044.2,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170327.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170327.10,3649.0732,N,-12150.3495,W,1,03,00.5,044.3,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170328.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170328.10,3649.0732,N,-12150.3501,W,1,03,00.5,044.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170329.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170329.10,3649.0732,N,-12150.3507,W,1,03,00.5,044.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170330.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170330.10,3649.0732,N,-12150.3513,W,1,03,00.5,043.6,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170331.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170331.10,3649.0732,N,-12150.3519,W,1,03,00.5,043.9,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170332.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.33 15.42 4.11 4.13 0 12836.30 02:30:06 m

: updating external sensors

: NMEA Update: $GPGGA,170332.10,3649.0732,N,-12150.3526,W,1,03,00.5,043.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170333.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170333.10,3649.0732,N,-12150.3532,W,1,03,00.5,043.5,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170334.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.16 16.01 4.10 4.13 0  1450.55 02:30:08 m

: NMEA Update: $GPGGA,170334.10,3649.0732,N,-12150.3539,W,1,03,00.5,043.6,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170335.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170335.10,3649.0732,N,-12150.3545,W,1,03,00.5,043.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170336.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170336.10,3649.0733,N,-12150.3551,W,1,03,00.5,044.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170337.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170337.10,3649.0733,N,-12150.3557,W,1,03,00.5,044.2,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170338.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170338.10,3649.0733,N,-12150.3562,W,1,03,00.5,043.6,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170339.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170339.10,3649.0733,N,-12150.3568,W,1,03,00.5,043.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170340.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170340.10,3649.0733,N,-12150.3574,W,1,03,00.5,043.2,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170341.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170341.10,3649.0733,N,-12150.3580,W,1,03,00.5,043.9,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.94  2.30 15.42 4.11 4.13 0 12836.16 02:30:16 m

: AshtechGps::processRecord() - $GPGGA,170342.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,170342.10,3649.0733,N,-12150.3587,W,1,03,00.5,043.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170343.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170343.10,3649.0733,N,-12150.3594,W,1,03,00.5,043.2,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170344.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.94 16.01 4.10 4.13 0  1450.32 02:30:18 m

: updating external sensors

: NMEA Update: $GPGGA,170344.10,3649.0733,N,-12150.3600,W,1,03,00.5,043.4,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170345.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170345.10,3649.0733,N,-12150.3607,W,1,03,00.5,043.5,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170346.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170346.10,3649.0733,N,-12150.3613,W,1,03,00.5,044.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170347.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170347.10,3649.0733,N,-12150.3619,W,1,03,00.5,044.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170348.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170348.10,3649.0733,N,-12150.3625,W,1,03,00.5,044.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170349.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170349.10,3649.0733,N,-12150.3631,W,1,03,00.5,043.2,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170350.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170350.10,3649.0733,N,-12150.3637,W,1,03,00.5,043.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170351.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170351.10,3649.0733,N,-12150.3644,W,1,03,00.5,043.7,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170352.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.18 15.33 4.10 4.13 0 12835.92 02:30:26 m

: updating external sensors

: NMEA Update: $GPGGA,170352.10,3649.0733,N,-12150.3650,W,1,03,00.5,043.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170353.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170353.10,3649.0733,N,-12150.3657,W,1,03,00.5,044.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170354.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.08 16.01 4.10 4.13 0  1449.97 02:30:28 m

: NMEA Update: $GPGGA,170354.10,3649.0733,N,-12150.3663,W,1,03,00.5,043.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170355.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.100000

: NMEA Update: $GPGGA,170355.10,3649.0733,N,-12150.3670,W,1,03,00.5,043.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170356.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170356.10,3649.0733,N,-12150.3676,W,1,03,00.5,043.6,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170357.78,3649.0733,N,-12150.3682,W,1,03,00.5,043.3,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170357.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 1.059927

: AshtechGps::processRecord() - $GPGGA,170358.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170358.70,3649.0734,N,-12150.3693,W,1,03,00.5,043.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170359.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170359.70,3649.0734,N,-12150.3699,W,1,03,00.5,043.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170400.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170400.70,3649.0734,N,-12150.3705,W,1,03,00.5,043.1,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170401.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170401.70,3649.0734,N,-12150.3710,W,1,03,00.5,043.5,M,-99.9,M,,*4d

: BluefinBatt Reply: $aaq0 d- 32.98  1.66 15.33 4.10 4.13 0 12835.77 02:30:36 m

: AshtechGps::processRecord() - $GPGGA,170402.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170402.70,3649.0734,N,-12150.3716,W,1,03,00.5,043.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170403.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170403.70,3649.0734,N,-12150.3723,W,1,03,00.5,043.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170404.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.94 16.01 4.10 4.13 0  1449.77 02:30:38 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170404.70,3649.0734,N,-12150.3729,W,1,03,00.5,043.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170405.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.100000

: NMEA Update: $GPGGA,170405.70,3649.0734,N,-12150.3735,W,1,03,00.5,043.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170406.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170406.70,3649.0734,N,-12150.3741,W,1,03,00.5,043.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170407.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170407.70,3649.0734,N,-12150.3747,W,1,03,00.5,043.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170408.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170408.70,3649.0734,N,-12150.3753,W,1,03,00.5,043.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170409.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170409.70,3649.0735,N,-12150.3759,W,1,03,00.5,042.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170410.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170410.70,3649.0735,N,-12150.3765,W,1,03,00.5,042.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170411.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170411.70,3649.0735,N,-12150.3771,W,1,03,00.5,043.3,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.98  2.07 15.33 4.11 4.13 0 12835.52 02:30:46 m

: AshtechGps::processRecord() - $GPGGA,170412.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170412.70,3649.0735,N,-12150.3777,W,1,03,00.5,043.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170413.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170413.70,3649.0736,N,-12150.3783,W,1,03,00.5,043.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170414.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  3.01 15.91 4.10 4.13 0  1449.39 02:30:48 m

: updating external sensors

: NMEA Update: $GPGGA,170414.70,3649.0736,N,-12150.3789,W,1,03,00.5,043.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170415.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170415.70,3649.0736,N,-12150.3795,W,1,03,00.5,042.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170416.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170416.70,3649.0736,N,-12150.3802,W,1,03,00.5,042.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170417.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170417.70,3649.0736,N,-12150.3808,W,1,03,00.5,043.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170418.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170418.70,3649.0736,N,-12150.3815,W,1,03,00.5,042.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170419.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170419.70,3649.0736,N,-12150.3821,W,1,03,00.5,042.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170420.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170420.70,3649.0736,N,-12150.3828,W,1,03,00.5,042.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170421.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170421.70,3649.0736,N,-12150.3834,W,1,03,00.5,042.6,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.94  2.03 15.33 4.11 4.13 0 12835.37 02:30:56 m

: AshtechGps::processRecord() - $GPGGA,170422.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170422.70,3649.0736,N,-12150.3840,W,1,03,00.5,042.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170423.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170423.70,3649.0736,N,-12150.3846,W,1,03,00.5,043.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170424.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.94 16.01 4.10 4.13 0  1449.17 02:30:58 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170424.70,3649.0736,N,-12150.3853,W,1,03,00.5,043.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170425.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.105000

: NMEA Update: $GPGGA,170425.70,3649.0735,N,-12150.3859,W,1,03,00.5,043.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170426.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170426.70,3649.0735,N,-12150.3866,W,1,03,00.5,042.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170427.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170427.70,3649.0735,N,-12150.3873,W,1,03,00.5,042.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170428.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170428.70,3649.0735,N,-12150.3880,W,1,03,00.5,042.6,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170429.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170429.70,3649.0735,N,-12150.3887,W,1,03,00.5,043.1,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170430.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170430.70,3649.0735,N,-12150.3893,W,1,03,00.5,043.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170431.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170431.70,3649.0735,N,-12150.3899,W,1,03,00.5,043.5,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 32.94  2.11 15.33 4.10 4.13 0 12835.13 02:31:06 m

: AshtechGps::processRecord() - $GPGGA,170432.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170432.70,3649.0735,N,-12150.3905,W,1,03,00.5,042.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170433.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170433.70,3649.0735,N,-12150.3911,W,1,03,00.5,042.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170434.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.08 15.91 4.09 4.13 0  1448.81 02:31:08 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170434.70,3649.0735,N,-12150.3917,W,1,03,00.5,043.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170435.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170435.70,3649.0735,N,-12150.3923,W,1,03,00.5,042.4,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170436.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170436.69,3649.0735,N,-12150.3930,W,1,03,00.5,042.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170437.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170437.69,3649.0735,N,-12150.3937,W,1,03,00.5,042.6,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170438.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170438.69,3649.0735,N,-12150.3944,W,1,03,00.5,042.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170439.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170439.69,3649.0734,N,-12150.3951,W,1,03,00.5,042.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170440.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170440.69,3649.0734,N,-12150.3958,W,1,03,00.5,042.9,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170441.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170441.69,3649.0734,N,-12150.3964,W,1,03,00.5,043.1,M,-99.9,M,,*48

: BluefinBatt Reply: $aaq0 d- 32.94  1.96 15.33 4.10 4.13 0 12834.98 02:31:16 m

: AshtechGps::processRecord() - $GPGGA,170442.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170442.69,3649.0734,N,-12150.3970,W,1,03,00.5,042.8,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170443.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170443.69,3649.0734,N,-12150.3976,W,1,03,00.5,042.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170444.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  2.98 15.91 4.09 4.13 0  1448.60 02:31:18 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170444.69,3649.0734,N,-12150.3983,W,1,03,00.5,042.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170445.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170445.69,3649.0735,N,-12150.3989,W,1,03,00.5,042.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170446.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170446.69,3649.0735,N,-12150.3995,W,1,03,00.5,042.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170447.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170447.69,3649.0735,N,-12150.4002,W,1,03,00.5,042.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170448.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170448.69,3649.0735,N,-12150.4009,W,1,03,00.5,042.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170449.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170449.69,3649.0735,N,-12150.4015,W,1,03,00.5,042.2,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170450.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170450.69,3649.0736,N,-12150.4021,W,1,03,00.5,042.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170451.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170451.69,3649.0736,N,-12150.4028,W,1,03,00.5,041.9,M,-99.9,M,,*47

: BluefinBatt Reply: $aaq0 d- 32.98  2.15 15.42 4.10 4.13 0 12834.76 02:31:26 m

: AshtechGps::processRecord() - $GPGGA,170452.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170452.69,3649.0736,N,-12150.4035,W,1,03,00.5,041.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170453.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170453.69,3649.0736,N,-12150.4041,W,1,03,00.5,041.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170454.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.69 15.82 4.10 4.13 0  1448.30 02:31:28 m

: NMEA Update: $GPGGA,170454.69,3649.0736,N,-12150.4048,W,1,03,00.5,042.3,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170455.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.100000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170455.69,3649.0736,N,-12150.4055,W,1,03,00.5,042.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170456.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170456.69,3649.0736,N,-12150.4061,W,1,03,00.5,041.9,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170457.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170457.69,3649.0736,N,-12150.4067,W,1,03,00.5,041.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170458.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170458.69,3649.0736,N,-12150.4074,W,1,03,00.5,041.9,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170459.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170459.69,3649.0737,N,-12150.4080,W,1,03,00.5,042.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170500.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170500.69,3649.0737,N,-12150.4086,W,1,03,00.5,042.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170501.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170501.69,3649.0737,N,-12150.4093,W,1,03,00.5,042.1,M,-99.9,M,,*49

: BluefinBatt Reply: $aaq0 d- 32.94  2.07 15.23 4.10 4.13 0 12834.60 02:31:36 m

: AshtechGps::processRecord() - $GPGGA,170502.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170502.69,3649.0737,N,-12150.4100,W,1,03,00.5,041.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170503.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170503.69,3649.0737,N,-12150.4107,W,1,03,00.5,041.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170504.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  3.19 15.82 4.10 4.13 0  1448.07 02:31:38 m

: updating external sensors

: NMEA Update: $GPGGA,170504.69,3649.0737,N,-12150.4113,W,1,03,00.5,041.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170505.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.100000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170505.69,3649.0737,N,-12150.4120,W,1,03,00.5,041.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170506.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170506.69,3649.0737,N,-12150.4127,W,1,03,00.5,042.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170507.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170507.69,3649.0737,N,-12150.4133,W,1,03,00.5,042.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170508.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170508.69,3649.0737,N,-12150.4139,W,1,03,00.5,042.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170509.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170509.69,3649.0737,N,-12150.4145,W,1,03,00.5,041.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170510.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170510.69,3649.0737,N,-12150.4151,W,1,03,00.5,041.9,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170511.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170511.69,3649.0737,N,-12150.4157,W,1,03,00.5,041.4,M,-99.9,M,,*47

: BluefinBatt Reply: $aaq0 d- 32.98  1.89 15.23 4.10 4.12 0 12834.35 02:31:46 m

: AshtechGps::processRecord() - $GPGGA,170512.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170512.69,3649.0737,N,-12150.4164,W,1,03,00.5,041.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170513.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170513.69,3649.0737,N,-12150.4170,W,1,03,00.5,041.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170514.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.17  3.16 15.91 4.09 4.13 0  1447.74 02:31:48 m

: NMEA Update: $GPGGA,170514.69,3649.0737,N,-12150.4177,W,1,03,00.5,041.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170515.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170515.69,3649.0736,N,-12150.4183,W,1,03,00.5,041.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170516.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170516.69,3649.0736,N,-12150.4189,W,1,03,00.5,041.5,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170517.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170517.69,3649.0736,N,-12150.4195,W,1,03,00.5,041.4,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170518.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170518.69,3649.0736,N,-12150.4201,W,1,03,00.5,041.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170519.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170519.69,3649.0736,N,-12150.4207,W,1,03,00.5,041.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170520.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170520.69,3649.0736,N,-12150.4213,W,1,03,00.5,041.4,M,-99.9,M,,*47

:  Waypoint has set the state to finished.

: Waypoint (4075298.8, 603428.0), 
  reached at t = 984.79                                          (wplog)

: Vehicle Position is error is (0.5, 0.1)

: LayeredControl::execute() -- (t = 984.792537) Behavior waypoint:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 984.79                            (wplog)
  The current location (N,E) = 4075298.3      , 603427.9         (wplog)
  The next waypoint          = 4075296.7      , 602555.0         (wplog)
  The bearing to the next w.p. is 269.9 Degrees.

: LayeredControl::execute() -- (t = 984.802536) Behavior waypoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,170521.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170521.69,3649.0736,N,-12150.4220,W,1,03,00.5,042.2,M,-99.9,M,,*43

: BluefinBatt Reply: $aaq0 d- 32.98  2.11 15.33 4.10 4.12 0 12834.18 02:31:56 m

: AshtechGps::processRecord() - $GPGGA,170522.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170522.69,3649.0736,N,-12150.4226,W,1,03,00.5,041.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170523.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170523.69,3649.0736,N,-12150.4233,W,1,03,00.5,040.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170524.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  2.94 15.91 4.09 4.13 0  1447.50 02:31:58 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170524.69,3649.0737,N,-12150.4239,W,1,03,00.5,040.7,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170525.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170525.69,3649.0737,N,-12150.4245,W,1,03,00.5,040.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170526.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170526.69,3649.0737,N,-12150.4251,W,1,03,00.5,040.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170527.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170527.69,3649.0737,N,-12150.4257,W,1,03,00.5,041.2,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170528.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170528.69,3649.0737,N,-12150.4263,W,1,03,00.5,041.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170529.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170529.69,3649.0738,N,-12150.4269,W,1,03,00.5,041.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170530.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170530.69,3649.0738,N,-12150.4275,W,1,03,00.5,041.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170531.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170531.69,3649.0738,N,-12150.4281,W,1,03,00.5,041.2,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.98  2.11 15.23 4.10 4.12 0 12833.93 02:32:06 m

: AshtechGps::processRecord() - $GPGGA,170532.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170532.69,3649.0738,N,-12150.4287,W,1,03,00.5,040.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170533.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170533.69,3649.0738,N,-12150.4294,W,1,03,00.5,040.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170534.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  2.83 15.91 4.09 4.13 0  1447.15 02:32:08 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170534.69,3649.0738,N,-12150.4300,W,1,03,00.5,039.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170535.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170535.69,3649.0738,N,-12150.4306,W,1,03,00.5,039.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170536.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170536.69,3649.0738,N,-12150.4312,W,1,03,00.5,039.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170537.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170537.69,3649.0738,N,-12150.4319,W,1,03,00.5,040.4,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170538.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170538.69,3649.0738,N,-12150.4325,W,1,03,00.5,039.9,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170539.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170539.69,3649.0738,N,-12150.4331,W,1,03,00.5,040.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170540.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170540.69,3649.0738,N,-12150.4337,W,1,03,00.5,040.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170541.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170541.69,3649.0738,N,-12150.4344,W,1,03,00.5,040.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170542.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.15 15.23 4.10 4.12 0 12833.74 02:32:16 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170542.69,3649.0737,N,-12150.4350,W,1,03,00.5,039.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170543.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170543.69,3649.0737,N,-12150.4356,W,1,03,00.5,039.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170544.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.91 15.82 4.09 4.13 0  1446.93 02:32:18 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170544.69,3649.0737,N,-12150.4362,W,1,03,00.5,039.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170545.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170545.69,3649.0737,N,-12150.4369,W,1,03,00.5,039.5,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170546.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170546.69,3649.0737,N,-12150.4375,W,1,03,00.5,039.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170547.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170547.69,3649.0737,N,-12150.4381,W,1,03,00.5,039.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170548.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170548.69,3649.0737,N,-12150.4387,W,1,03,00.5,039.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170549.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170549.69,3649.0737,N,-12150.4393,W,1,03,00.5,039.8,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170550.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170550.50,3649.0737,N,-12150.4398,W,1,03,00.5,039.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170551.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170551.50,3649.0737,N,-12150.4404,W,1,03,00.5,039.0,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 32.94  2.07 15.23 4.10 4.13 0 12833.49 02:32:26 m

: AshtechGps::processRecord() - $GPGGA,170552.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170552.50,3649.0737,N,-12150.4410,W,1,03,00.5,039.1,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170553.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170553.50,3649.0737,N,-12150.4417,W,1,03,00.5,039.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170554.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  3.19 15.82 4.09 4.13 0  1446.58 02:32:28 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170554.50,3649.0737,N,-12150.4423,W,1,03,00.5,039.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170555.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170555.50,3649.0737,N,-12150.4429,W,1,03,00.5,038.9,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170556.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170556.50,3649.0737,N,-12150.4436,W,1,03,00.5,038.8,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170557.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170557.50,3649.0737,N,-12150.4442,W,1,03,00.5,039.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170558.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170558.50,3649.0737,N,-12150.4449,W,1,03,00.5,038.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170559.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170559.50,3649.0737,N,-12150.4455,W,1,03,00.5,039.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170600.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170600.50,3649.0737,N,-12150.4462,W,1,03,00.5,038.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170601.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170601.50,3649.0737,N,-12150.4468,W,1,03,00.5,038.9,M,-99.9,M,,*45

: updating external sensors

: Kearfott::deltaTime is 1.029929

: BluefinBatt Reply: $aaq0 d- 32.94  2.07 15.23 4.10 4.13 0 12833.34 02:32:36 m

: NMEA Update: $GPGGA,170602.65,3649.0737,N,-12150.4470,W,1,03,00.5,038.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170602.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,170603.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170603.50,3649.0737,N,-12150.4480,W,1,03,00.5,038.4,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170604.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170604.50,3649.0737,N,-12150.4486,W,1,03,00.5,038.6,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 33.17  2.19 15.82 4.09 4.13 0  1446.36 02:32:39 m

: AshtechGps::processRecord() - $GPGGA,170605.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170605.50,3649.0737,N,-12150.4491,W,1,03,00.5,038.5,M,-99.9,M,,*4b

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: AshtechGps::processRecord() - $GPGGA,170606.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170606.50,3649.0738,N,-12150.4497,W,1,03,00.5,038.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170607.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 0.839942

: updating external sensors

: NMEA Update: $GPGGA,170608.37,3649.0738,N,-12150.4503,W,1,03,00.5,038.5,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170608.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170609.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170609.30,3649.0738,N,-12150.4514,W,1,03,00.5,038.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170610.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170610.30,3649.0738,N,-12150.4520,W,1,03,00.5,038.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170611.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170611.30,3649.0738,N,-12150.4525,W,1,03,00.5,038.4,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170612.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  1.70 15.23 4.10 4.13 0 12833.14 02:32:46 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,170612.30,3649.0738,N,-12150.4531,W,1,03,00.5,038.1,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170613.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170613.30,3649.0738,N,-12150.4536,W,1,03,00.5,038.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170614.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.94 15.91 4.10 4.13 0  1446.08 02:32:48 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170614.30,3649.0738,N,-12150.4542,W,1,03,00.5,038.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170615.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.100000

: NMEA Update: $GPGGA,170615.30,3649.0738,N,-12150.4548,W,1,03,00.5,038.6,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170616.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170616.30,3649.0738,N,-12150.4553,W,1,03,00.5,037.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170617.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170617.30,3649.0739,N,-12150.4559,W,1,03,00.5,037.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170618.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170618.30,3649.0739,N,-12150.4564,W,1,03,00.5,037.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170619.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170619.30,3649.0739,N,-12150.4570,W,1,03,00.5,037.2,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170620.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170620.30,3649.0739,N,-12150.4576,W,1,03,00.5,037.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170621.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170621.30,3649.0739,N,-12150.4582,W,1,03,00.5,036.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170622.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.30 15.23 4.10 4.13 0 12833.00 02:32:56 m

: updating external sensors

: NMEA Update: $GPGGA,170622.30,3649.0739,N,-12150.4587,W,1,03,00.5,036.7,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170623.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170623.30,3649.0739,N,-12150.4593,W,1,03,00.5,036.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170624.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.05 15.82 4.10 4.13 0  1445.86 02:32:58 m

: NMEA Update: $GPGGA,170624.30,3649.0739,N,-12150.4599,W,1,03,00.5,036.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170625.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.100000, mean min cell voltage 4.100000

: NMEA Update: $GPGGA,170625.30,3649.0739,N,-12150.4605,W,1,03,00.5,036.6,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170626.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170626.30,3649.0739,N,-12150.4610,W,1,03,00.5,036.3,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170627.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170627.30,3649.0739,N,-12150.4616,W,1,03,00.5,036.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170628.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170628.30,3649.0739,N,-12150.4622,W,1,03,00.5,036.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170629.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170629.30,3649.0739,N,-12150.4628,W,1,03,00.5,035.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170630.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170630.30,3649.0739,N,-12150.4634,W,1,03,00.5,035.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170631.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170631.30,3649.0738,N,-12150.4641,W,1,03,00.5,035.7,M,-99.9,M,,*45

: BluefinBatt Reply: $aaq0 d- 32.94  2.37 15.23 4.10 4.12 0 12832.74 02:33:06 m

: AshtechGps::processRecord() - $GPGGA,170632.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170632.30,3649.0738,N,-12150.4647,W,1,03,00.5,035.3,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 0.979933

: NMEA Update: $GPGGA,170633.76,3649.0738,N,-12150.4651,W,1,03,00.5,035.5,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170633.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,170634.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170634.70,3649.0738,N,-12150.4662,W,1,03,00.5,035.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170635.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  2.94 15.82 4.09 4.13 0  1445.48 02:33:09 m

: NMEA Update: $GPGGA,170635.70,3649.0738,N,-12150.4668,W,1,03,00.5,035.5,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170636.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170636.70,3649.0738,N,-12150.4673,W,1,03,00.5,035.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170637.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170637.70,3649.0738,N,-12150.4679,W,1,03,00.5,035.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170638.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170638.70,3649.0738,N,-12150.4684,W,1,03,00.5,034.7,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170639.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170639.70,3649.0738,N,-12150.4690,W,1,03,00.5,034.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170640.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170640.70,3649.0737,N,-12150.4696,W,1,03,00.5,034.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170641.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170641.70,3649.0737,N,-12150.4702,W,1,03,00.5,034.9,M,-99.9,M,,*40

: BluefinBatt Reply: $aaq0 d- 32.94  2.26 15.23 4.10 4.12 0 12832.56 02:33:16 m

: AshtechGps::processRecord() - $GPGGA,170642.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170642.70,3649.0737,N,-12150.4708,W,1,03,00.5,034.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170643.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170643.70,3649.0737,N,-12150.4715,W,1,03,00.5,034.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170644.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  3.12 15.82 4.09 4.13 0  1445.28 02:33:18 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170644.70,3649.0738,N,-12150.4720,W,1,03,00.5,034.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170645.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170645.70,3649.0738,N,-12150.4726,W,1,03,00.5,034.6,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170646.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170646.70,3649.0738,N,-12150.4732,W,1,03,00.5,034.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170647.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170647.70,3649.0738,N,-12150.4737,W,1,03,00.5,033.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170648.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170648.70,3649.0738,N,-12150.4743,W,1,03,00.5,034.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170649.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170649.70,3649.0738,N,-12150.4749,W,1,03,00.5,033.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170650.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170650.70,3649.0738,N,-12150.4755,W,1,03,00.5,032.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170651.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170651.70,3649.0738,N,-12150.4761,W,1,03,00.5,032.6,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.94  2.26 15.23 4.10 4.12 0 12832.30 02:33:26 m

: AshtechGps::processRecord() - $GPGGA,170652.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170652.70,3649.0738,N,-12150.4767,W,1,03,00.5,032.2,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170653.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170653.70,3649.0738,N,-12150.4774,W,1,03,00.5,032.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170654.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.23 15.72 4.09 4.12 0  1444.95 02:33:28 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170654.70,3649.0738,N,-12150.4780,W,1,03,00.5,032.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170655.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170655.70,3649.0738,N,-12150.4786,W,1,03,00.5,032.3,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170656.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170656.70,3649.0739,N,-12150.4792,W,1,03,00.5,031.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170657.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170657.70,3649.0739,N,-12150.4798,W,1,03,00.5,031.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170658.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170658.70,3649.0739,N,-12150.4804,W,1,03,00.5,031.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170659.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170659.70,3649.0739,N,-12150.4809,W,1,03,00.5,031.3,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170700.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170700.70,3649.0739,N,-12150.4815,W,1,03,00.5,031.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170701.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170701.70,3649.0739,N,-12150.4821,W,1,03,00.5,030.8,M,-99.9,M,,*40

: BluefinBatt Reply: $aaq0 d- 32.94  2.18 15.23 4.10 4.12 0 12832.13 02:33:36 m

: AshtechGps::processRecord() - $GPGGA,170702.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170702.69,3649.0739,N,-12150.4828,W,1,03,00.5,030.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170703.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170703.69,3649.0739,N,-12150.4834,W,1,03,00.5,030.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170704.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.94 15.82 4.09 4.12 0  1444.72 02:33:38 m

: NMEA Update: $GPGGA,170704.69,3649.0739,N,-12150.4841,W,1,03,00.5,030.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170705.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170705.69,3649.0739,N,-12150.4848,W,1,03,00.5,029.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170706.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170706.69,3649.0739,N,-12150.4854,W,1,03,00.5,030.1,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170707.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170707.69,3649.0739,N,-12150.4860,W,1,03,00.5,029.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170708.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170708.69,3649.0740,N,-12150.4866,W,1,03,00.5,029.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170709.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170709.69,3649.0740,N,-12150.4872,W,1,03,00.5,029.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170710.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,170710.69,3649.0740,N,-12150.4878,W,1,03,00.5,029.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170711.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170711.69,3649.0740,N,-12150.4884,W,1,03,00.5,029.2,M,-99.9,M,,*4a

: BluefinBatt Reply: $aaq0 d- 32.94  2.70 15.23 4.10 4.12 0 12831.89 02:33:46 m

: AshtechGps::processRecord() - $GPGGA,170712.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170712.69,3649.0740,N,-12150.4890,W,1,03,00.5,028.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170713.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170713.69,3649.0740,N,-12150.4897,W,1,03,00.5,028.4,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170714.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.98 15.82 4.09 4.13 0  1444.41 02:33:48 m

: NMEA Update: $GPGGA,170714.69,3649.0740,N,-12150.4903,W,1,03,00.5,028.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170715.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170715.69,3649.0740,N,-12150.4909,W,1,03,00.5,027.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170716.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170716.69,3649.0740,N,-12150.4916,W,1,03,00.5,027.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170717.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170717.69,3649.0740,N,-12150.4923,W,1,03,00.5,027.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170718.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170718.69,3649.0740,N,-12150.4929,W,1,03,00.5,027.6,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170719.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170719.69,3649.0739,N,-12150.4935,W,1,03,00.5,027.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170720.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170720.69,3649.0739,N,-12150.4941,W,1,03,00.5,026.5,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170721.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170721.69,3649.0739,N,-12150.4948,W,1,03,00.5,026.5,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 32.94  2.03 15.13 4.10 4.12 0 12831.74 02:33:56 m

: AshtechGps::processRecord() - $GPGGA,170722.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170722.69,3649.0739,N,-12150.4954,W,1,03,00.5,026.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170723.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170723.69,3649.0739,N,-12150.4959,W,1,03,00.5,026.6,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170724.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.80 15.82 4.09 4.13 0  1444.20 02:33:58 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170724.69,3649.0740,N,-12150.4966,W,1,03,00.5,025.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170725.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170725.69,3649.0740,N,-12150.4972,W,1,03,00.5,025.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,170726.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170726.69,3649.0740,N,-12150.4978,W,1,03,00.5,025.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170727.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170727.69,3649.0740,N,-12150.4985,W,1,03,00.5,025.2,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170728.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,170728.69,3649.0740,N,-12150.4991,W,1,03,00.5,024.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170729.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170729.69,3649.0740,N,-12150.4998,W,1,03,00.5,024.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170730.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170730.69,3649.0740,N,-12150.5004,W,1,03,00.5,024.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170731.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170731.69,3649.0740,N,-12150.5011,W,1,03,00.5,024.3,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 32.94  1.96 15.23 4.10 4.12 0 12831.51 02:34:06 m

: AshtechGps::processRecord() - $GPGGA,170732.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170732.69,3649.0740,N,-12150.5017,W,1,03,00.5,023.7,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170733.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170733.69,3649.0741,N,-12150.5023,W,1,03,00.5,023.4,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170734.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.08 15.72 4.09 4.12 0  1443.88 02:34:08 m

: NMEA Update: $GPGGA,170734.69,3649.0741,N,-12150.5030,W,1,03,00.5,023.4,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170735.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170735.69,3649.0741,N,-12150.5036,W,1,03,00.5,023.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170736.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170736.69,3649.0741,N,-12150.5042,W,1,03,00.5,022.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170737.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170737.69,3649.0741,N,-12150.5048,W,1,03,00.5,022.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170738.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170738.69,3649.0741,N,-12150.5054,W,1,03,00.5,022.3,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170739.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170739.69,3649.0741,N,-12150.5061,W,1,03,00.5,022.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170740.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170740.69,3649.0741,N,-12150.5067,W,1,03,00.5,021.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170741.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170741.69,3649.0741,N,-12150.5073,W,1,03,00.5,021.4,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.94  1.85 15.03 4.10 4.12 0 12831.35 02:34:16 m

: AshtechGps::processRecord() - $GPGGA,170742.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170742.69,3649.0741,N,-12150.5080,W,1,03,00.5,021.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170743.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170743.69,3649.0741,N,-12150.5086,W,1,03,00.5,020.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170744.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  3.19 15.82 4.09 4.12 0  1443.68 02:34:18 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170744.69,3649.0741,N,-12150.5093,W,1,03,00.5,020.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170745.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170745.69,3649.0741,N,-12150.5099,W,1,03,00.5,020.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170746.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170746.69,3649.0742,N,-12150.5105,W,1,03,00.5,020.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170747.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=49.87
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170747.69,3649.0742,N,-12150.5112,W,1,03,00.5,019.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170748.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170748.69,3649.0742,N,-12150.5118,W,1,03,00.5,020.0,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=49.84
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170749.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170749.69,3649.0742,N,-12150.5124,W,1,03,00.5,019.8,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170750.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=49.20
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170750.69,3649.0742,N,-12150.5130,W,1,03,00.5,019.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170751.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=49.37
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170751.69,3649.0742,N,-12150.5137,W,1,03,00.5,019.2,M,-99.9,M,,*4f

: BluefinBatt Reply: $aaq0 d- 32.98  1.92 15.23 4.10 4.12 0 12831.11 02:34:26 m

: AshtechGps::processRecord() - $GPGGA,170752.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170752.69,3649.0742,N,-12150.5143,W,1,03,00.5,019.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170753.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=49.14
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170753.69,3649.0742,N,-12150.5149,W,1,03,00.5,019.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170754.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  3.12 15.82 4.09 4.12 0  1443.35 02:34:28 m

: LayeredControl _resolvedCommand - vertMode=2 vert=48.58
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170754.69,3649.0742,N,-12150.5155,W,1,03,00.5,018.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170755.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170755.69,3649.0742,N,-12150.5161,W,1,03,00.5,018.3,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=48.35
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170756.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170756.69,3649.0742,N,-12150.5168,W,1,03,00.5,018.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170757.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=47.78
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170757.69,3649.0742,N,-12150.5174,W,1,03,00.5,017.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170758.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=47.80
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170758.69,3649.0742,N,-12150.5180,W,1,03,00.5,017.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170759.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170759.69,3649.0742,N,-12150.5186,W,1,03,00.5,017.4,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170800.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=47.50
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170800.69,3649.0742,N,-12150.5192,W,1,03,00.5,016.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170801.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=47.07
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170801.69,3649.0742,N,-12150.5198,W,1,03,00.5,016.7,M,-99.9,M,,*4a

: BluefinBatt Reply: $aaq0 d- 32.94  2.22 15.13 4.10 4.12 0 12830.96 02:34:36 m

: AshtechGps::processRecord() - $GPGGA,170802.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170802.69,3649.0742,N,-12150.5204,W,1,03,00.5,016.3,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=46.68
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170803.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170803.69,3649.0742,N,-12150.5210,W,1,03,00.5,016.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170804.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.80 15.82 4.09 4.12 0  1443.14 02:34:38 m

: LayeredControl _resolvedCommand - vertMode=2 vert=46.27
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170804.69,3649.0742,N,-12150.5216,W,1,03,00.5,015.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170805.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=46.04
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170805.69,3649.0742,N,-12150.5222,W,1,03,00.5,015.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170806.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170806.69,3649.0742,N,-12150.5228,W,1,03,00.5,015.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170807.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=45.72
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170807.69,3649.0742,N,-12150.5235,W,1,03,00.5,014.8,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170808.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=45.41
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170808.69,3649.0742,N,-12150.5241,W,1,03,00.5,015.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170809.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170809.69,3649.0742,N,-12150.5248,W,1,03,00.5,014.8,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=45.12
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170810.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170810.69,3649.0742,N,-12150.5254,W,1,03,00.5,014.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170811.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.79
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170811.69,3649.0742,N,-12150.5261,W,1,03,00.5,014.7,M,-99.9,M,,*4c

: BluefinBatt Reply: $aaq0 d- 32.94  2.11 15.13 4.10 4.12 0 12830.74 02:34:46 m

: AshtechGps::processRecord() - $GPGGA,170812.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=45.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170812.69,3649.0742,N,-12150.5267,W,1,03,00.5,014.6,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170813.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170813.69,3649.0743,N,-12150.5274,W,1,03,00.5,014.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170814.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.86
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.73 15.72 4.09 4.13 0  1442.81 02:34:48 m

: NMEA Update: $GPGGA,170814.69,3649.0743,N,-12150.5280,W,1,03,00.5,014.7,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170815.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=44.92
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170815.69,3649.0743,N,-12150.5286,W,1,03,00.5,014.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170816.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170816.50,3649.0743,N,-12150.5291,W,1,03,00.5,014.7,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=44.78
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170817.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170817.50,3649.0743,N,-12150.5297,W,1,03,00.5,014.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170818.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=44.63
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170818.50,3649.0743,N,-12150.5304,W,1,03,00.5,014.9,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170819.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170819.50,3649.0743,N,-12150.5310,W,1,03,00.5,014.9,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=44.36
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170820.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: Kearfott::deltaTime is 1.049928

: NMEA Update: $GPGGA,170821.45,3649.0743,N,-12150.5318,W,1,03,00.5,014.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170821.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.03
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170822.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170822.30,3649.0744,N,-12150.5329,W,1,03,00.5,015.1,M,-99.9,M,,*4c

: BluefinBatt Reply: $aaq0 d- 32.94  1.74 15.23 4.10 4.12 0 12830.53 02:34:56 m

: AshtechGps::processRecord() - $GPGGA,170823.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.18
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170823.30,3649.0744,N,-12150.5336,W,1,03,00.5,015.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170824.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170824.30,3649.0744,N,-12150.5342,W,1,03,00.5,015.2,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=44.23
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 33.13  2.62 15.72 4.09 4.13 0  1442.60 02:34:59 m

: AshtechGps::processRecord() - $GPGGA,170825.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170825.30,3649.0744,N,-12150.5348,W,1,03,00.5,015.5,M,-99.9,M,,*48

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170826.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.21
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170826.30,3649.0745,N,-12150.5354,W,1,03,00.5,015.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170827.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170827.30,3649.0745,N,-12150.5361,W,1,03,00.5,015.8,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=43.98
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170828.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170828.30,3649.0745,N,-12150.5367,W,1,03,00.5,015.7,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=44.20
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170829.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170829.30,3649.0745,N,-12150.5373,W,1,03,00.5,015.8,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170830.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.90
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170830.30,3649.0746,N,-12150.5379,W,1,03,00.5,015.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170831.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170831.30,3649.0746,N,-12150.5385,W,1,03,00.5,015.8,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=43.90
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.98  1.89 15.03 4.10 4.13 0 12830.39 02:35:06 m

: AshtechGps::processRecord() - $GPGGA,170832.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170832.30,3649.0746,N,-12150.5391,W,1,03,00.5,015.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170833.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.90
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170833.30,3649.0746,N,-12150.5397,W,1,03,00.5,015.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170834.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  2.73 15.72 4.09 4.13 0  1442.30 02:35:08 m

: updating external sensors

: NMEA Update: $GPGGA,170834.30,3649.0746,N,-12150.5404,W,1,03,00.5,015.8,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=43.77
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170835.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170835.30,3649.0746,N,-12150.5410,W,1,03,00.5,015.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=43.91
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170836.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170836.30,3649.0746,N,-12150.5417,W,1,03,00.5,015.8,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170837.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.65
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170837.30,3649.0746,N,-12150.5423,W,1,03,00.5,015.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170838.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170838.30,3649.0746,N,-12150.5430,W,1,03,00.5,016.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=43.93
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170839.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170839.30,3649.0746,N,-12150.5436,W,1,03,00.5,015.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170840.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.70
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170840.30,3649.0746,N,-12150.5443,W,1,03,00.5,015.9,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170841.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170841.30,3649.0746,N,-12150.5449,W,1,03,00.5,016.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=43.57
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.94  2.15 15.23 4.10 4.13 0 12830.24 02:35:16 m

: AshtechGps::processRecord() - $GPGGA,170842.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170842.30,3649.0746,N,-12150.5455,W,1,03,00.5,016.3,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=43.90
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170843.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170843.30,3649.0747,N,-12150.5462,W,1,03,00.5,016.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,170844.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $c0q0 d- 33.13  3.08 15.72 4.09 4.13 0  1442.09 02:35:18 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.61
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170844.30,3649.0747,N,-12150.5468,W,1,03,00.5,016.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170845.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170845.30,3649.0747,N,-12150.5475,W,1,03,00.5,016.5,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=43.98
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170846.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170846.30,3649.0747,N,-12150.5481,W,1,03,00.5,016.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170847.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.45
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170847.30,3649.0747,N,-12150.5488,W,1,03,00.5,016.5,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170848.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170848.30,3649.0747,N,-12150.5495,W,1,03,00.5,016.5,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=43.70
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170849.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170849.30,3649.0747,N,-12150.5501,W,1,03,00.5,016.6,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=43.71
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170850.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170850.30,3649.0747,N,-12150.5507,W,1,03,00.5,016.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170851.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.72
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170851.30,3649.0747,N,-12150.5514,W,1,03,00.5,016.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170852.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.90  2.22 15.13 4.10 4.12 0 12830.01 02:35:26 m

: updating external sensors

: NMEA Update: $GPGGA,170852.30,3649.0747,N,-12150.5520,W,1,03,00.5,016.5,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=43.31
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170853.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170853.30,3649.0747,N,-12150.5527,W,1,03,00.5,016.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170854.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.50
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.83 15.72 4.09 4.13 0  1441.77 02:35:28 m

: NMEA Update: $GPGGA,170854.30,3649.0747,N,-12150.5534,W,1,03,00.5,016.7,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170855.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170855.30,3649.0747,N,-12150.5541,W,1,03,00.5,016.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=43.11
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170856.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170856.30,3649.0747,N,-12150.5548,W,1,03,00.5,016.9,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=43.51
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170857.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170857.30,3649.0747,N,-12150.5554,W,1,03,00.5,016.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170858.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.57
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170858.30,3649.0747,N,-12150.5561,W,1,03,00.5,017.1,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170859.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170859.30,3649.0747,N,-12150.5567,W,1,03,00.5,017.1,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=43.31
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170900.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170900.30,3649.0746,N,-12150.5574,W,1,03,00.5,017.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170901.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.64
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170901.30,3649.0747,N,-12150.5580,W,1,03,00.5,017.2,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 32.90  2.11 15.13 4.10 4.12 0 12829.85 02:35:36 m

: AshtechGps::processRecord() - $GPGGA,170902.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170902.30,3649.0747,N,-12150.5587,W,1,03,00.5,017.1,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=43.36
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170903.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170903.30,3649.0747,N,-12150.5594,W,1,03,00.5,017.3,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=43.55
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170904.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.91 15.72 4.09 4.13 0  1441.55 02:35:38 m

: NMEA Update: $GPGGA,170904.30,3649.0747,N,-12150.5600,W,1,03,00.5,017.4,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170905.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=43.47
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170905.30,3649.0747,N,-12150.5607,W,1,03,00.5,017.4,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170906.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170906.30,3649.0747,N,-12150.5613,W,1,03,00.5,017.5,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=43.47
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170907.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170907.30,3649.0747,N,-12150.5620,W,1,03,00.5,017.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170908.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.45
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170908.30,3649.0747,N,-12150.5626,W,1,03,00.5,017.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170909.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170909.30,3649.0747,N,-12150.5633,W,1,03,00.5,017.4,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=43.29
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170910.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170910.30,3649.0746,N,-12150.5639,W,1,03,00.5,017.4,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=43.19
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 1.049928

: NMEA Update: $GPGGA,170911.83,3649.0747,N,-12150.5644,W,1,03,00.5,017.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170911.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,170912.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170912.70,3649.0747,N,-12150.5656,W,1,03,00.5,017.4,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.90  2.18 15.13 4.10 4.12 0 12829.63 02:35:46 m

: AshtechGps::processRecord() - $GPGGA,170913.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.20
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170913.70,3649.0747,N,-12150.5662,W,1,03,00.5,017.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,170914.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.64
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170914.70,3649.0747,N,-12150.5669,W,1,03,00.5,017.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170915.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  2.48 15.72 4.09 4.13 0  1441.27 02:35:49 m

: NMEA Update: $GPGGA,170915.70,3649.0746,N,-12150.5675,W,1,03,00.5,017.5,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=43.07
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170916.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170916.70,3649.0746,N,-12150.5682,W,1,03,00.5,017.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,170917.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.48
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170917.70,3649.0746,N,-12150.5688,W,1,03,00.5,017.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170918.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.02
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170918.70,3649.0746,N,-12150.5694,W,1,03,00.5,017.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170919.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170919.70,3649.0746,N,-12150.5700,W,1,03,00.5,017.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170920.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.34
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170920.70,3649.0746,N,-12150.5707,W,1,03,00.5,017.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170921.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.21
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170921.70,3649.0746,N,-12150.5713,W,1,03,00.5,017.5,M,-99.9,M,,*43

: BluefinBatt Reply: $aaq0 d- 32.94  2.03 15.13 4.10 4.12 0 12829.51 02:35:56 m

: AshtechGps::processRecord() - $GPGGA,170922.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170922.70,3649.0746,N,-12150.5719,W,1,03,00.5,017.5,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=43.24
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170923.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170923.70,3649.0746,N,-12150.5725,W,1,03,00.5,017.6,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170924.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  3.05 15.72 4.09 4.13 0  1441.05 02:35:58 m

: Kearfott::deltaTime is 0.769947

: LayeredControl _resolvedCommand - vertMode=2 vert=43.25
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170925.11,3649.0746,N,-12150.5729,W,1,03,00.5,017.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170925.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,170926.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170926.10,3649.0746,N,-12150.5740,W,1,03,00.5,017.6,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=43.45
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170927.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170927.10,3649.0747,N,-12150.5747,W,1,03,00.5,017.6,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=43.15
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170928.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170928.10,3649.0747,N,-12150.5754,W,1,03,00.5,017.6,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170929.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170929.09,3649.0747,N,-12150.5761,W,1,03,00.5,017.7,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=43.04
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170930.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170930.09,3649.0747,N,-12150.5767,W,1,03,00.5,017.5,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=43.36
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170931.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170931.09,3649.0747,N,-12150.5774,W,1,03,00.5,017.6,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.90  2.22 15.13 4.10 4.13 0 12829.29 02:36:06 m

: AshtechGps::processRecord() - $GPGGA,170932.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.18
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,170932.09,3649.0747,N,-12150.5780,W,1,03,00.5,017.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170933.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170933.09,3649.0747,N,-12150.5787,W,1,03,00.5,017.6,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=43.36
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170934.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.66 15.72 4.09 4.13 0  1440.74 02:36:08 m

: NMEA Update: $GPGGA,170934.09,3649.0747,N,-12150.5793,W,1,03,00.5,017.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=43.07
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170935.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,170935.09,3649.0747,N,-12150.5800,W,1,03,00.5,017.8,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: Kearfott::deltaTime is 0.979933

: NMEA Update: $GPGGA,170936.75,3649.0747,N,-12150.5806,W,1,03,00.5,017.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170936.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,170937.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.05
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170937.69,3649.0747,N,-12150.5817,W,1,03,00.5,017.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170938.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.18
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170938.69,3649.0747,N,-12150.5824,W,1,03,00.5,017.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,170939.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170939.69,3649.0747,N,-12150.5830,W,1,03,00.5,017.8,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=43.03
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170940.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170940.69,3649.0747,N,-12150.5836,W,1,03,00.5,017.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,170941.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.38
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170941.69,3649.0748,N,-12150.5842,W,1,03,00.5,017.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170942.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.15 15.13 4.10 4.13 0 12829.16 02:36:16 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.15
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170942.69,3649.0748,N,-12150.5848,W,1,03,00.5,017.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,170943.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170943.69,3649.0748,N,-12150.5854,W,1,03,00.5,017.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170944.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.91
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.94 15.72 4.09 4.13 0  1440.55 02:36:18 m

: NMEA Update: $GPGGA,170944.69,3649.0748,N,-12150.5860,W,1,03,00.5,017.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170945.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=43.20
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170945.69,3649.0748,N,-12150.5866,W,1,03,00.5,017.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,170946.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170946.69,3649.0748,N,-12150.5872,W,1,03,00.5,017.8,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=42.99
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170947.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170947.69,3649.0749,N,-12150.5879,W,1,03,00.5,017.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,170948.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=42.46
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170948.69,3649.0749,N,-12150.5886,W,1,03,00.5,017.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170949.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.73
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170949.69,3649.0749,N,-12150.5893,W,1,03,00.5,017.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,170950.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,170950.69,3649.0749,N,-12150.5899,W,1,03,00.5,017.7,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,170951.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.88
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170951.69,3649.0749,N,-12150.5906,W,1,03,00.5,017.7,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 32.94  2.18 15.03 4.10 4.12 0 12828.93 02:36:26 m

: AshtechGps::processRecord() - $GPGGA,170952.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.26
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170952.69,3649.0749,N,-12150.5913,W,1,03,00.5,017.8,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,170953.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170953.69,3649.0749,N,-12150.5919,W,1,03,00.5,017.6,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=43.09
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,170954.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.98 15.72 4.09 4.12 0  1440.23 02:36:28 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,170954.69,3649.0749,N,-12150.5925,W,1,03,00.5,017.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,170955.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=43.07
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170955.69,3649.0749,N,-12150.5931,W,1,03,00.5,017.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,170956.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.41
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170956.69,3649.0749,N,-12150.5937,W,1,03,00.5,018.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,170957.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,170957.69,3649.0749,N,-12150.5944,W,1,03,00.5,017.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,170958.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.15
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,170958.69,3649.0750,N,-12150.5950,W,1,03,00.5,017.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,170959.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.07
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,170959.69,3649.0750,N,-12150.5956,W,1,03,00.5,017.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171000.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171000.69,3649.0750,N,-12150.5963,W,1,03,00.5,017.8,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=42.90
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171001.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171001.69,3649.0750,N,-12150.5969,W,1,03,00.5,017.8,M,-99.9,M,,*48

: BluefinBatt Reply: $aaq0 d- 32.90  2.18 15.13 4.10 4.12 0 12828.79 02:36:36 m

: AshtechGps::processRecord() - $GPGGA,171002.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.08
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171002.69,3649.0750,N,-12150.5976,W,1,03,00.5,017.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171003.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.10
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171003.69,3649.0750,N,-12150.5982,W,1,03,00.5,017.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171004.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.83 15.62 4.09 4.12 0  1440.02 02:36:38 m

: NMEA Update: $GPGGA,171004.69,3649.0750,N,-12150.5989,W,1,03,00.5,017.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171005.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.97
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171005.69,3649.0750,N,-12150.5996,W,1,03,00.5,017.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171006.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=42.74
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171006.69,3649.0750,N,-12150.6003,W,1,03,00.5,018.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171007.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171007.69,3649.0750,N,-12150.6010,W,1,03,00.5,017.7,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=42.94
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171008.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171008.69,3649.0749,N,-12150.6017,W,1,03,00.5,018.0,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171009.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.96
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171009.69,3649.0750,N,-12150.6023,W,1,03,00.5,017.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171010.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.02
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171010.69,3649.0750,N,-12150.6029,W,1,03,00.5,018.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171011.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171011.69,3649.0750,N,-12150.6036,W,1,03,00.5,018.1,M,-99.9,M,,*4f

: BluefinBatt Reply: $aaq0 d- 32.94  2.22 15.03 4.10 4.12 0 12828.56 02:36:46 m

: AshtechGps::processRecord() - $GPGGA,171012.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.23
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171012.69,3649.0750,N,-12150.6042,W,1,03,00.5,018.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171013.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.95
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171013.69,3649.0750,N,-12150.6049,W,1,03,00.5,018.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171014.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  2.94 15.62 4.09 4.12 0  1439.70 02:36:48 m

: updating external sensors

: NMEA Update: $GPGGA,171014.69,3649.0750,N,-12150.6056,W,1,03,00.5,018.1,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=43.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171015.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171015.69,3649.0750,N,-12150.6062,W,1,03,00.5,018.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171016.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.01
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171016.69,3649.0750,N,-12150.6069,W,1,03,00.5,018.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171017.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.06
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171017.69,3649.0750,N,-12150.6076,W,1,03,00.5,018.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171018.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171018.69,3649.0750,N,-12150.6082,W,1,03,00.5,018.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171019.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.93
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 0.859941

: updating external sensors

: NMEA Update: $GPGGA,171020.67,3649.0750,N,-12150.6090,W,1,03,00.5,018.2,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171020.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171021.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.19
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171021.49,3649.0750,N,-12150.6100,W,1,03,00.5,018.2,M,-99.9,M,,*49

: BluefinBatt Reply: $aaq0 d- 32.94  1.70 15.13 4.10 4.12 0 12828.41 02:36:56 m

: AshtechGps::processRecord() - $GPGGA,171022.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171022.49,3649.0750,N,-12150.6106,W,1,03,00.5,018.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=42.88
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171023.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171023.49,3649.0750,N,-12150.6113,W,1,03,00.5,018.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171024.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.66
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 33.13  2.55 15.62 4.09 4.12 0  1439.50 02:36:58 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171024.49,3649.0750,N,-12150.6119,W,1,03,00.5,018.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171025.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=42.80
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171025.49,3649.0751,N,-12150.6126,W,1,03,00.5,018.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171026.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171026.49,3649.0751,N,-12150.6132,W,1,03,00.5,017.8,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=42.72
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171027.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171027.49,3649.0751,N,-12150.6139,W,1,03,00.5,017.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171028.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=42.93
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171028.49,3649.0751,N,-12150.6146,W,1,03,00.5,017.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171029.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171029.49,3649.0751,N,-12150.6152,W,1,03,00.5,017.9,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=42.56
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171030.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171030.49,3649.0751,N,-12150.6158,W,1,03,00.5,017.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171031.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.70
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171031.49,3649.0751,N,-12150.6164,W,1,03,00.5,017.8,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.90  2.26 15.03 4.10 4.12 0 12828.21 02:37:06 m

: AshtechGps::processRecord() - $GPGGA,171032.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.04
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171032.49,3649.0751,N,-12150.6170,W,1,03,00.5,018.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171033.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171033.49,3649.0752,N,-12150.6176,W,1,03,00.5,017.9,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=42.76
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171034.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.09  2.91 15.62 4.09 4.12 0  1439.19 02:37:08 m

: updating external sensors

: NMEA Update: $GPGGA,171034.49,3649.0752,N,-12150.6182,W,1,03,00.5,017.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171035.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=42.73
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171035.49,3649.0752,N,-12150.6188,W,1,03,00.5,018.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171036.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171036.49,3649.0752,N,-12150.6195,W,1,03,00.5,017.9,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=42.99
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171037.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171037.49,3649.0753,N,-12150.6202,W,1,03,00.5,018.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171038.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.06
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171038.49,3649.0753,N,-12150.6209,W,1,03,00.5,018.0,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171039.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.90
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171039.49,3649.0753,N,-12150.6215,W,1,03,00.5,017.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171040.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171040.49,3649.0753,N,-12150.6222,W,1,03,00.5,018.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=42.95
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171041.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171041.49,3649.0753,N,-12150.6228,W,1,03,00.5,017.7,M,-99.9,M,,*4f

: BluefinBatt Reply: $aaq0 d- 32.90  2.26 15.03 4.10 4.12 0 12828.04 02:37:16 m

: AshtechGps::processRecord() - $GPGGA,171042.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.11
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171042.30,3649.0753,N,-12150.6233,W,1,03,00.5,018.1,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171043.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171043.30,3649.0752,N,-12150.6239,W,1,03,00.5,018.1,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=43.11
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171044.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.09  2.94 15.62 4.09 4.12 0  1438.99 02:37:18 m

: updating external sensors

: NMEA Update: $GPGGA,171044.30,3649.0752,N,-12150.6246,W,1,03,00.5,017.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171045.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.68
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171045.30,3649.0752,N,-12150.6253,W,1,03,00.5,018.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171046.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,171046.30,3649.0752,N,-12150.6259,W,1,03,00.5,017.8,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=43.02
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171047.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171047.30,3649.0753,N,-12150.6266,W,1,03,00.5,018.1,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=42.99
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171048.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171048.30,3649.0752,N,-12150.6273,W,1,03,00.5,018.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171049.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.83
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171049.30,3649.0752,N,-12150.6280,W,1,03,00.5,018.1,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171050.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171050.30,3649.0752,N,-12150.6286,W,1,03,00.5,018.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=43.04
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171051.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171051.30,3649.0752,N,-12150.6293,W,1,03,00.5,018.2,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 32.94  2.00 15.03 4.10 4.12 0 12827.80 02:37:26 m

: AshtechGps::processRecord() - $GPGGA,171052.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.94
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171052.30,3649.0752,N,-12150.6300,W,1,03,00.5,018.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171053.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171053.30,3649.0752,N,-12150.6306,W,1,03,00.5,018.3,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=42.85
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171054.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.09  2.66 15.62 4.09 4.12 0  1438.67 02:37:28 m

: updating external sensors

: NMEA Update: $GPGGA,171054.30,3649.0752,N,-12150.6312,W,1,03,00.5,018.1,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=43.18
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171055.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171055.30,3649.0752,N,-12150.6319,W,1,03,00.5,018.3,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171056.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=42.74
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171056.30,3649.0752,N,-12150.6326,W,1,03,00.5,018.2,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171057.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171057.30,3649.0752,N,-12150.6332,W,1,03,00.5,018.2,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=42.86
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171058.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171058.30,3649.0752,N,-12150.6339,W,1,03,00.5,018.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171059.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.74
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171059.30,3649.0752,N,-12150.6346,W,1,03,00.5,018.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171100.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171100.30,3649.0752,N,-12150.6353,W,1,03,00.5,018.2,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=42.74
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171101.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171101.30,3649.0752,N,-12150.6359,W,1,03,00.5,018.2,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=42.96
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.90  2.15 14.94 4.10 4.12 0 12827.64 02:37:36 m

: AshtechGps::processRecord() - $GPGGA,171102.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171102.30,3649.0752,N,-12150.6366,W,1,03,00.5,018.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171103.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.96
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171103.30,3649.0752,N,-12150.6372,W,1,03,00.5,018.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171104.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  3.16 15.62 4.09 4.12 0  1438.44 02:37:38 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171104.30,3649.0752,N,-12150.6379,W,1,03,00.5,018.2,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=42.84
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171105.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171105.30,3649.0752,N,-12150.6386,W,1,03,00.5,018.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171106.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.97
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171106.30,3649.0752,N,-12150.6392,W,1,03,00.5,018.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171107.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171107.30,3649.0752,N,-12150.6399,W,1,03,00.5,018.1,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=42.87
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171108.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171108.30,3649.0752,N,-12150.6405,W,1,03,00.5,018.4,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=42.93
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171109.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171109.30,3649.0752,N,-12150.6412,W,1,03,00.5,018.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171110.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=42.92
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171110.30,3649.0752,N,-12150.6419,W,1,03,00.5,018.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171111.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171111.30,3649.0752,N,-12150.6426,W,1,03,00.5,018.1,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=42.63
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171112.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.90  2.30 15.03 4.10 4.12 0 12827.41 02:37:46 m

: updating external sensors

: NMEA Update: $GPGGA,171112.30,3649.0752,N,-12150.6433,W,1,03,00.5,018.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171113.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.86
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171113.30,3649.0753,N,-12150.6440,W,1,03,00.5,018.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171114.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  3.01 15.52 4.09 4.12 0  1438.13 02:37:48 m

: NMEA Update: $GPGGA,171114.30,3649.0753,N,-12150.6446,W,1,03,00.5,018.1,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=43.01
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171115.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171115.30,3649.0753,N,-12150.6453,W,1,03,00.5,018.4,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=43.24
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171116.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171116.30,3649.0753,N,-12150.6460,W,1,03,00.5,018.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171117.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.11
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171117.30,3649.0754,N,-12150.6466,W,1,03,00.5,018.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171118.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171118.30,3649.0754,N,-12150.6473,W,1,03,00.5,018.6,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.02
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171119.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171119.30,3649.0754,N,-12150.6479,W,1,03,00.5,018.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171120.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.02
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171120.30,3649.0754,N,-12150.6485,W,1,03,00.5,018.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171121.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171121.30,3649.0754,N,-12150.6492,W,1,03,00.5,018.4,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=43.08
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.90  2.26 15.03 4.10 4.12 0 12827.25 02:37:56 m

: AshtechGps::processRecord() - $GPGGA,171122.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171122.30,3649.0753,N,-12150.6499,W,1,03,00.5,018.4,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=42.81
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171123.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171123.30,3649.0753,N,-12150.6507,W,1,03,00.5,018.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171124.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.83 15.52 4.09 4.12 0  1437.91 02:37:58 m

: LayeredControl _resolvedCommand - vertMode=2 vert=42.85
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171124.30,3649.0753,N,-12150.6514,W,1,03,00.5,018.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171125.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171125.30,3649.0754,N,-12150.6521,W,1,03,00.5,018.4,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=43.18
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171126.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171126.30,3649.0754,N,-12150.6528,W,1,03,00.5,018.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171127.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=42.54
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171127.30,3649.0754,N,-12150.6534,W,1,03,00.5,018.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171128.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171128.30,3649.0754,N,-12150.6541,W,1,03,00.5,018.7,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=43.04
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171129.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171129.30,3649.0754,N,-12150.6547,W,1,03,00.5,018.6,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.38
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171130.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171130.30,3649.0754,N,-12150.6553,W,1,03,00.5,018.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171131.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.60
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171131.30,3649.0754,N,-12150.6560,W,1,03,00.5,018.8,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 32.94  2.11 14.94 4.10 4.12 0 12827.03 02:38:06 m

: NMEA Update: $GPGGA,171132.76,3649.0754,N,-12150.6564,W,1,03,00.5,018.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171132.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: Kearfott::deltaTime is 1.059927

: AshtechGps::processRecord() - $GPGGA,171133.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.04
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171133.70,3649.0754,N,-12150.6576,W,1,03,00.5,018.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171134.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171134.70,3649.0754,N,-12150.6583,W,1,03,00.5,018.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171135.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.01 15.62 4.09 4.12 0  1437.61 02:38:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.21
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171135.70,3649.0754,N,-12150.6589,W,1,03,00.5,018.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171136.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.12
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171136.70,3649.0754,N,-12150.6596,W,1,03,00.5,018.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171137.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171137.70,3649.0755,N,-12150.6602,W,1,03,00.5,018.7,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=43.18
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171138.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171138.70,3649.0755,N,-12150.6609,W,1,03,00.5,018.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171139.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.26
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171139.70,3649.0755,N,-12150.6615,W,1,03,00.5,018.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171140.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.20
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171140.70,3649.0755,N,-12150.6621,W,1,03,00.5,018.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171141.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171141.70,3649.0755,N,-12150.6628,W,1,03,00.5,018.7,M,-99.9,M,,*49

: BluefinBatt Reply: $aaq0 d- 32.94  2.03 14.94 4.10 4.12 0 12826.89 02:38:16 m

: AshtechGps::processRecord() - $GPGGA,171142.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.27
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171142.70,3649.0755,N,-12150.6634,W,1,03,00.5,018.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171143.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.39
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171143.70,3649.0756,N,-12150.6640,W,1,03,00.5,018.7,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171144.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  3.01 15.52 4.09 4.12 0  1437.41 02:38:18 m

: NMEA Update: $GPGGA,171144.70,3649.0756,N,-12150.6646,W,1,03,00.5,018.7,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=43.32
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171145.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171145.70,3649.0756,N,-12150.6653,W,1,03,00.5,018.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171146.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.37
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171146.70,3649.0756,N,-12150.6659,W,1,03,00.5,018.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171147.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.42
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171147.70,3649.0756,N,-12150.6666,W,1,03,00.5,018.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171148.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171148.70,3649.0756,N,-12150.6673,W,1,03,00.5,018.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171149.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.41
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171149.70,3649.0756,N,-12150.6679,W,1,03,00.5,019.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171150.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.43
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171150.70,3649.0756,N,-12150.6686,W,1,03,00.5,018.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171151.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171151.70,3649.0756,N,-12150.6692,W,1,03,00.5,018.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=43.48
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.90  2.15 15.03 4.10 4.12 0 12826.67 02:38:26 m

: AshtechGps::processRecord() - $GPGGA,171152.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171152.70,3649.0756,N,-12150.6699,W,1,03,00.5,018.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171153.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.49
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171153.70,3649.0756,N,-12150.6706,W,1,03,00.5,018.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171154.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.09  2.98 15.62 4.09 4.12 0  1437.10 02:38:28 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.37
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171154.69,3649.0756,N,-12150.6712,W,1,03,00.5,018.9,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171155.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171155.69,3649.0756,N,-12150.6719,W,1,03,00.5,018.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171156.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.77
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171156.69,3649.0756,N,-12150.6725,W,1,03,00.5,019.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171157.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.87
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171157.69,3649.0755,N,-12150.6731,W,1,03,00.5,019.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171158.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171158.69,3649.0755,N,-12150.6737,W,1,03,00.5,019.2,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=43.85
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171159.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171159.69,3649.0755,N,-12150.6744,W,1,03,00.5,019.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171200.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.75
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171200.69,3649.0755,N,-12150.6750,W,1,03,00.5,019.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171201.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.76
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171201.69,3649.0755,N,-12150.6757,W,1,03,00.5,019.3,M,-99.9,M,,*4a

: BluefinBatt Reply: $aaq0 d- 32.90  2.03 14.94 4.10 4.12 0 12826.52 02:38:36 m

: AshtechGps::processRecord() - $GPGGA,171202.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,171202.69,3649.0755,N,-12150.6764,W,1,03,00.5,019.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171203.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.04
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171203.69,3649.0755,N,-12150.6771,W,1,03,00.5,019.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171204.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.09  2.76 15.62 4.09 4.12 0  1436.89 02:38:38 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.77
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171204.69,3649.0756,N,-12150.6778,W,1,03,00.5,019.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171205.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171205.69,3649.0756,N,-12150.6785,W,1,03,00.5,019.2,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=44.20
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171206.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171206.69,3649.0756,N,-12150.6791,W,1,03,00.5,019.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171207.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.14
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171207.69,3649.0756,N,-12150.6798,W,1,03,00.5,019.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171208.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=44.30
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171208.69,3649.0756,N,-12150.6804,W,1,03,00.5,019.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171209.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171209.69,3649.0756,N,-12150.6810,W,1,03,00.5,019.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171210.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.55
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171210.69,3649.0756,N,-12150.6816,W,1,03,00.5,019.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171211.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.16
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171211.69,3649.0756,N,-12150.6822,W,1,03,00.5,019.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171212.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.90  2.00 14.94 4.10 4.12 0 12826.29 02:38:46 m

: updating external sensors

: NMEA Update: $GPGGA,171212.69,3649.0756,N,-12150.6829,W,1,03,00.5,019.3,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=44.27
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171213.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171213.69,3649.0756,N,-12150.6836,W,1,03,00.5,019.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171214.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.80 15.52 4.09 4.12 0  1436.58 02:38:48 m

: LayeredControl _resolvedCommand - vertMode=2 vert=44.34
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171214.69,3649.0757,N,-12150.6844,W,1,03,00.5,019.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171215.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: LayeredControl _resolvedCommand - vertMode=2 vert=44.55
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171215.69,3649.0757,N,-12150.6850,W,1,03,00.5,019.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171216.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171216.69,3649.0757,N,-12150.6857,W,1,03,00.5,019.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171217.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.90
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171217.69,3649.0757,N,-12150.6863,W,1,03,00.5,019.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171218.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=45.15
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171218.69,3649.0757,N,-12150.6869,W,1,03,00.5,020.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171219.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171219.69,3649.0757,N,-12150.6875,W,1,03,00.5,020.1,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=45.06
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171220.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,171220.69,3649.0757,N,-12150.6881,W,1,03,00.5,020.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171221.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=45.19
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171221.69,3649.0757,N,-12150.6888,W,1,03,00.5,020.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171222.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.90  2.18 15.03 4.10 4.12 0 12826.14 02:38:56 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=45.10
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171222.69,3649.0757,N,-12150.6895,W,1,03,00.5,020.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171223.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171223.69,3649.0757,N,-12150.6902,W,1,03,00.5,020.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171224.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=45.34
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.13  2.73 15.52 4.09 4.12 0  1436.37 02:38:58 m

: Kearfott::deltaTime is 1.119923

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171225.46,3649.0757,N,-12150.6908,W,1,03,00.5,020.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171225.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171226.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=45.42
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171226.29,3649.0757,N,-12150.6920,W,1,03,00.5,020.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171227.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171227.29,3649.0757,N,-12150.6926,W,1,03,00.5,020.4,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=45.60
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171228.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171228.29,3649.0757,N,-12150.6932,W,1,03,00.5,020.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171229.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=45.88
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171229.29,3649.0758,N,-12150.6938,W,1,03,00.5,020.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171230.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171230.29,3649.0758,N,-12150.6944,W,1,03,00.5,020.5,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=46.17
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171231.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171231.29,3649.0758,N,-12150.6950,W,1,03,00.5,020.7,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=45.80
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171232.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.90  2.03 14.94 4.10 4.12 0 12825.92 02:39:06 m

: updating external sensors

: NMEA Update: $GPGGA,171232.29,3649.0758,N,-12150.6956,W,1,03,00.5,020.5,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171233.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=46.51
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171233.29,3649.0758,N,-12150.6962,W,1,03,00.5,020.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171234.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.87 15.52 4.09 4.12 0  1436.05 02:39:08 m

: NMEA Update: $GPGGA,171234.29,3649.0758,N,-12150.6968,W,1,03,00.5,020.5,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=46.32
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171235.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171235.29,3649.0758,N,-12150.6974,W,1,03,00.5,020.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171236.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=46.36
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171236.29,3649.0758,N,-12150.6980,W,1,03,00.5,020.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171237.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171237.29,3649.0758,N,-12150.6987,W,1,03,00.5,020.8,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=46.48
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171238.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171238.29,3649.0758,N,-12150.6993,W,1,03,00.5,020.7,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=46.74
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171239.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171239.29,3649.0758,N,-12150.7000,W,1,03,00.5,021.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171240.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=47.15
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171240.29,3649.0758,N,-12150.7006,W,1,03,00.5,021.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171241.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171241.29,3649.0758,N,-12150.7013,W,1,03,00.5,021.5,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=47.51
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.90  1.96 14.94 4.10 4.12 0 12825.76 02:39:16 m

: AshtechGps::processRecord() - $GPGGA,171242.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171242.29,3649.0758,N,-12150.7019,W,1,03,00.5,021.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171243.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=48.17
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171243.29,3649.0758,N,-12150.7025,W,1,03,00.5,021.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171244.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.91 15.52 4.09 4.12 0  1435.84 02:39:18 m

: NMEA Update: $GPGGA,171244.29,3649.0758,N,-12150.7030,W,1,03,00.5,021.7,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=48.30
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171245.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171245.29,3649.0758,N,-12150.7036,W,1,03,00.5,022.0,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=48.13
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171246.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171246.29,3649.0758,N,-12150.7042,W,1,03,00.5,021.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171247.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=48.57
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171247.29,3649.0759,N,-12150.7049,W,1,03,00.5,022.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171248.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171248.29,3649.0759,N,-12150.7055,W,1,03,00.5,021.9,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=49.01
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171249.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171249.29,3649.0759,N,-12150.7062,W,1,03,00.5,022.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171250.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=49.02
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171250.29,3649.0759,N,-12150.7068,W,1,03,00.5,022.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171251.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171251.29,3649.0759,N,-12150.7074,W,1,03,00.5,022.4,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=49.61
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.90  2.03 14.94 4.10 4.12 0 12825.53 02:39:26 m

: AshtechGps::processRecord() - $GPGGA,171252.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171252.29,3649.0760,N,-12150.7080,W,1,03,00.5,022.6,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=49.71
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171253.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171253.29,3649.0760,N,-12150.7086,W,1,03,00.5,022.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171254.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.98 15.52 4.09 4.12 0  1435.51 02:39:28 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171254.29,3649.0760,N,-12150.7092,W,1,03,00.5,022.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171255.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171255.29,3649.0760,N,-12150.7098,W,1,03,00.5,023.0,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171256.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171256.29,3649.0760,N,-12150.7104,W,1,03,00.5,022.7,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171257.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171257.29,3649.0760,N,-12150.7110,W,1,03,00.5,023.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171258.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171258.29,3649.0760,N,-12150.7116,W,1,03,00.5,023.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171259.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171259.29,3649.0760,N,-12150.7123,W,1,03,00.5,023.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171300.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171300.29,3649.0760,N,-12150.7129,W,1,03,00.5,023.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171301.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171301.29,3649.0761,N,-12150.7135,W,1,03,00.5,023.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171302.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.90  2.22 14.94 4.10 4.12 0 12825.37 02:39:36 m

: updating external sensors

: NMEA Update: $GPGGA,171302.29,3649.0761,N,-12150.7141,W,1,03,00.5,023.6,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171303.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171303.29,3649.0761,N,-12150.7148,W,1,03,00.5,023.7,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171304.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  3.16 15.52 4.09 4.12 0  1435.31 02:39:38 m

: NMEA Update: $GPGGA,171304.29,3649.0761,N,-12150.7154,W,1,03,00.5,023.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171305.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171305.29,3649.0761,N,-12150.7160,W,1,03,00.5,023.6,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171306.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171306.29,3649.0761,N,-12150.7166,W,1,03,00.5,024.0,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171307.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171307.29,3649.0761,N,-12150.7172,W,1,03,00.5,024.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171308.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171308.10,3649.0761,N,-12150.7176,W,1,03,00.5,024.6,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171309.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171309.10,3649.0761,N,-12150.7182,W,1,03,00.5,024.8,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171310.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171310.10,3649.0761,N,-12150.7189,W,1,03,00.5,024.6,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171311.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171311.10,3649.0761,N,-12150.7195,W,1,03,00.5,025.4,M,-99.9,M,,*42

: BluefinBatt Reply: $aaq0 d- 32.90  2.30 15.03 4.10 4.12 0 12825.13 02:39:46 m

: AshtechGps::processRecord() - $GPGGA,171312.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171312.10,3649.0761,N,-12150.7202,W,1,03,00.5,025.6,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171313.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171313.10,3649.0760,N,-12150.7208,W,1,03,00.5,025.5,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171314.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  3.01 15.52 4.08 4.12 0  1434.98 02:39:48 m

: NMEA Update: $GPGGA,171314.10,3649.0760,N,-12150.7215,W,1,03,00.5,025.9,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171315.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171315.10,3649.0760,N,-12150.7221,W,1,03,00.5,026.8,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171316.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171316.10,3649.0760,N,-12150.7227,W,1,03,00.5,026.4,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171317.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171317.10,3649.0760,N,-12150.7233,W,1,03,00.5,026.7,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171318.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171318.10,3649.0760,N,-12150.7239,W,1,03,00.5,027.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171319.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171319.10,3649.0760,N,-12150.7245,W,1,03,00.5,027.2,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171320.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171320.10,3649.0760,N,-12150.7252,W,1,03,00.5,027.8,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171321.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171321.10,3649.0760,N,-12150.7258,W,1,03,00.5,027.8,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.86  2.18 14.94 4.10 4.12 0 12824.98 02:39:56 m

: AshtechGps::processRecord() - $GPGGA,171322.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171322.10,3649.0760,N,-12150.7265,W,1,03,00.5,028.2,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171323.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171323.10,3649.0760,N,-12150.7271,W,1,03,00.5,028.4,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171324.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.83 15.52 4.08 4.12 0  1434.77 02:39:58 m

: NMEA Update: $GPGGA,171324.10,3649.0760,N,-12150.7278,W,1,03,00.5,028.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171325.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171325.10,3649.0760,N,-12150.7285,W,1,03,00.5,028.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171326.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171326.10,3649.0760,N,-12150.7292,W,1,03,00.5,028.9,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171327.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171327.10,3649.0760,N,-12150.7298,W,1,03,00.5,029.6,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171328.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171328.10,3649.0760,N,-12150.7304,W,1,03,00.5,029.9,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171329.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171329.10,3649.0760,N,-12150.7310,W,1,03,00.5,030.0,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171330.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171330.10,3649.0760,N,-12150.7317,W,1,03,00.5,030.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171331.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171331.10,3649.0760,N,-12150.7323,W,1,03,00.5,030.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171332.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.90  2.00 14.94 4.10 4.12 0 12824.73 02:40:06 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171332.10,3649.0760,N,-12150.7329,W,1,03,00.5,030.4,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171333.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171333.10,3649.0761,N,-12150.7336,W,1,03,00.5,030.4,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171334.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.80 15.52 4.08 4.12 0  1434.40 02:40:08 m

: NMEA Update: $GPGGA,171334.10,3649.0761,N,-12150.7343,W,1,03,00.5,031.2,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171335.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171335.10,3649.0761,N,-12150.7349,W,1,03,00.5,031.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171336.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,171336.10,3649.0761,N,-12150.7356,W,1,03,00.5,031.6,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171337.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171337.10,3649.0761,N,-12150.7363,W,1,03,00.5,031.6,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171338.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171338.10,3649.0761,N,-12150.7369,W,1,03,00.5,031.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171339.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171339.10,3649.0761,N,-12150.7375,W,1,03,00.5,032.2,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171340.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171340.10,3649.0762,N,-12150.7382,W,1,03,00.5,032.5,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171341.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171341.10,3649.0762,N,-12150.7388,W,1,03,00.5,032.8,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.94  1.89 14.94 4.10 4.12 0 12824.56 02:40:16 m

: AshtechGps::processRecord() - $GPGGA,171342.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171342.10,3649.0762,N,-12150.7394,W,1,03,00.5,032.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171343.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171343.10,3649.0762,N,-12150.7401,W,1,03,00.5,033.2,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171344.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.09  2.87 15.52 4.08 4.12 0  1434.16 02:40:18 m

: updating external sensors

: NMEA Update: $GPGGA,171344.10,3649.0763,N,-12150.7408,W,1,03,00.5,033.2,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171345.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171345.10,3649.0763,N,-12150.7414,W,1,03,00.5,033.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171346.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171346.10,3649.0763,N,-12150.7421,W,1,03,00.5,034.1,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171347.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171347.10,3649.0763,N,-12150.7428,W,1,03,00.5,034.0,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171348.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171348.10,3649.0763,N,-12150.7434,W,1,03,00.5,034.1,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171349.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171349.10,3649.0763,N,-12150.7441,W,1,03,00.5,034.5,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171350.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171350.10,3649.0763,N,-12150.7447,W,1,03,00.5,034.8,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171351.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171351.10,3649.0763,N,-12150.7454,W,1,03,00.5,035.2,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.82  2.89 14.94 4.10 4.12 0 12824.34 02:40:26 m

: AshtechGps::processRecord() - $GPGGA,171352.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171352.10,3649.0763,N,-12150.7461,W,1,03,00.5,035.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171353.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171353.10,3649.0764,N,-12150.7467,W,1,03,00.5,035.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171354.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  3.26 15.52 4.08 4.12 0  1433.83 02:40:28 m

: NMEA Update: $GPGGA,171354.10,3649.0764,N,-12150.7474,W,1,03,00.5,035.5,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171355.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171355.10,3649.0764,N,-12150.7481,W,1,03,00.5,035.9,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171356.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171356.10,3649.0764,N,-12150.7488,W,1,03,00.5,035.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171357.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171357.10,3649.0764,N,-12150.7494,W,1,03,00.5,036.1,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171358.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171358.10,3649.0764,N,-12150.7501,W,1,03,00.5,036.4,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171359.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171359.10,3649.0764,N,-12150.7507,W,1,03,00.5,036.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171400.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171400.10,3649.0764,N,-12150.7514,W,1,03,00.5,036.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171401.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171401.10,3649.0764,N,-12150.7520,W,1,03,00.5,036.5,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.86  2.30 14.84 4.10 4.12 0 12824.18 02:40:36 m

: AshtechGps::processRecord() - $GPGGA,171402.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171402.10,3649.0764,N,-12150.7527,W,1,03,00.5,036.6,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171403.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171403.10,3649.0764,N,-12150.7534,W,1,03,00.5,037.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171404.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.91 15.42 4.08 4.12 0  1433.62 02:40:38 m

: NMEA Update: $GPGGA,171404.10,3649.0763,N,-12150.7541,W,1,03,00.5,037.8,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171405.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171405.10,3649.0763,N,-12150.7548,W,1,03,00.5,037.5,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171406.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171406.10,3649.0763,N,-12150.7554,W,1,03,00.5,037.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171407.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171407.10,3649.0763,N,-12150.7561,W,1,03,00.5,038.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171408.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171408.10,3649.0763,N,-12150.7567,W,1,03,00.5,038.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171409.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171409.10,3649.0763,N,-12150.7573,W,1,03,00.5,038.1,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171410.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171410.10,3649.0763,N,-12150.7580,W,1,03,00.5,038.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171411.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171411.10,3649.0763,N,-12150.7586,W,1,03,00.5,038.5,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.86  2.33 14.84 4.10 4.12 0 12823.91 02:40:46 m

: AshtechGps::processRecord() - $GPGGA,171412.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171412.10,3649.0763,N,-12150.7593,W,1,03,00.5,038.6,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171413.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171413.10,3649.0763,N,-12150.7600,W,1,03,00.5,038.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171414.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  3.01 15.42 4.09 4.12 0  1433.27 02:40:48 m

: NMEA Update: $GPGGA,171414.10,3649.0763,N,-12150.7607,W,1,03,00.5,038.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171415.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171415.10,3649.0763,N,-12150.7613,W,1,03,00.5,039.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171416.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171416.10,3649.0763,N,-12150.7620,W,1,03,00.5,039.2,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171417.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171417.10,3649.0764,N,-12150.7626,W,1,03,00.5,039.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171418.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171418.10,3649.0764,N,-12150.7633,W,1,03,00.5,039.5,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171419.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171419.10,3649.0764,N,-12150.7640,W,1,03,00.5,039.5,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171420.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171420.10,3649.0764,N,-12150.7646,W,1,03,00.5,039.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171421.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171421.09,3649.0764,N,-12150.7652,W,1,03,00.5,039.6,M,-99.9,M,,*48

: BluefinBatt Reply: $aaq0 d- 32.90  2.00 14.94 4.10 4.12 0 12823.76 02:40:56 m

: AshtechGps::processRecord() - $GPGGA,171422.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171422.09,3649.0764,N,-12150.7658,W,1,03,00.5,039.5,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171423.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171423.09,3649.0765,N,-12150.7665,W,1,03,00.5,039.9,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171424.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  3.19 15.42 4.09 4.12 0  1433.01 02:40:58 m

: NMEA Update: $GPGGA,171424.09,3649.0765,N,-12150.7671,W,1,03,00.5,039.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171425.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171425.09,3649.0765,N,-12150.7678,W,1,03,00.5,039.9,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171426.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171426.09,3649.0765,N,-12150.7684,W,1,03,00.5,040.0,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171427.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171427.09,3649.0765,N,-12150.7691,W,1,03,00.5,040.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171428.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171428.09,3649.0765,N,-12150.7698,W,1,03,00.5,040.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171429.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171429.09,3649.0766,N,-12150.7704,W,1,03,00.5,040.7,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171430.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171430.09,3649.0766,N,-12150.7710,W,1,03,00.5,040.8,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171431.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171431.09,3649.0766,N,-12150.7717,W,1,03,00.5,040.9,M,-99.9,M,,*4a

: BluefinBatt Reply: $aaq0 d- 32.86  2.52 14.94 4.10 4.12 0 12823.52 02:41:06 m

: AshtechGps::processRecord() - $GPGGA,171432.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171432.09,3649.0766,N,-12150.7723,W,1,03,00.5,041.0,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 0.899938

: NMEA Update: $GPGGA,171433.40,3649.0766,N,-12150.7725,W,1,03,00.5,040.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171433.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171434.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171434.29,3649.0766,N,-12150.7736,W,1,03,00.5,041.0,M,-99.9,M,,*46

: BluefinBatt Reply: $c0q0 d- 33.09  2.66 15.52 4.08 4.12 0  1432.65 02:41:08 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171435.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171435.29,3649.0766,N,-12150.7743,W,1,03,00.5,041.2,M,-99.9,M,,*47

: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: AshtechGps::processRecord() - $GPGGA,171436.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171436.29,3649.0766,N,-12150.7749,W,1,03,00.5,041.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171437.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171437.29,3649.0766,N,-12150.7755,W,1,03,00.5,041.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171438.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171438.29,3649.0766,N,-12150.7761,W,1,03,00.5,041.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171439.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171439.29,3649.0766,N,-12150.7767,W,1,03,00.5,041.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171440.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171440.29,3649.0766,N,-12150.7773,W,1,03,00.5,041.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171441.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171441.29,3649.0766,N,-12150.7779,W,1,03,00.5,041.6,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171442.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.90  2.30 14.94 4.10 4.12 0 12823.35 02:41:16 m

: updating external sensors

: NMEA Update: $GPGGA,171442.29,3649.0766,N,-12150.7785,W,1,03,00.5,041.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171443.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171443.29,3649.0766,N,-12150.7792,W,1,03,00.5,041.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171444.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  3.30 15.52 4.08 4.12 0  1432.42 02:41:18 m

: NMEA Update: $GPGGA,171444.29,3649.0767,N,-12150.7798,W,1,03,00.5,041.3,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171445.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171445.29,3649.0767,N,-12150.7804,W,1,03,00.5,041.7,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171446.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171446.29,3649.0767,N,-12150.7811,W,1,03,00.5,041.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171447.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171447.29,3649.0767,N,-12150.7817,W,1,03,00.5,041.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171448.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171448.29,3649.0767,N,-12150.7824,W,1,03,00.5,041.8,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171449.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171449.29,3649.0767,N,-12150.7830,W,1,03,00.5,042.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171450.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171450.29,3649.0767,N,-12150.7836,W,1,03,00.5,042.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171451.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171451.29,3649.0767,N,-12150.7843,W,1,03,00.5,041.6,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.86  2.96 14.84 4.10 4.12 0 12823.12 02:41:26 m

: AshtechGps::processRecord() - $GPGGA,171452.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171452.29,3649.0767,N,-12150.7849,W,1,03,00.5,042.3,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171453.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171453.29,3649.0767,N,-12150.7856,W,1,03,00.5,042.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171454.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  3.41 15.42 4.08 4.12 0  1432.10 02:41:28 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171454.29,3649.0767,N,-12150.7862,W,1,03,00.5,042.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171455.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171455.29,3649.0767,N,-12150.7868,W,1,03,00.5,042.6,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171456.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171456.29,3649.0767,N,-12150.7875,W,1,03,00.5,042.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171457.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171457.29,3649.0767,N,-12150.7881,W,1,03,00.5,042.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171458.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171458.29,3649.0767,N,-12150.7888,W,1,03,00.5,042.4,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171459.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171459.29,3649.0767,N,-12150.7894,W,1,03,00.5,042.3,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171500.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171500.29,3649.0767,N,-12150.7901,W,1,03,00.5,042.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171501.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171501.29,3649.0767,N,-12150.7908,W,1,03,00.5,042.6,M,-99.9,M,,*46

: BluefinBatt Reply: $aaq0 d- 32.86  2.30 14.94 4.10 4.12 0 12822.96 02:41:36 m

: AshtechGps::processRecord() - $GPGGA,171502.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171502.29,3649.0767,N,-12150.7914,W,1,03,00.5,042.6,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171503.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171503.29,3649.0767,N,-12150.7921,W,1,03,00.5,042.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171504.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.76 15.52 4.08 4.12 0  1431.86 02:41:38 m

: NMEA Update: $GPGGA,171504.29,3649.0767,N,-12150.7928,W,1,03,00.5,042.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171505.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171505.29,3649.0768,N,-12150.7935,W,1,03,00.5,042.8,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 1.019930

: updating external sensors

: NMEA Update: $GPGGA,171506.51,3649.0768,N,-12150.7937,W,1,03,00.5,042.7,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171506.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171507.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171507.49,3649.0768,N,-12150.7949,W,1,03,00.5,042.8,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171508.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171508.49,3649.0768,N,-12150.7956,W,1,03,00.5,043.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171509.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171509.49,3649.0768,N,-12150.7961,W,1,03,00.5,043.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171510.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171510.49,3649.0768,N,-12150.7967,W,1,03,00.5,043.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171511.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171511.49,3649.0769,N,-12150.7973,W,1,03,00.5,043.1,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.90  2.07 14.94 4.10 4.12 0 12822.74 02:41:46 m

: AshtechGps::processRecord() - $GPGGA,171512.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171512.49,3649.0769,N,-12150.7979,W,1,03,00.5,043.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171513.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171513.49,3649.0769,N,-12150.7986,W,1,03,00.5,043.2,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171514.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  3.88 15.42 4.08 4.12 0  1431.56 02:41:48 m

: NMEA Update: $GPGGA,171514.49,3649.0769,N,-12150.7992,W,1,03,00.5,044.3,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171515.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171515.49,3649.0769,N,-12150.7999,W,1,03,00.5,042.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171516.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171516.49,3649.0769,N,-12150.8005,W,1,03,00.5,043.2,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171517.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171517.49,3649.0769,N,-12150.8011,W,1,03,00.5,044.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171518.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171518.49,3649.0769,N,-12150.8018,W,1,03,00.5,044.1,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171519.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171519.49,3649.0769,N,-12150.8024,W,1,03,00.5,043.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171520.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171520.49,3649.0769,N,-12150.8031,W,1,03,00.5,043.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171521.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171521.49,3649.0769,N,-12150.8037,W,1,03,00.5,044.1,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.86  2.37 14.94 4.10 4.12 0 12822.56 02:41:56 m

: AshtechGps::processRecord() - $GPGGA,171522.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171522.49,3649.0769,N,-12150.8043,W,1,03,00.5,044.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171523.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171523.49,3649.0769,N,-12150.8050,W,1,03,00.5,044.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171524.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  3.52 15.52 4.08 4.12 0  1431.33 02:41:58 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171524.49,3649.0769,N,-12150.8056,W,1,03,00.5,044.1,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171525.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171525.49,3649.0769,N,-12150.8063,W,1,03,00.5,044.1,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171526.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171526.49,3649.0770,N,-12150.8069,W,1,03,00.5,044.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171527.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171527.49,3649.0770,N,-12150.8076,W,1,03,00.5,044.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171528.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171528.49,3649.0770,N,-12150.8082,W,1,03,00.5,044.6,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171529.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171529.49,3649.0770,N,-12150.8088,W,1,03,00.5,044.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171530.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171530.49,3649.0770,N,-12150.8095,W,1,03,00.5,044.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171531.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171531.49,3649.0769,N,-12150.8102,W,1,03,00.5,045.0,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.86  2.22 14.94 4.10 4.12 0 12822.30 02:42:06 m

: AshtechGps::processRecord() - $GPGGA,171532.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171532.49,3649.0769,N,-12150.8108,W,1,03,00.5,045.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171533.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171533.49,3649.0769,N,-12150.8115,W,1,03,00.5,045.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171534.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.87 15.42 4.08 4.12 0  1431.02 02:42:08 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171534.30,3649.0770,N,-12150.8120,W,1,03,00.5,045.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171535.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171535.30,3649.0770,N,-12150.8127,W,1,03,00.5,045.3,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171536.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171536.30,3649.0770,N,-12150.8133,W,1,03,00.5,044.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171537.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171537.30,3649.0770,N,-12150.8140,W,1,03,00.5,044.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171538.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171538.30,3649.0770,N,-12150.8146,W,1,03,00.5,045.0,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171539.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171539.30,3649.0770,N,-12150.8153,W,1,03,00.5,045.8,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171540.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171540.30,3649.0770,N,-12150.8160,W,1,03,00.5,044.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171541.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171541.30,3649.0770,N,-12150.8167,W,1,03,00.5,045.0,M,-99.9,M,,*43

: BluefinBatt Reply: $aaq0 d- 32.82  3.19 14.84 4.10 4.12 0 12822.13 02:42:16 m

: AshtechGps::processRecord() - $GPGGA,171542.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171542.30,3649.0770,N,-12150.8173,W,1,03,00.5,045.3,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171543.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171543.30,3649.0770,N,-12150.8180,W,1,03,00.5,046.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171544.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.73 15.42 4.08 4.12 0  1430.80 02:42:18 m

: NMEA Update: $GPGGA,171544.30,3649.0770,N,-12150.8187,W,1,03,00.5,045.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171545.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171545.30,3649.0770,N,-12150.8193,W,1,03,00.5,046.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171546.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171546.30,3649.0770,N,-12150.8200,W,1,03,00.5,045.7,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171547.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171547.30,3649.0770,N,-12150.8206,W,1,03,00.5,046.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171548.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171548.30,3649.0770,N,-12150.8213,W,1,03,00.5,046.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171549.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171549.30,3649.0770,N,-12150.8220,W,1,03,00.5,046.6,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171550.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,171550.30,3649.0770,N,-12150.8226,W,1,03,00.5,046.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171551.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171551.30,3649.0770,N,-12150.8233,W,1,03,00.5,045.6,M,-99.9,M,,*46

: BluefinBatt Reply: $aaq0 d- 32.86  2.30 14.84 4.10 4.12 0 12821.87 02:42:26 m

: AshtechGps::processRecord() - $GPGGA,171552.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171552.30,3649.0770,N,-12150.8240,W,1,03,00.5,046.6,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171553.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171553.30,3649.0770,N,-12150.8246,W,1,03,00.5,046.6,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171554.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.98 15.42 4.08 4.12 0  1430.47 02:42:28 m

: NMEA Update: $GPGGA,171554.30,3649.0770,N,-12150.8253,W,1,03,00.5,046.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171555.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171555.30,3649.0770,N,-12150.8259,W,1,03,00.5,046.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171556.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171556.30,3649.0770,N,-12150.8266,W,1,03,00.5,046.6,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171557.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171557.30,3649.0770,N,-12150.8273,W,1,03,00.5,047.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171558.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171558.30,3649.0770,N,-12150.8279,W,1,03,00.5,047.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171559.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171559.30,3649.0771,N,-12150.8286,W,1,03,00.5,047.5,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171600.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171600.30,3649.0771,N,-12150.8293,W,1,03,00.5,047.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171601.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171601.30,3649.0771,N,-12150.8300,W,1,03,00.5,047.1,M,-99.9,M,,*45

: BluefinBatt Reply: $aaq0 d- 32.86  2.26 14.94 4.10 4.12 0 12821.72 02:42:36 m

: AshtechGps::processRecord() - $GPGGA,171602.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171602.30,3649.0771,N,-12150.8307,W,1,03,00.5,047.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171603.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171603.30,3649.0771,N,-12150.8314,W,1,03,00.5,047.1,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171604.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.05  3.05 15.42 4.08 4.12 0  1430.25 02:42:38 m

: updating external sensors

: NMEA Update: $GPGGA,171604.30,3649.0771,N,-12150.8320,W,1,03,00.5,047.6,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171605.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171605.30,3649.0771,N,-12150.8327,W,1,03,00.5,048.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171606.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171606.30,3649.0771,N,-12150.8334,W,1,03,00.5,047.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171607.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171607.30,3649.0771,N,-12150.8340,W,1,03,00.5,047.8,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171608.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,171608.30,3649.0771,N,-12150.8347,W,1,03,00.5,047.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171609.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171609.30,3649.0772,N,-12150.8353,W,1,03,00.5,048.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171610.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171610.30,3649.0772,N,-12150.8360,W,1,03,00.5,047.7,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171611.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171611.30,3649.0772,N,-12150.8366,W,1,03,00.5,047.8,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171612.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.86  2.07 14.84 4.10 4.12 0 12821.49 02:42:46 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171612.30,3649.0772,N,-12150.8373,W,1,03,00.5,048.3,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171613.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171613.30,3649.0772,N,-12150.8380,W,1,03,00.5,048.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171614.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.91 15.42 4.08 4.12 0  1429.94 02:42:48 m

: NMEA Update: $GPGGA,171614.30,3649.0772,N,-12150.8387,W,1,03,00.5,048.3,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171615.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171615.30,3649.0772,N,-12150.8394,W,1,03,00.5,048.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171616.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171616.30,3649.0772,N,-12150.8401,W,1,03,00.5,048.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171617.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171617.30,3649.0773,N,-12150.8407,W,1,03,00.5,048.5,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171618.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171618.30,3649.0773,N,-12150.8414,W,1,03,00.5,049.0,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171619.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171619.30,3649.0773,N,-12150.8420,W,1,03,00.5,048.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171620.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171620.30,3649.0773,N,-12150.8427,W,1,03,00.5,048.5,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171621.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171621.30,3649.0772,N,-12150.8433,W,1,03,00.5,049.1,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.86  2.30 14.94 4.10 4.12 0 12821.34 02:42:56 m

: AshtechGps::processRecord() - $GPGGA,171622.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171622.30,3649.0772,N,-12150.8440,W,1,03,00.5,049.1,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171623.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171623.30,3649.0772,N,-12150.8447,W,1,03,00.5,049.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171624.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  2.62 15.42 4.08 4.12 0  1429.71 02:42:58 m

: NMEA Update: $GPGGA,171624.30,3649.0772,N,-12150.8453,W,1,03,00.5,049.1,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171625.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171625.30,3649.0772,N,-12150.8460,W,1,03,00.5,049.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171626.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171626.30,3649.0772,N,-12150.8467,W,1,03,00.5,049.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171627.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171627.30,3649.0772,N,-12150.8474,W,1,03,00.5,049.5,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171628.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171628.30,3649.0772,N,-12150.8481,W,1,03,00.5,049.4,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171629.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171629.30,3649.0772,N,-12150.8487,W,1,03,00.5,049.6,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171630.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171630.30,3649.0772,N,-12150.8494,W,1,03,00.5,049.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171631.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171631.30,3649.0772,N,-12150.8500,W,1,03,00.5,050.2,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171632.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.86  2.26 14.94 4.10 4.12 0 12821.06 02:43:06 m

: updating external sensors

: NMEA Update: $GPGGA,171632.30,3649.0772,N,-12150.8507,W,1,03,00.5,050.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171633.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171633.30,3649.0772,N,-12150.8514,W,1,03,00.5,050.2,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171634.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.91 15.42 4.08 4.12 0  1429.39 02:43:08 m

: NMEA Update: $GPGGA,171634.30,3649.0772,N,-12150.8520,W,1,03,00.5,050.6,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171635.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171635.30,3649.0772,N,-12150.8527,W,1,03,00.5,050.7,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171636.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171636.30,3649.0772,N,-12150.8534,W,1,03,00.5,050.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171637.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171637.30,3649.0772,N,-12150.8540,W,1,03,00.5,050.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171638.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171638.30,3649.0772,N,-12150.8547,W,1,03,00.5,050.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171639.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171639.30,3649.0773,N,-12150.8554,W,1,03,00.5,050.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171640.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171640.30,3649.0773,N,-12150.8561,W,1,03,00.5,050.6,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171641.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171641.30,3649.0773,N,-12150.8568,W,1,03,00.5,051.0,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.86  2.11 14.84 4.10 4.12 0 12820.87 02:43:16 m

: AshtechGps::processRecord() - $GPGGA,171642.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171642.30,3649.0773,N,-12150.8574,W,1,03,00.5,051.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171643.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171643.30,3649.0773,N,-12150.8581,W,1,03,00.5,051.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171644.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.09  2.87 15.42 4.08 4.12 0  1429.15 02:43:18 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171644.30,3649.0773,N,-12150.8587,W,1,03,00.5,050.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171645.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171645.30,3649.0773,N,-12150.8594,W,1,03,00.5,050.6,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171646.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171646.30,3649.0773,N,-12150.8600,W,1,03,00.5,051.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171647.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171647.29,3649.0773,N,-12150.8607,W,1,03,00.5,050.4,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171648.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171648.29,3649.0773,N,-12150.8614,W,1,03,00.5,051.0,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171649.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171649.29,3649.0774,N,-12150.8621,W,1,03,00.5,051.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171650.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171650.29,3649.0774,N,-12150.8627,W,1,03,00.5,051.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171651.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171651.29,3649.0774,N,-12150.8634,W,1,03,00.5,050.9,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.86  2.22 14.94 4.10 4.12 0 12820.63 02:43:26 m

: AshtechGps::processRecord() - $GPGGA,171652.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171652.29,3649.0774,N,-12150.8641,W,1,03,00.5,051.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171653.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171653.29,3649.0774,N,-12150.8648,W,1,03,00.5,052.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171654.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 33.05  2.94 15.42 4.08 4.12 0  1428.83 02:43:28 m

: updating external sensors

: NMEA Update: $GPGGA,171654.29,3649.0774,N,-12150.8654,W,1,03,00.5,051.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171655.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171655.29,3649.0774,N,-12150.8661,W,1,03,00.5,052.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171656.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171656.29,3649.0774,N,-12150.8667,W,1,03,00.5,051.5,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171657.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171657.29,3649.0774,N,-12150.8674,W,1,03,00.5,052.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171658.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171658.29,3649.0774,N,-12150.8681,W,1,03,00.5,051.8,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171659.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171659.29,3649.0774,N,-12150.8687,W,1,03,00.5,052.1,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171700.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171700.29,3649.0774,N,-12150.8694,W,1,03,00.5,052.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171701.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171701.29,3649.0774,N,-12150.8701,W,1,03,00.5,051.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171702.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.86  2.41 14.74 4.10 4.12 0 12820.46 02:43:36 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171702.29,3649.0774,N,-12150.8707,W,1,03,00.5,052.2,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171703.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171703.29,3649.0774,N,-12150.8714,W,1,03,00.5,052.7,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171704.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  3.01 15.42 4.08 4.12 0  1428.60 02:43:38 m

: NMEA Update: $GPGGA,171704.29,3649.0775,N,-12150.8721,W,1,03,00.5,051.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171705.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171705.29,3649.0775,N,-12150.8727,W,1,03,00.5,052.3,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171706.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171706.29,3649.0775,N,-12150.8734,W,1,03,00.5,052.5,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171707.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171707.29,3649.0775,N,-12150.8740,W,1,03,00.5,052.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171708.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171708.29,3649.0774,N,-12150.8747,W,1,03,00.5,052.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171709.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171709.29,3649.0774,N,-12150.8754,W,1,03,00.5,052.6,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171710.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171710.29,3649.0774,N,-12150.8761,W,1,03,00.5,052.6,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171711.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171711.29,3649.0774,N,-12150.8768,W,1,03,00.5,052.6,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 32.86  2.03 14.84 4.10 4.12 0 12820.23 02:43:46 m

: AshtechGps::processRecord() - $GPGGA,171712.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171712.29,3649.0774,N,-12150.8775,W,1,03,00.5,052.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171713.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171713.29,3649.0774,N,-12150.8781,W,1,03,00.5,052.6,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171714.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.80 15.42 4.08 4.12 0  1428.26 02:43:48 m

: NMEA Update: $GPGGA,171714.29,3649.0774,N,-12150.8788,W,1,03,00.5,052.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171715.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171715.29,3649.0774,N,-12150.8794,W,1,03,00.5,053.4,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171716.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171716.29,3649.0774,N,-12150.8801,W,1,03,00.5,053.0,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171717.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171717.29,3649.0774,N,-12150.8807,W,1,03,00.5,053.5,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171718.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171718.29,3649.0774,N,-12150.8813,W,1,03,00.5,053.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171719.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171719.29,3649.0775,N,-12150.8820,W,1,03,00.5,053.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171720.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171720.29,3649.0775,N,-12150.8827,W,1,03,00.5,053.4,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171721.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171721.29,3649.0775,N,-12150.8833,W,1,03,00.5,052.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171722.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.86  2.11 14.84 4.10 4.12 0 12820.08 02:43:56 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171722.29,3649.0775,N,-12150.8840,W,1,03,00.5,053.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171723.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171723.29,3649.0775,N,-12150.8847,W,1,03,00.5,053.1,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171724.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.87 15.42 4.08 4.12 0  1428.02 02:43:58 m

: NMEA Update: $GPGGA,171724.29,3649.0775,N,-12150.8854,W,1,03,00.5,053.5,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171725.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171725.29,3649.0775,N,-12150.8860,W,1,03,00.5,053.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171726.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171726.29,3649.0775,N,-12150.8867,W,1,03,00.5,052.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171727.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171727.29,3649.0775,N,-12150.8873,W,1,03,00.5,054.2,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171728.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171728.29,3649.0775,N,-12150.8879,W,1,03,00.5,053.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171729.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171729.29,3649.0775,N,-12150.8886,W,1,03,00.5,053.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171730.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171730.29,3649.0776,N,-12150.8892,W,1,03,00.5,053.6,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171731.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171731.29,3649.0776,N,-12150.8899,W,1,03,00.5,053.6,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171732.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.86  2.52 14.74 4.10 4.12 0 12819.78 02:44:06 m

: updating external sensors

: NMEA Update: $GPGGA,171732.29,3649.0776,N,-12150.8906,W,1,03,00.5,053.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171733.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171733.29,3649.0776,N,-12150.8913,W,1,03,00.5,053.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171734.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.80 15.42 4.08 4.12 0  1427.70 02:44:08 m

: NMEA Update: $GPGGA,171734.29,3649.0776,N,-12150.8920,W,1,03,00.5,053.7,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171735.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171735.29,3649.0776,N,-12150.8927,W,1,03,00.5,053.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171736.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171736.29,3649.0776,N,-12150.8933,W,1,03,00.5,054.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171737.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171737.29,3649.0776,N,-12150.8939,W,1,03,00.5,054.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171738.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171738.29,3649.0777,N,-12150.8945,W,1,03,00.5,053.3,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171739.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171739.29,3649.0777,N,-12150.8951,W,1,03,00.5,054.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171740.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171740.29,3649.0777,N,-12150.8958,W,1,03,00.5,054.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171741.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171741.29,3649.0777,N,-12150.8965,W,1,03,00.5,053.9,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.86  2.18 14.84 4.10 4.12 0 12819.63 02:44:16 m

: AshtechGps::processRecord() - $GPGGA,171742.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,171742.29,3649.0777,N,-12150.8972,W,1,03,00.5,054.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171743.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171743.29,3649.0777,N,-12150.8979,W,1,03,00.5,053.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171744.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.05  3.66 15.42 4.08 4.12 0  1427.49 02:44:18 m

: updating external sensors

: Kearfott::deltaTime is 0.709951

: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171745.16,3649.0777,N,-12150.8987,W,1,03,00.5,053.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171745.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171746.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171746.09,3649.0777,N,-12150.8998,W,1,03,00.5,053.9,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171747.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171747.09,3649.0777,N,-12150.9005,W,1,03,00.5,054.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171748.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171748.09,3649.0777,N,-12150.9011,W,1,03,00.5,054.3,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171749.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171749.09,3649.0777,N,-12150.9018,W,1,03,00.5,054.5,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171750.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171750.09,3649.0778,N,-12150.9024,W,1,03,00.5,054.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171751.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171751.09,3649.0778,N,-12150.9030,W,1,03,00.5,054.7,M,-99.9,M,,*47

: BluefinBatt Reply: $aaq0 d- 32.90  2.18 14.84 4.10 4.12 0 12819.41 02:44:26 m

: AshtechGps::processRecord() - $GPGGA,171752.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171752.09,3649.0778,N,-12150.9037,W,1,03,00.5,054.3,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171753.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171753.09,3649.0778,N,-12150.9043,W,1,03,00.5,054.4,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171754.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.98  3.91 15.33 4.09 4.12 0  1427.11 02:44:28 m

: NMEA Update: $GPGGA,171754.09,3649.0778,N,-12150.9050,W,1,03,00.5,054.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171755.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171755.09,3649.0778,N,-12150.9057,W,1,03,00.5,054.7,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171756.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171756.09,3649.0778,N,-12150.9064,W,1,03,00.5,054.3,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171757.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171757.09,3649.0778,N,-12150.9070,W,1,03,00.5,054.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171758.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171758.09,3649.0778,N,-12150.9077,W,1,03,00.5,054.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171759.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171759.09,3649.0778,N,-12150.9084,W,1,03,00.5,054.9,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171759.90,3649.0778,N,-12150.9089,W,1,03,00.5,054.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171800.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171800.90,3649.0778,N,-12150.9096,W,1,03,00.5,054.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171801.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.82  2.26 14.74 4.10 4.12 0 12819.26 02:44:36 m

: NMEA Update: $GPGGA,171801.90,3649.0779,N,-12150.9103,W,1,03,00.5,054.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171802.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171802.90,3649.0779,N,-12150.9109,W,1,03,00.5,055.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171803.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171803.90,3649.0779,N,-12150.9116,W,1,03,00.5,054.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171804.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.05  2.69 15.33 4.09 4.12 0  1426.86 02:44:38 m

: updating external sensors

: NMEA Update: $GPGGA,171804.90,3649.0779,N,-12150.9123,W,1,03,00.5,055.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171805.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,171805.90,3649.0779,N,-12150.9129,W,1,03,00.5,055.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171806.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171806.90,3649.0779,N,-12150.9136,W,1,03,00.5,055.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171807.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171807.90,3649.0779,N,-12150.9142,W,1,03,00.5,055.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171808.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171808.90,3649.0779,N,-12150.9149,W,1,03,00.5,055.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171809.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171809.90,3649.0779,N,-12150.9156,W,1,03,00.5,055.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171810.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171810.90,3649.0779,N,-12150.9162,W,1,03,00.5,055.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171811.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171811.90,3649.0779,N,-12150.9169,W,1,03,00.5,055.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171812.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.86  2.15 14.84 4.10 4.12 0 12819.02 02:44:46 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171812.90,3649.0779,N,-12150.9176,W,1,03,00.5,055.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171813.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171813.90,3649.0779,N,-12150.9182,W,1,03,00.5,055.4,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171814.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.80 15.42 4.08 4.12 0  1426.56 02:44:48 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171814.90,3649.0779,N,-12150.9189,W,1,03,00.5,055.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171815.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171815.90,3649.0779,N,-12150.9196,W,1,03,00.5,055.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171816.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171816.90,3649.0779,N,-12150.9202,W,1,03,00.5,055.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171817.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171817.90,3649.0779,N,-12150.9209,W,1,03,00.5,055.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171818.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171818.90,3649.0779,N,-12150.9216,W,1,03,00.5,055.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171819.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171819.90,3649.0779,N,-12150.9223,W,1,03,00.5,055.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171820.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171820.90,3649.0779,N,-12150.9229,W,1,03,00.5,055.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171821.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171821.90,3649.0779,N,-12150.9236,W,1,03,00.5,055.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171822.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.86  2.15 14.64 4.10 4.12 0 12818.84 02:44:56 m

: updating external sensors

: NMEA Update: $GPGGA,171822.90,3649.0779,N,-12150.9243,W,1,03,00.5,055.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171823.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171823.90,3649.0779,N,-12150.9249,W,1,03,00.5,056.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171824.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.87 15.33 4.08 4.12 0  1426.34 02:44:58 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171824.90,3649.0780,N,-12150.9256,W,1,03,00.5,055.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171825.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171825.90,3649.0780,N,-12150.9262,W,1,03,00.5,056.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171826.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171826.90,3649.0780,N,-12150.9269,W,1,03,00.5,056.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171827.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171827.90,3649.0780,N,-12150.9275,W,1,03,00.5,056.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171828.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171828.90,3649.0780,N,-12150.9282,W,1,03,00.5,055.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171829.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171829.90,3649.0780,N,-12150.9288,W,1,03,00.5,056.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171830.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171830.90,3649.0780,N,-12150.9295,W,1,03,00.5,056.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171831.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171831.90,3649.0780,N,-12150.9302,W,1,03,00.5,056.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171832.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.86  2.44 14.74 4.10 4.12 0 12818.61 02:45:06 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171832.90,3649.0780,N,-12150.9309,W,1,03,00.5,055.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171833.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171833.90,3649.0780,N,-12150.9316,W,1,03,00.5,056.6,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171834.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.76 15.42 4.08 4.12 0  1425.98 02:45:08 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171834.90,3649.0781,N,-12150.9323,W,1,03,00.5,056.5,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171835.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171835.90,3649.0781,N,-12150.9330,W,1,03,00.5,056.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171836.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171836.90,3649.0781,N,-12150.9337,W,1,03,00.5,056.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171837.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171837.90,3649.0781,N,-12150.9343,W,1,03,00.5,056.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171838.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171838.90,3649.0781,N,-12150.9349,W,1,03,00.5,056.6,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171839.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171839.90,3649.0781,N,-12150.9356,W,1,03,00.5,056.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171840.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,171840.90,3649.0781,N,-12150.9363,W,1,03,00.5,056.6,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171841.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.86  2.00 14.74 4.10 4.12 0 12818.44 02:45:16 m

: NMEA Update: $GPGGA,171841.90,3649.0781,N,-12150.9369,W,1,03,00.5,056.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171842.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171842.90,3649.0781,N,-12150.9376,W,1,03,00.5,056.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171843.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171843.90,3649.0781,N,-12150.9384,W,1,03,00.5,056.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171844.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.05  2.66 15.42 4.08 4.12 0  1425.75 02:45:18 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171844.90,3649.0782,N,-12150.9390,W,1,03,00.5,056.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171845.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171845.90,3649.0782,N,-12150.9397,W,1,03,00.5,056.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171846.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171846.90,3649.0782,N,-12150.9404,W,1,03,00.5,056.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171847.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171847.90,3649.0782,N,-12150.9410,W,1,03,00.5,056.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,171848.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171848.90,3649.0782,N,-12150.9417,W,1,03,00.5,057.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171849.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171849.90,3649.0782,N,-12150.9423,W,1,03,00.5,056.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171850.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171850.90,3649.0782,N,-12150.9430,W,1,03,00.5,057.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171851.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.86  2.30 14.74 4.10 4.12 0 12818.17 02:45:26 m

: NMEA Update: $GPGGA,171851.90,3649.0782,N,-12150.9437,W,1,03,00.5,057.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171852.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171852.90,3649.0782,N,-12150.9443,W,1,03,00.5,056.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171853.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171853.90,3649.0782,N,-12150.9450,W,1,03,00.5,057.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171854.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.94 15.33 4.08 4.12 0  1425.43 02:45:28 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171854.90,3649.0782,N,-12150.9457,W,1,03,00.5,057.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171855.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171855.90,3649.0782,N,-12150.9464,W,1,03,00.5,057.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171856.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171856.90,3649.0782,N,-12150.9471,W,1,03,00.5,057.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171857.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171857.90,3649.0782,N,-12150.9478,W,1,03,00.5,057.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171858.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171858.90,3649.0782,N,-12150.9485,W,1,03,00.5,058.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171859.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171859.90,3649.0782,N,-12150.9491,W,1,03,00.5,057.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171900.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171900.90,3649.0782,N,-12150.9497,W,1,03,00.5,058.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171901.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.86  2.11 14.74 4.10 4.12 0 12818.02 02:45:36 m

: NMEA Update: $GPGGA,171901.90,3649.0782,N,-12150.9504,W,1,03,00.5,058.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171902.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171902.90,3649.0782,N,-12150.9510,W,1,03,00.5,058.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171903.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171903.90,3649.0782,N,-12150.9517,W,1,03,00.5,058.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171904.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.87 15.33 4.08 4.12 0  1425.22 02:45:38 m

: NMEA Update: $GPGGA,171904.90,3649.0782,N,-12150.9524,W,1,03,00.5,057.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171905.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171905.90,3649.0782,N,-12150.9531,W,1,03,00.5,057.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171906.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171906.90,3649.0782,N,-12150.9537,W,1,03,00.5,058.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171907.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171907.90,3649.0782,N,-12150.9544,W,1,03,00.5,058.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171908.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171908.90,3649.0782,N,-12150.9551,W,1,03,00.5,058.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171909.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171909.90,3649.0782,N,-12150.9558,W,1,03,00.5,058.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171910.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171910.90,3649.0782,N,-12150.9565,W,1,03,00.5,058.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171911.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.82  2.22 14.84 4.10 4.12 0 12817.79 02:45:46 m

: NMEA Update: $GPGGA,171911.90,3649.0782,N,-12150.9571,W,1,03,00.5,058.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171912.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171912.89,3649.0782,N,-12150.9578,W,1,03,00.5,058.4,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171913.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171913.89,3649.0783,N,-12150.9585,W,1,03,00.5,058.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171914.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.02  2.98 15.33 4.08 4.12 0  1424.90 02:45:48 m

: NMEA Update: $GPGGA,171914.89,3649.0783,N,-12150.9592,W,1,03,00.5,058.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171915.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171915.89,3649.0783,N,-12150.9598,W,1,03,00.5,058.3,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171916.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171916.89,3649.0783,N,-12150.9605,W,1,03,00.5,058.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171917.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171917.89,3649.0783,N,-12150.9612,W,1,03,00.5,058.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171918.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171918.89,3649.0783,N,-12150.9618,W,1,03,00.5,058.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171919.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171919.89,3649.0783,N,-12150.9625,W,1,03,00.5,058.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171920.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171920.89,3649.0783,N,-12150.9632,W,1,03,00.5,058.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171921.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.82  2.26 14.74 4.10 4.12 0 12817.63 02:45:56 m

: NMEA Update: $GPGGA,171921.89,3649.0783,N,-12150.9639,W,1,03,00.5,058.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,171922.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 0.869941

: NMEA Update: $GPGGA,171923.90,3649.0783,N,-12150.9648,W,1,03,00.5,058.5,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: gpsDriver::readRecord() - serial device timed out
: AshtechGps::processRecord() - ,171923.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171924.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171924.89,3649.0784,N,-12150.9659,W,1,03,00.5,058.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171925.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.09  2.58 15.33 4.08 4.12 0  1424.64 02:45:59 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171925.89,3649.0784,N,-12150.9665,W,1,03,00.5,058.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171926.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171926.89,3649.0784,N,-12150.9672,W,1,03,00.5,058.6,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171927.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171927.89,3649.0784,N,-12150.9679,W,1,03,00.5,058.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,171928.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171928.89,3649.0784,N,-12150.9685,W,1,03,00.5,058.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171929.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171929.89,3649.0784,N,-12150.9692,W,1,03,00.5,058.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,171930.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171930.89,3649.0784,N,-12150.9699,W,1,03,00.5,059.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,171931.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171931.89,3649.0785,N,-12150.9706,W,1,03,00.5,058.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171932.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.86  2.00 14.84 4.10 4.12 0 12817.33 02:46:06 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171932.89,3649.0785,N,-12150.9713,W,1,03,00.5,058.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171933.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171933.89,3649.0785,N,-12150.9720,W,1,03,00.5,059.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,171934.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  3.01 15.33 4.08 4.12 0  1424.32 02:46:08 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171934.89,3649.0785,N,-12150.9727,W,1,03,00.5,058.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171935.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171935.89,3649.0785,N,-12150.9734,W,1,03,00.5,059.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,171936.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171936.89,3649.0785,N,-12150.9740,W,1,03,00.5,060.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171937.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171937.89,3649.0785,N,-12150.9747,W,1,03,00.5,059.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171938.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171938.89,3649.0785,N,-12150.9753,W,1,03,00.5,059.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,171939.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 0.699952

: NMEA Update: $GPGGA,171941.66,3649.0786,N,-12150.9762,W,1,03,00.5,060.2,M,-99.9,M,,*42

: gpsDriver::readRecord() - serial device timed out
: Kearfott::deltaTime is 1.059927

: AshtechGps::processRecord() - PGGA,171940.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171941.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171942.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,171942.49,3649.0786,N,-12150.9778,W,1,03,00.5,060.1,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.86  1.70 14.84 4.10 4.12 0 12817.12 02:46:16 m

: AshtechGps::processRecord() - $GPGGA,171943.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171943.49,3649.0786,N,-12150.9785,W,1,03,00.5,059.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,171944.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171944.49,3649.0786,N,-12150.9792,W,1,03,00.5,060.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171945.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.05  3.08 15.33 4.08 4.12 0  1424.14 02:46:19 m

: NMEA Update: $GPGGA,171945.49,3649.0786,N,-12150.9799,W,1,03,00.5,060.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171946.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,171946.49,3649.0786,N,-12150.9806,W,1,03,00.5,060.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,171947.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171947.49,3649.0786,N,-12150.9812,W,1,03,00.5,059.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,171948.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171948.49,3649.0786,N,-12150.9819,W,1,03,00.5,060.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171949.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171949.49,3649.0786,N,-12150.9826,W,1,03,00.5,059.7,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171950.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171950.49,3649.0786,N,-12150.9833,W,1,03,00.5,060.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171951.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171951.49,3649.0786,N,-12150.9839,W,1,03,00.5,060.6,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 32.86  2.22 14.74 4.10 4.12 0 12816.96 02:46:26 m

: AshtechGps::processRecord() - $GPGGA,171952.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,171952.49,3649.0786,N,-12150.9846,W,1,03,00.5,060.4,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,171953.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171953.49,3649.0786,N,-12150.9853,W,1,03,00.5,059.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,171954.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.02  3.19 15.33 4.08 4.12 0  1423.82 02:46:28 m

: NMEA Update: $GPGGA,171954.49,3649.0786,N,-12150.9860,W,1,03,00.5,060.2,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,171955.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171955.49,3649.0786,N,-12150.9866,W,1,03,00.5,060.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,171956.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,171956.49,3649.0786,N,-12150.9873,W,1,03,00.5,060.3,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,171957.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171957.49,3649.0786,N,-12150.9880,W,1,03,00.5,060.3,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,171958.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,171958.49,3649.0786,N,-12150.9887,W,1,03,00.5,060.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,171959.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,171959.49,3649.0786,N,-12150.9894,W,1,03,00.5,060.3,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,172000.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172000.49,3649.0786,N,-12150.9900,W,1,03,00.5,060.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,172001.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,172001.49,3649.0787,N,-12150.9907,W,1,03,00.5,060.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,172002.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.82  2.44 14.74 4.10 4.12 0 12816.80 02:46:36 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,172002.49,3649.0787,N,-12150.9913,W,1,03,00.5,060.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,172003.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172003.49,3649.0787,N,-12150.9920,W,1,03,00.5,060.9,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,172004.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.98  3.70 15.33 4.08 4.12 0  1423.62 02:46:38 m

: NMEA Update: $GPGGA,172004.49,3649.0787,N,-12150.9927,W,1,03,00.5,060.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,172005.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,172005.49,3649.0787,N,-12150.9934,W,1,03,00.5,060.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,172006.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172006.49,3649.0787,N,-12150.9941,W,1,03,00.5,060.6,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,172007.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172007.49,3649.0787,N,-12150.9948,W,1,03,00.5,060.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,172008.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,172008.49,3649.0787,N,-12150.9955,W,1,03,00.5,061.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,172009.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,172009.49,3649.0787,N,-12150.9962,W,1,03,00.5,060.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,172010.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172010.49,3649.0787,N,-12150.9969,W,1,03,00.5,061.5,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172011.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172011.49,3649.0788,N,-12150.9975,W,1,03,00.5,060.9,M,-99.9,M,,*4d

: BluefinBatt Reply: $aaq0 d- 32.86  2.22 14.74 4.10 4.12 0 12816.54 02:46:46 m

: AshtechGps::processRecord() - $GPGGA,172012.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,172012.49,3649.0788,N,-12150.9982,W,1,03,00.5,061.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,172013.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172013.49,3649.0788,N,-12150.9988,W,1,03,00.5,061.4,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,172014.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.98  3.70 15.33 4.08 4.12 0  1423.28 02:46:48 m

: NMEA Update: $GPGGA,172014.49,3649.0788,N,-12150.9995,W,1,03,00.5,061.4,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172015.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,172015.49,3649.0788,N,-12151.0001,W,1,03,00.5,061.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,172016.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,172016.49,3649.0788,N,-12151.0008,W,1,03,00.5,062.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,172017.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172017.49,3649.0789,N,-12151.0015,W,1,03,00.5,061.7,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,172018.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172018.49,3649.0789,N,-12151.0022,W,1,03,00.5,062.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,172019.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,172019.49,3649.0789,N,-12151.0029,W,1,03,00.5,061.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,172020.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172020.49,3649.0789,N,-12151.0035,W,1,03,00.5,061.8,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,172021.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172021.49,3649.0789,N,-12151.0042,W,1,03,00.5,061.9,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.82  2.55 14.74 4.10 4.12 0 12816.38 02:46:56 m

: AshtechGps::processRecord() - $GPGGA,172022.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,172022.49,3649.0789,N,-12151.0049,W,1,03,00.5,061.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,172023.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,172023.49,3649.0789,N,-12151.0055,W,1,03,00.5,062.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,172024.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  2.80 15.33 4.08 4.12 0  1423.06 02:46:58 m

: NMEA Update: $GPGGA,172024.49,3649.0789,N,-12151.0062,W,1,03,00.5,061.8,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,172025.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172025.49,3649.0789,N,-12151.0069,W,1,03,00.5,062.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,172026.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,172026.30,3649.0789,N,-12151.0075,W,1,03,00.5,062.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,172027.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172027.30,3649.0790,N,-12151.0082,W,1,03,00.5,062.1,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,172028.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4075296.7, 602555.0), 
  reached at t = 1891.99                                         (wplog)

: Vehicle Position is error is (-1.0, 0.1)

: LayeredControl::execute() -- (t = 1891.990390) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1892.000389) Behavior acousticUpdate:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1892.000389) Behavior ascend:-1 has changed to state Active

: updating external sensors

: NMEA Update: $GPGGA,172028.30,3649.0790,N,-12151.0089,W,1,03,00.5,062.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,172029.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172029.30,3649.0790,N,-12151.0095,W,1,03,00.5,062.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,172030.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172030.30,3649.0790,N,-12151.0102,W,1,03,00.5,062.3,M,-99.9,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,172031.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172031.30,3649.0790,N,-12151.0109,W,1,03,00.5,062.2,M,-99.9,M,,*4a

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

: AshtechGps::processRecord() - $GPGGA,172032.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.78  3.41 14.74 4.10 4.12 0 12816.16 02:47:06 m

: updating external sensors

: NMEA Update: $GPGGA,172032.30,3649.0790,N,-12151.0116,W,1,03,00.5,062.9,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172033.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,172033.30,3649.0790,N,-12151.0123,W,1,03,00.5,063.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,172034.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.94  4.63 15.23 4.08 4.12 0  1422.65 02:47:08 m

: NMEA Update: $GPGGA,172034.30,3649.0790,N,-12151.0130,W,1,03,00.5,063.9,M,-99.9,M,,*4f

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

: AshtechGps::processRecord() - $GPGGA,172035.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,172035.30,3649.0790,N,-12151.0138,W,1,03,00.5,064.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,172036.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172036.30,3649.0790,N,-12151.0146,W,1,03,00.5,065.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,172037.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172037.30,3649.0789,N,-12151.0154,W,1,03,00.5,065.3,M,-99.9,M,,*4a

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

: AshtechGps::processRecord() - $GPGGA,172038.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172038.30,3649.0788,N,-12151.0163,W,1,03,00.5,066.2,M,-99.9,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,172039.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172039.30,3649.0787,N,-12151.0172,W,1,03,00.5,066.4,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172040.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

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

: NMEA Update: $GPGGA,172040.30,3649.0786,N,-12151.0181,W,1,03,00.5,068.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,172041.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172041.30,3649.0785,N,-12151.0190,W,1,03,00.5,068.8,M,-99.9,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,172042.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.71  3.93 14.64 4.10 4.12 0 12815.88 02:47:16 m

: updating external sensors

: NMEA Update: $GPGGA,172042.30,3649.0784,N,-12151.0199,W,1,03,00.5,1000.0,M,-99.9,M,,*75

: AshtechGps::processRecord() - $GPGGA,172043.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,172043.30,3649.0782,N,-12151.0207,W,1,03,00.5,1000.0,M,-99.9,M,,*76

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172044.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.94  4.81 15.33 4.08 4.12 0  1422.29 02:47:18 m

: NMEA Update: $GPGGA,172044.30,3649.0781,N,-12151.0215,W,1,03,00.5,1000.0,M,-99.9,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,172045.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,172045.30,3649.0779,N,-12151.0222,W,1,03,00.5,1000.0,M,-99.9,M,,*73

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

: AshtechGps::processRecord() - $GPGGA,172046.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172046.30,3649.0778,N,-12151.0229,W,1,03,00.5,1000.0,M,-99.9,M,,*7a

: AshtechGps::processRecord() - $GPGGA,172047.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,172047.30,3649.0776,N,-12151.0236,W,1,03,00.5,1000.0,M,-99.9,M,,*7b

: AshtechGps::processRecord() - $GPGGA,172048.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172048.30,3649.0774,N,-12151.0242,W,1,03,00.5,1000.0,M,-99.9,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,172049.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172049.30,3649.0772,N,-12151.0249,W,1,03,00.5,1000.0,M,-99.9,M,,*79

: AshtechGps::processRecord() - $GPGGA,172050.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,172050.30,3649.0770,N,-12151.0256,W,1,03,00.5,1000.0,M,-99.9,M,,*7d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172051.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172051.30,3649.0768,N,-12151.0262,W,1,03,00.5,1000.0,M,-99.9,M,,*72

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

: AshtechGps::processRecord() - $GPGGA,172052.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.75  3.75 14.64 4.08 4.10 0 12815.45 02:47:26 m

: updating external sensors

: NMEA Update: $GPGGA,172052.30,3649.0765,N,-12151.0269,W,1,03,00.5,1000.0,M,-99.9,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,172053.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172053.30,3649.0761,N,-12151.0276,W,1,03,00.5,1000.0,M,-99.9,M,,*7c

: AshtechGps::processRecord() - $GPGGA,172054.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.94  4.42 15.33 4.07 4.10 0  1421.77 02:47:28 m

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172054.30,3649.0758,N,-12151.0282,W,1,03,00.5,1000.0,M,-99.9,M,,*7a

: AshtechGps::processRecord() - $GPGGA,172055.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.070000, mean min cell voltage 4.075000

: NMEA Update: $GPGGA,172055.30,3649.0754,N,-12151.0288,W,1,03,00.5,1000.0,M,-99.9,M,,*7d

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

: AshtechGps::processRecord() - $GPGGA,172056.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172056.30,3649.0750,N,-12151.0293,W,1,03,00.5,1000.0,M,-99.9,M,,*70

: AshtechGps::processRecord() - $GPGGA,172057.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,172057.30,3649.0746,N,-12151.0299,W,1,03,00.5,1000.0,M,-99.9,M,,*7c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172058.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172058.30,3649.0741,N,-12151.0304,W,1,03,00.5,1000.0,M,-99.9,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,172059.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172059.30,3649.0737,N,-12151.0308,W,1,03,00.5,1000.0,M,-99.9,M,,*7d

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

: AshtechGps::processRecord() - $GPGGA,172100.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172100.30,3649.0732,N,-12151.0313,W,1,03,00.5,1000.0,M,-99.9,M,,*7f

: AshtechGps::processRecord() - $GPGGA,172101.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,172101.30,3649.0726,N,-12151.0318,W,1,03,00.5,1000.0,M,-99.9,M,,*70

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172102.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.75  3.59 14.74 4.08 4.10 0 12815.20 02:47:36 m

: updating external sensors

: NMEA Update: $GPGGA,172102.30,3649.0721,N,-12151.0322,W,1,03,00.5,1000.0,M,-99.9,M,,*7d

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

: AshtechGps::processRecord() - $GPGGA,172103.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172103.30,3649.0715,N,-12151.0326,W,1,03,00.5,1000.0,M,-99.9,M,,*7f

: AshtechGps::processRecord() - $GPGGA,172104.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.98  4.06 15.33 4.07 4.10 0  1421.46 02:47:38 m

: NMEA Update: $GPGGA,172104.30,3649.0709,N,-12151.0329,W,1,03,00.5,1000.0,M,-99.9,M,,*7a

: AshtechGps::processRecord() - $GPGGA,172105.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.070000, mean min cell voltage 4.075000

: NMEA Update: $GPGGA,172105.30,3649.0703,N,-12151.0331,W,1,03,00.5,1000.0,M,-99.9,M,,*78

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

: AshtechGps::processRecord() - $GPGGA,172106.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172106.30,3649.0697,N,-12151.0332,W,1,03,00.5,1000.0,M,-99.9,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,172107.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172107.30,3649.0691,N,-12151.0333,W,1,03,00.5,1000.0,M,-99.9,M,,*72

: AshtechGps::processRecord() - $GPGGA,172108.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

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

: NMEA Update: $GPGGA,172108.30,3649.0686,N,-12151.0334,W,1,03,00.5,1000.0,M,-99.9,M,,*7c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172109.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172109.30,3649.0680,N,-12151.0334,W,1,03,00.5,1000.0,M,-99.9,M,,*7b

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

: AshtechGps::processRecord() - $GPGGA,172110.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172110.30,3649.0674,N,-12151.0334,W,1,03,00.5,1000.0,M,-99.9,M,,*78

: AshtechGps::processRecord() - $GPGGA,172111.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,172111.30,3649.0668,N,-12151.0333,W,1,03,00.5,1000.0,M,-99.9,M,,*73

: BluefinBatt Reply: $aaq0 d- 32.78  3.19 14.84 4.08 4.11 0 12814.83 02:47:46 m

: AshtechGps::processRecord() - $GPGGA,172112.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172112.30,3649.0662,N,-12151.0331,W,1,03,00.5,1000.0,M,-99.9,M,,*78

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,172113.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172113.30,3649.0656,N,-12151.0330,W,1,03,00.5,1000.0,M,-99.9,M,,*7f

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

: AshtechGps::processRecord() - $GPGGA,172114.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.94  4.02 15.33 4.07 4.11 0  1420.94 02:47:48 m

: NMEA Update: $GPGGA,172114.30,3649.0650,N,-12151.0327,W,1,03,00.5,1000.0,M,-99.9,M,,*78

: AshtechGps::processRecord() - $GPGGA,172115.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.070000, mean min cell voltage 4.075000

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

: NMEA Update: $GPGGA,172115.30,3649.0643,N,-12151.0325,W,1,03,00.5,1000.0,M,-99.9,M,,*79

: AshtechGps::processRecord() - $GPGGA,172116.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,172116.30,3649.0637,N,-12151.0322,W,1,03,00.5,1000.0,M,-99.9,M,,*7e

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

: AshtechGps::processRecord() - $GPGGA,172117.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172117.30,3649.0631,N,-12151.0319,W,1,03,00.5,1000.0,M,-99.9,M,,*71

: AshtechGps::processRecord() - $GPGGA,172118.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,172118.30,3649.0625,N,-12151.0316,W,1,03,00.5,1000.0,M,-99.9,M,,*74

: AshtechGps::processRecord() - $GPGGA,172119.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172119.30,3649.0619,N,-12151.0313,W,1,03,00.5,1000.0,M,-99.9,M,,*7f

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172120.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172120.30,3649.0613,N,-12151.0310,W,1,03,00.5,1000.0,M,-99.9,M,,*7c

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

: AshtechGps::processRecord() - $GPGGA,172121.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172121.30,3649.0607,N,-12151.0305,W,1,03,00.5,1000.0,M,-99.9,M,,*7c

: AshtechGps::processRecord() - $GPGGA,172122.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.75  3.44 14.74 4.08 4.11 0 12814.59 02:47:56 m

: updating external sensors

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

: NMEA Update: $GPGGA,172122.30,3649.0601,N,-12151.0300,W,1,03,00.5,1000.0,M,-99.9,M,,*7c

: AshtechGps::processRecord() - $GPGGA,172123.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172123.30,3649.0596,N,-12151.0293,W,1,03,00.5,1000.0,M,-99.9,M,,*7b

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

: AshtechGps::processRecord() - $GPGGA,172124.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.94  4.16 15.33 4.07 4.11 0  1420.60 02:47:58 m

: NMEA Update: $GPGGA,172124.30,3649.0590,N,-12151.0287,W,1,03,00.5,1000.0,M,-99.9,M,,*7f

: AshtechGps::processRecord() - $GPGGA,172125.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 4.070000, mean min cell voltage 4.075000

: NMEA Update: $GPGGA,172125.30,3649.0586,N,-12151.0281,W,1,03,00.5,1000.0,M,-99.9,M,,*7f

: AshtechGps::processRecord() - $GPGGA,172126.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172126.30,3649.0581,N,-12151.0277,W,1,03,00.5,1000.0,M,-99.9,M,,*72

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172127.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172127.30,3649.0577,N,-12151.0271,W,1,03,00.5,1000.0,M,-99.9,M,,*7c

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

: AshtechGps::processRecord() - $GPGGA,172128.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172128.30,3649.0574,N,-12151.0263,W,1,03,00.5,1000.0,M,-99.9,M,,*73

: AshtechGps::processRecord() - $GPGGA,172129.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,172129.30,3649.0571,N,-12151.0254,W,1,03,00.5,1000.0,M,-99.9,M,,*73

: LayeredControl::execute() -- (t = 1953.796156) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1953.796156) Behavior getgps:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,172130.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172130.30,3649.0569,N,-12151.0245,W,1,03,00.5,1000.0,M,-99.9,M,,*72

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172131.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172131.30,3649.0568,N,-12151.0239,W,1,03,00.5,1000.0,M,-99.9,M,,*79

: BluefinBatt Reply: $aaq0 d- 32.78  1.70 14.74 4.08 4.10 0 12814.22 02:48:06 m

: AshtechGps::processRecord() - $GPGGA,172132.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: updating external sensors

: NMEA Update: $GPGGA,172132.30,3649.0567,N,-12151.0234,W,1,03,00.5,1000.0,M,-99.9,M,,*78

: AshtechGps::processRecord() - $GPGGA,172133.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172133.30,3649.0567,N,-12151.0228,W,1,03,00.5,1000.0,M,-99.9,M,,*74

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172134.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.05  1.97 15.23 4.07 4.10 0  1420.18 02:48:08 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172134.30,3649.0566,N,-12151.0223,W,1,03,00.5,1000.0,M,-99.9,M,,*79

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172135.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.070000, mean min cell voltage 4.075000

: NMEA Update: $GPGGA,172135.30,3649.0566,N,-12151.0221,W,1,03,00.5,1000.0,M,-99.9,M,,*7a

: AshtechGps::processRecord() - $GPGGA,172136.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172136.30,3649.0566,N,-12151.0218,W,1,03,00.5,1000.0,M,-99.9,M,,*73

: AshtechGps::processRecord() - $GPGGA,172137.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,172137.30,3649.0567,N,-12151.0210,W,1,03,00.5,112.3,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172138.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172138.30,3649.0567,N,-12151.0200,W,1,03,00.5,109.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,172139.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172139.29,3649.0566,N,-12151.0193,W,1,03,00.5,108.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,172140.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: updating external sensors

: NMEA Update: $GPGGA,172140.29,3649.0566,N,-12151.0188,W,1,03,00.5,109.1,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172141.00,3649.05365,N,12151.01769,W,1,07,1.0,1.85,M,-32.59,M,,*56

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

: Kearfott::parseGPS_GGA - lat(36.817561) lon(121.850295)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172141.29,3649.0568,N,-12151.0187,W,1,03,00.5,107.6,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: BluefinBatt Reply: $aaq0 d- 32.86  1.22 14.74 4.08 4.10 0 12814.14 02:48:16 m

: AshtechGps::processRecord() - $GPGGA,172142.00,3649.05382,N,12151.01756,W,1,07,1.0,0.45,M,-32.59,M,,*5D

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

: Kearfott::parseGPS_GGA - lat(36.817564) lon(121.850293)

: updating external sensors

: NMEA Update: $GPGGA,172142.29,3649.0568,N,-12151.0186,W,1,03,00.5,108.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,172143.00,3649.05413,N,12151.01736,W,1,07,1.0,2.01,M,-32.59,M,,*57

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

: Kearfott::parseGPS_GGA - lat(36.817569) lon(121.850289)

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172143.29,3649.0565,N,-12151.0185,W,1,03,00.5,108.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,172144.00,3649.05421,N,12151.01661,W,1,07,1.0,3.31,M,-32.59,M,,*50

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 1 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.817570) lon(121.850277)

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.02  2.55 15.23 4.07 4.10 0  1420.00 02:48:18 m

: NMEA Update: $GPGGA,172144.29,3649.0567,N,-12151.0179,W,1,03,00.5,109.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172145.00,3649.05447,N,12151.01616,W,1,07,1.0,3.29,M,-32.59,M,,*58

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 2 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.817575) lon(121.850269)

: batts online 2, min cell voltage 4.070000, mean min cell voltage 4.075000

: NMEA Update: $GPGGA,172145.29,3649.0568,N,-12151.0174,W,1,03,00.5,108.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,172146.00,3649.05480,N,12151.01595,W,1,07,1.0,2.52,M,-32.59,M,,*55

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

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

: Kearfott::parseGPS_GGA - lat(36.817580) lon(121.850266)

: updating external sensors

: NMEA Update: $GPGGA,172146.29,3649.0568,N,-12151.0170,W,1,03,00.5,106.5,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,172147.00,3649.05485,N,12151.01566,W,1,07,1.0,2.57,M,-32.59,M,,*58

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 4 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.817581) lon(121.850261)

: NMEA Update: $GPGGA,172147.29,3649.0543,N,-12151.0148,W,1,03,00.5,108.6,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172148.00,3649.05490,N,12151.01519,W,1,07,1.0,1.97,M,-32.59,M,,*54

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 5 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.817582) lon(121.850253)

: updating external sensors

: NMEA Update: $GPGGA,172148.29,3649.0544,N,-12151.0143,W,1,03,00.5,109.1,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,172149.00,3649.05500,N,12151.01487,W,1,07,1.0,1.64,M,-32.59,M,,*57

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 6 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.817583) lon(121.850248)

: NMEA Update: $GPGGA,172149.29,3649.0545,N,-12151.0140,W,1,03,00.5,108.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,172150.00,3649.05508,N,12151.01462,W,1,07,1.0,1.51,M,-32.59,M,,*5A

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 7 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.817585) lon(121.850244)

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172150.29,3649.0546,N,-12151.0138,W,1,03,00.5,108.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,172151.00,3649.05529,N,12151.01450,W,1,07,1.0,1.14,M,-32.59,M,,*58

: GetGPS::execute() -- Got a new GPS hit: 11 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 8 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.817588) lon(121.850242)

: NMEA Update: $GPGGA,172151.29,3649.0550,N,-12151.0141,W,1,03,00.5,106.5,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: BluefinBatt Reply: $aaq0 d- 32.82  1.74 14.74 4.10 4.12 0 12814.01 02:48:26 m

: AshtechGps::processRecord() - $GPGGA,172152.00,3649.05519,N,12151.01431,W,1,07,1.0,0.97,M,-32.59,M,,*55

: GetGPS::execute() -- Got a new GPS hit: 12 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 9 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.817587) lon(121.850239)

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172152.29,3649.0550,N,-12151.0140,W,1,03,00.5,107.5,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,172153.00,3649.05538,N,12151.01425,W,1,07,1.0,1.29,M,-32.59,M,,*56

: GetGPS::execute() -- Got a new GPS hit: 13 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 1976.994567) Behavior getgps:-1 has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: Kearfott::parseGPS_GGA - lat(36.817590) lon(121.850238)

: LayeredControl::execute() -- (t = 1977.194553) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1977.194553) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 1977.194553) Behavior depthEnvelope:-1 has changed to state Active

: LayeredControl::execute() -- (t = 1977.194553) Behavior missionTimer:-1 has changed to state Active

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

: NMEA Update: $GPGGA,172153.29,3649.0551,N,-12151.0139,W,1,03,00.5,107.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,172154.00,3649.05544,N,12151.01382,W,1,07,1.0,1.45,M,-32.59,M,,*5A

: Kearfott::parseGPS_GGA - lat(36.817591) lon(121.850230)

: BluefinBatt Reply: $c0q0 d- 33.09  1.90 15.23 4.08 4.12 0  1419.79 02:48:28 m

: updating external sensors

: NMEA Update: $GPGGA,172154.29,3649.0553,N,-12151.0135,W,1,03,00.5,108.7,M,-99.9,M,,*4a

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

: AshtechGps::processRecord() - $GPGGA,172155.00,3649.05559,N,12151.01345,W,1,07,1.0,1.24,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.817593) lon(121.850224)

: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,172155.29,3649.0554,N,-12151.0134,W,1,03,00.5,107.1,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172156.00,3649.05567,N,12151.01332,W,1,07,1.0,1.29,M,-32.59,M,,*58

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

: Kearfott::parseGPS_GGA - lat(36.817595) lon(121.850222)

: updating external sensors

: NMEA Update: $GPGGA,172156.29,3649.0555,N,-12151.0133,W,1,03,00.5,107.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,172157.00,3649.05564,N,12151.01311,W,1,07,1.0,1.68,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.817594) lon(121.850219)

: NMEA Update: $GPGGA,172157.29,3649.0555,N,-12151.0131,W,1,03,00.5,107.4,M,-99.9,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,172158.00,3649.05573,N,12151.01279,W,1,07,1.0,1.99,M,-32.59,M,,*56

: Kearfott::parseGPS_GGA - lat(36.817596) lon(121.850213)

: updating external sensors

: NMEA Update: $GPGGA,172158.29,3649.0556,N,-12151.0127,W,1,03,00.5,109.4,M,-99.9,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,172159.00,3649.05578,N,12151.01229,W,1,07,1.0,2.15,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.817596) lon(121.850205)

: NMEA Update: $GPGGA,172159.29,3649.0557,N,-12151.0121,W,1,03,00.5,108.0,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172200.00,3649.05583,N,12151.01175,W,1,07,1.0,1.86,M,-32.59,M,,*56

: Kearfott::parseGPS_GGA - lat(36.817597) lon(121.850196)

: updating external sensors

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

: NMEA Update: $GPGGA,172200.29,3649.0557,N,-12151.0115,W,1,03,00.5,109.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,172201.00,3649.05602,N,12151.01164,W,1,07,1.0,1.27,M,-32.59,M,,*56

: Kearfott::parseGPS_GGA - lat(36.817600) lon(121.850194)

: NMEA Update: $GPGGA,172201.29,3649.0559,N,-12151.0115,W,1,03,00.5,105.0,M,-99.9,M,,*4b

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

: BluefinBatt Reply: $aaq0 d- 32.90  1.00 14.74 4.10 4.12 0 12813.93 02:48:36 m

: AshtechGps::processRecord() - $GPGGA,172202.00,3649.05624,N,12151.01177,W,1,07,1.0,0.98,M,-32.59,M,,*56

: Kearfott::parseGPS_GGA - lat(36.817604) lon(121.850196)

: updating external sensors

: NMEA Update: $GPGGA,172202.29,3649.0561,N,-12151.0117,W,1,03,00.5,107.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,172203.00,3649.05638,N,12151.01179,W,1,07,1.0,1.23,M,-32.59,M,,*55

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::parseGPS_GGA - lat(36.817606) lon(121.850197)

: NMEA Update: $GPGGA,172203.29,3649.0563,N,-12151.0115,W,1,03,00.5,105.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,172204.00,3649.05645,N,12151.01164,W,1,07,1.0,1.37,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.817608) lon(121.850194)

: BluefinBatt Reply: $c0q0 d- 33.05  1.72 15.23 4.08 4.12 0  1419.66 02:48:38 m

: updating external sensors

: NMEA Update: $GPGGA,172204.29,3649.0563,N,-12151.0113,W,1,03,00.5,106.8,M,-99.9,M,,*4a

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

: AshtechGps::processRecord() - $GPGGA,172205.00,3649.05640,N,12151.01144,W,1,07,1.0,1.39,M,-32.59,M,,*59

: Kearfott::parseGPS_GGA - lat(36.817607) lon(121.850191)

: batts online 2, min cell voltage 4.080000, mean min cell voltage 4.090000

: NMEA Update: $GPGGA,172205.29,3649.0564,N,-12151.0109,W,1,03,00.5,108.0,M,-99.9,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,172206.00,3649.05659,N,12151.01143,W,1,07,1.0,1.47,M,-32.59,M,,*5C

: Kearfott::parseGPS_GGA - lat(36.817610) lon(121.850191)

: updating external sensors

: NMEA Update: $GPGGA,172206.29,3649.0565,N,-12151.0108,W,1,03,00.5,107.1,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172207.00,3649.05671,N,12151.01124,W,1,07,1.0,1.66,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.817612) lon(121.850187)

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

: NMEA Update: $GPGGA,172207.29,3649.0567,N,-12151.0106,W,1,03,00.5,106.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,172208.00,3649.05680,N,12151.01096,W,1,07,1.0,1.65,M,-32.59,M,,*5F

: Kearfott::parseGPS_GGA - lat(36.817613) lon(121.850183)

: updating external sensors

: NMEA Update: $GPGGA,172208.29,3649.0568,N,-12151.0103,W,1,03,00.5,107.8,M,-99.9,M,,*4d

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

: AshtechGps::processRecord() - $GPGGA,172209.00,3649.05683,N,12151.01066,W,1,07,1.0,1.79,M,-32.59,M,,*5F

: Kearfott::parseGPS_GGA - lat(36.817614) lon(121.850178)

: NMEA Update: $GPGGA,172209.29,3649.0568,N,-12151.0100,W,1,03,00.5,107.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,172210.00,3649.05697,N,12151.01044,W,1,07,1.0,1.58,M,-32.59,M,,*51

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

: Kearfott::parseGPS_GGA - lat(36.817616) lon(121.850174)

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172210.29,3649.0569,N,-12151.0097,W,1,03,00.5,108.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,172211.00,3649.05710,N,12151.01028,W,1,07,1.0,1.27,M,-32.59,M,,*5C

: Kearfott::parseGPS_GGA - lat(36.817618) lon(121.850171)

: NMEA Update: $GPGGA,172211.29,3649.0571,N,-12151.0096,W,1,03,00.5,107.3,M,-99.9,M,,*4b

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

: BluefinBatt Reply: $aaq0 d- 32.90  1.18 14.74 4.10 4.12 0 12813.80 02:48:46 m

: AshtechGps::processRecord() - $GPGGA,172212.00,3649.05721,N,12151.01026,W,1,07,1.0,1.17,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.817620) lon(121.850171)

: updating external sensors

: NMEA Update: $GPGGA,172212.29,3649.0572,N,-12151.0095,W,1,03,00.5,105.8,M,-99.9,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,172213.00,3649.05729,N,12151.01023,W,1,07,1.0,1.18,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817622) lon(121.850171)

: NMEA Update: $GPGGA,172213.29,3649.0573,N,-12151.0096,W,1,03,00.5,106.2,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172214.00,3649.05734,N,12151.01012,W,1,07,1.0,1.31,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.817622) lon(121.850169)

: BluefinBatt Reply: $c0q0 d- 33.09  1.76 15.23 4.09 4.12 0  1419.47 02:48:48 m

: updating external sensors

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

: NMEA Update: $GPGGA,172214.29,3649.0573,N,-12151.0094,W,1,03,00.5,106.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,172215.00,3649.05747,N,12151.01001,W,1,07,1.0,1.27,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.817625) lon(121.850167)

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,172215.29,3649.0574,N,-12151.0092,W,1,03,00.5,108.1,M,-99.9,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,172216.00,3649.05743,N,12151.00987,W,1,07,1.0,1.16,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.817624) lon(121.850165)

: updating external sensors

: NMEA Update: $GPGGA,172216.29,3649.0574,N,-12151.0091,W,1,03,00.5,106.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,172217.00,3649.05751,N,12151.00989,W,1,07,1.0,1.25,M,-32.59,M,,*5E

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

: Kearfott::parseGPS_GGA - lat(36.817625) lon(121.850165)

: NMEA Update: $GPGGA,172217.29,3649.0574,N,-12151.0092,W,1,03,00.5,106.3,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172218.00,3649.05764,N,12151.00977,W,1,07,1.0,1.57,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817627) lon(121.850163)

: updating external sensors

: NMEA Update: $GPGGA,172218.29,3649.0576,N,-12151.0090,W,1,03,00.5,108.2,M,-99.9,M,,*4d

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

: AshtechGps::processRecord() - $GPGGA,172219.00,3649.05772,N,12151.00950,W,1,07,1.0,1.78,M,-32.59,M,,*5D

: Kearfott::parseGPS_GGA - lat(36.817629) lon(121.850158)

: NMEA Update: $GPGGA,172219.29,3649.0577,N,-12151.0087,W,1,03,00.5,106.6,M,-99.9,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,172220.00,3649.05778,N,12151.00912,W,1,07,1.0,1.84,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.817630) lon(121.850152)

: updating external sensors

: NMEA Update: $GPGGA,172220.29,3649.0577,N,-12151.0083,W,1,03,00.5,108.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,172221.00,3649.05784,N,12151.00881,W,1,07,1.0,1.55,M,-32.59,M,,*5D

: Kearfott::parseGPS_GGA - lat(36.817631) lon(121.850147)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172221.29,3649.0578,N,-12151.0080,W,1,03,00.5,107.0,M,-99.9,M,,*45

: BluefinBatt Reply: $aaq0 d- 32.90  1.00 14.64 4.10 4.12 0 12813.70 02:48:56 m

: AshtechGps::processRecord() - $GPGGA,172222.00,3649.05793,N,12151.00867,W,1,07,1.0,0.98,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.817632) lon(121.850145)

: updating external sensors

: NMEA Update: $GPGGA,172222.29,3649.0580,N,-12151.0079,W,1,03,00.5,105.7,M,-99.9,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,172223.00,3649.05802,N,12151.00883,W,1,07,1.0,0.60,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.817634) lon(121.850147)

: NMEA Update: $GPGGA,172223.29,3649.0580,N,-12151.0080,W,1,03,00.5,104.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,172224.00,3649.05798,N,12151.00898,W,1,07,1.0,0.84,M,-32.59,M,,*50

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

: Kearfott::parseGPS_GGA - lat(36.817633) lon(121.850150)

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  1.83 15.13 4.09 4.12 0  1419.35 02:48:58 m

: NMEA Update: $GPGGA,172224.29,3649.0580,N,-12151.0082,W,1,03,00.5,106.7,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172225.00,3649.05807,N,12151.00907,W,1,07,1.0,1.12,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.817635) lon(121.850151)

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,172225.29,3649.0581,N,-12151.0083,W,1,03,00.5,107.6,M,-99.9,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,172226.00,3649.05820,N,12151.00899,W,1,07,1.0,1.60,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.817637) lon(121.850150)

: updating external sensors

: NMEA Update: $GPGGA,172226.29,3649.0582,N,-12151.0082,W,1,03,00.5,106.6,M,-99.9,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,172227.00,3649.05821,N,12151.00858,W,1,07,1.0,2.15,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.817637) lon(121.850143)

: NMEA Update: $GPGGA,172227.29,3649.0583,N,-12151.0077,W,1,03,00.5,108.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,172228.00,3649.05832,N,12151.00820,W,1,07,1.0,1.89,M,-32.59,M,,*5C

: Kearfott::parseGPS_GGA - lat(36.817639) lon(121.850137)

: updating external sensors

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172228.29,3649.0583,N,-12151.0072,W,1,03,00.5,106.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,172229.00,3649.05824,N,12151.00786,W,1,07,1.0,1.42,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.817637) lon(121.850131)

: NMEA Update: $GPGGA,172229.29,3649.0583,N,-12151.0070,W,1,03,00.5,107.7,M,-99.9,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,172230.00,3649.05827,N,12151.00776,W,1,07,1.0,1.10,M,-32.59,M,,*5D

: Kearfott::parseGPS_GGA - lat(36.817638) lon(121.850129)

: updating external sensors

: NMEA Update: $GPGGA,172230.29,3649.0583,N,-12151.0069,W,1,03,00.5,106.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,172231.00,3649.05831,N,12151.00771,W,1,07,1.0,0.80,M,-32.59,M,,*54

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

: Kearfott::parseGPS_GGA - lat(36.817639) lon(121.850129)

: NMEA Update: $GPGGA,172231.29,3649.0584,N,-12151.0068,W,1,03,00.5,106.0,M,-99.9,M,,*40

: BluefinBatt Reply: $aaq0 d- 32.90  1.11 14.64 4.10 4.12 0 12813.52 02:49:06 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172232.00,3649.05848,N,12151.00782,W,1,07,1.0,0.51,M,-32.59,M,,*59

: Kearfott::parseGPS_GGA - lat(36.817641) lon(121.850130)

: updating external sensors

: NMEA Update: $GPGGA,172232.29,3649.0586,N,-12151.0069,W,1,03,00.5,104.3,M,-99.9,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,172233.00,3649.05865,N,12151.00797,W,1,07,1.0,0.56,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.817644) lon(121.850133)

: NMEA Update: $GPGGA,172233.29,3649.0587,N,-12151.0073,W,1,03,00.5,104.9,M,-99.9,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,172234.00,3649.05863,N,12151.00810,W,1,07,1.0,0.77,M,-32.59,M,,*56

: Kearfott::parseGPS_GGA - lat(36.817644) lon(121.850135)

: BluefinBatt Reply: $c0q0 d- 33.05  1.76 15.13 4.09 4.12 0  1419.10 02:49:08 m

: updating external sensors

: NMEA Update: $GPGGA,172234.29,3649.0587,N,-12151.0073,W,1,03,00.5,104.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,172235.00,3649.05858,N,12151.00813,W,1,07,1.0,1.34,M,-32.59,M,,*5A

: Kearfott::parseGPS_GGA - lat(36.817643) lon(121.850136)

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

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

: NMEA Update: $GPGGA,172235.29,3649.0586,N,-12151.0073,W,1,03,00.5,106.0,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172236.00,3649.05864,N,12151.00791,W,1,07,1.0,1.89,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.817644) lon(121.850132)

: updating external sensors

: NMEA Update: $GPGGA,172236.29,3649.0587,N,-12151.0070,W,1,03,00.5,109.0,M,-99.9,M,,*42

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

: AshtechGps::processRecord() - $GPGGA,172237.00,3649.05872,N,12151.00749,W,1,07,1.0,1.89,M,-32.59,M,,*56

: Kearfott::parseGPS_GGA - lat(36.817645) lon(121.850125)

: NMEA Update: $GPGGA,172237.29,3649.0588,N,-12151.0067,W,1,03,00.5,107.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,172238.00,3649.05875,N,12151.00717,W,1,07,1.0,1.69,M,-32.59,M,,*5B

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

: Kearfott::parseGPS_GGA - lat(36.817646) lon(121.850120)

: updating external sensors

: NMEA Update: $GPGGA,172238.29,3649.0587,N,-12151.0063,W,1,03,00.5,105.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,172239.00,3649.05872,N,12151.00695,W,1,07,1.0,1.33,M,-32.59,M,,*59

: Kearfott::parseGPS_GGA - lat(36.817645) lon(121.850116)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172239.29,3649.0587,N,-12151.0061,W,1,03,00.5,107.0,M,-99.9,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,172240.00,3649.05887,N,12151.00691,W,1,07,1.0,1.06,M,-32.59,M,,*5F

: Kearfott::parseGPS_GGA - lat(36.817648) lon(121.850115)

: updating external sensors

: NMEA Update: $GPGGA,172240.29,3649.0589,N,-12151.0061,W,1,03,00.5,106.4,M,-99.9,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,172241.00,3649.05897,N,12151.00697,W,1,07,1.0,0.93,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.817650) lon(121.850116)

: NMEA Update: $GPGGA,172241.29,3649.0589,N,-12151.0063,W,1,03,00.5,106.3,M,-99.9,M,,*42

: BluefinBatt Reply: $aaq0 d- 32.90  1.14 14.74 4.10 4.12 0 12813.39 02:49:16 m

: AshtechGps::processRecord() - $GPGGA,172242.00,3649.05898,N,12151.00701,W,1,07,1.0,1.24,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.817650) lon(121.850117)

: updating external sensors

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

: NMEA Update: $GPGGA,172242.29,3649.0589,N,-12151.0063,W,1,03,00.5,106.0,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172243.00,3649.05890,N,12151.00680,W,1,07,1.0,1.41,M,-32.59,M,,*59

: Kearfott::parseGPS_GGA - lat(36.817648) lon(121.850113)

: NMEA Update: $GPGGA,172243.29,3649.0589,N,-12151.0060,W,1,03,00.5,106.6,M,-99.9,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,172244.00,3649.05895,N,12151.00662,W,1,07,1.0,1.07,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.817649) lon(121.850110)

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 33.09  1.65 15.13 4.09 4.12 0  1418.98 02:49:18 m

: NMEA Update: $GPGGA,172244.29,3649.0589,N,-12151.0058,W,1,03,00.5,106.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,172245.00,3649.05894,N,12151.00662,W,1,07,1.0,0.92,M,-32.59,M,,*58

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

: Kearfott::parseGPS_GGA - lat(36.817649) lon(121.850110)

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,172245.29,3649.0589,N,-12151.0061,W,1,03,00.5,106.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,172246.00,3649.05909,N,12151.00675,W,1,07,1.0,1.03,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.817652) lon(121.850113)

: updating external sensors

: NMEA Update: $GPGGA,172246.29,3649.0589,N,-12151.0062,W,1,03,00.5,105.6,M,-99.9,M,,*42

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172247.00,3649.05913,N,12151.00664,W,1,07,1.0,1.29,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817652) lon(121.850111)

: NMEA Update: $GPGGA,172247.29,3649.0590,N,-12151.0060,W,1,03,00.5,108.9,M,-99.9,M,,*4b

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

: AshtechGps::processRecord() - $GPGGA,172248.00,3649.05913,N,12151.00642,W,1,07,1.0,1.34,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.817652) lon(121.850107)

: updating external sensors

: NMEA Update: $GPGGA,172248.29,3649.0590,N,-12151.0058,W,1,03,00.5,105.8,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,172249.00,3649.05919,N,12151.00631,W,1,07,1.0,1.23,M,-32.59,M,,*5D

: Kearfott::parseGPS_GGA - lat(36.817653) lon(121.850105)

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

: NMEA Update: $GPGGA,172249.29,3649.0590,N,-12151.0057,W,1,03,00.5,104.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,172250.00,3649.05916,N,12151.00630,W,1,07,1.0,1.09,M,-32.59,M,,*53

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::parseGPS_GGA - lat(36.817653) lon(121.850105)

: updating external sensors

: NMEA Update: $GPGGA,172250.29,3649.0590,N,-12151.0057,W,1,03,00.5,107.8,M,-99.9,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,172251.00,3649.05926,N,12151.00637,W,1,07,1.0,1.21,M,-32.59,M,,*5C

: Kearfott::parseGPS_GGA - lat(36.817654) lon(121.850106)

: NMEA Update: $GPGGA,172251.29,3649.0591,N,-12151.0058,W,1,03,00.5,106.1,M,-99.9,M,,*40

: BluefinBatt Reply: $aaq0 d- 32.86  1.22 14.64 4.10 4.12 0 12813.28 02:49:26 m

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

: AshtechGps::processRecord() - $GPGGA,172252.00,3649.05925,N,12151.00629,W,1,07,1.0,1.50,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.817654) lon(121.850105)

: updating external sensors

: NMEA Update: $GPGGA,172252.10,3649.0591,N,-12151.0057,W,1,03,00.5,107.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,172253.00,3649.05920,N,12151.00602,W,1,07,1.0,1.41,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.817653) lon(121.850100)

: NMEA Update: $GPGGA,172253.10,3649.0590,N,-12151.0053,W,1,03,00.5,106.0,M,-99.9,M,,*43

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172254.00,3649.05926,N,12151.00590,W,1,07,1.0,1.15,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.817654) lon(121.850098)

: BluefinBatt Reply: $c0q0 d- 33.05  1.76 15.13 4.09 4.12 0  1418.75 02:49:28 m

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,172255.09,3649.0590,N,-12151.0052,W,1,03,00.5,104.9,M,-99.9,M,,*47

: updating external sensors

: Kearfott::deltaTime is 1.059927

: Kearfott::parseGPS_GGA - lat(36.817653) lon(121.850099)

: AshtechGps::processRecord() - $GPGGA,172255.00,3649.05920,N,12151.00595,W,1,07,1.0,1.19,M,-32.59,M,,*5E

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

: NMEA Update: $GPGGA,172255.90,3649.0591,N,-12151.0052,W,1,03,00.5,107.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,172256.00,3649.05942,N,12151.00590,W,1,07,1.0,1.47,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850098)

: NMEA Update: $GPGGA,172256.90,3649.0592,N,-12151.0050,W,1,03,00.5,107.6,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,172257.00,3649.05939,N,12151.00560,W,1,07,1.0,1.58,M,-32.59,M,,*5B

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

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850093)

: updating external sensors

: NMEA Update: $GPGGA,172257.90,3649.0592,N,-12151.0047,W,1,03,00.5,105.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,172258.00,3649.05941,N,12151.00532,W,1,08,1.0,1.38,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850089)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172258.90,3649.0592,N,-12151.0045,W,1,03,00.5,106.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,172259.00,3649.05944,N,12151.00522,W,1,08,1.0,0.94,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850087)

: updating external sensors

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

: NMEA Update: $GPGGA,172259.90,3649.0593,N,-12151.0046,W,1,03,00.5,108.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,172300.00,3649.05942,N,12151.00532,W,1,08,1.0,0.77,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850089)

: NMEA Update: $GPGGA,172300.90,3649.0592,N,-12151.0047,W,1,03,00.5,105.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,172301.00,3649.05942,N,12151.00542,W,1,08,1.0,0.73,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850090)

: updating external sensors

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172301.90,3649.0592,N,-12151.0048,W,1,03,00.5,106.4,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 32.90  1.14 14.74 4.10 4.12 0 12813.18 02:49:36 m

: AshtechGps::processRecord() - $GPGGA,172302.00,3649.05942,N,12151.00548,W,1,08,1.0,0.85,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850091)

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

: NMEA Update: $GPGGA,172302.90,3649.0593,N,-12151.0048,W,1,03,00.5,107.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,172303.00,3649.05948,N,12151.00548,W,1,08,1.0,1.11,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.817658) lon(121.850091)

: updating external sensors

: NMEA Update: $GPGGA,172303.90,3649.0594,N,-12151.0047,W,1,03,00.5,107.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,172304.00,3649.05959,N,12151.00542,W,1,08,1.0,1.31,M,-32.59,M,,*5A

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

: Kearfott::parseGPS_GGA - lat(36.817660) lon(121.850090)

: BluefinBatt Reply: $c0q0 d- 33.09  1.65 15.03 4.09 4.12 0  1418.62 02:49:38 m

: NMEA Update: $GPGGA,172304.90,3649.0592,N,-12151.0049,W,1,03,00.5,108.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,172305.00,3649.05947,N,12151.00532,W,1,08,1.0,1.60,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.817658) lon(121.850089)

: updating external sensors

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172305.90,3649.0591,N,-12151.0046,W,1,03,00.5,105.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,172306.00,3649.05943,N,12151.00510,W,1,08,1.0,1.53,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850085)

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

: NMEA Update: $GPGGA,172306.90,3649.0591,N,-12151.0045,W,1,03,00.5,105.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,172307.00,3649.05943,N,12151.00490,W,1,08,1.0,1.58,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850082)

: updating external sensors

: NMEA Update: $GPGGA,172307.90,3649.0591,N,-12151.0043,W,1,03,00.5,107.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,172308.00,3649.05940,N,12151.00468,W,1,08,1.0,1.66,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850078)

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

: NMEA Update: $GPGGA,172308.90,3649.0591,N,-12151.0040,W,1,03,00.5,105.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,172309.00,3649.05942,N,12151.00439,W,1,08,1.0,1.32,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850073)

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172309.90,3649.0590,N,-12151.0039,W,1,03,00.5,106.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,172310.00,3649.05935,N,12151.00431,W,1,08,1.0,0.74,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.817656) lon(121.850072)

: NMEA Update: $GPGGA,172310.90,3649.0591,N,-12151.0040,W,1,03,00.5,105.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,172311.00,3649.05952,N,12151.00450,W,1,08,1.0,0.29,M,-32.59,M,,*5F

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

: Kearfott::parseGPS_GGA - lat(36.817659) lon(121.850075)

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.86  1.29 14.64 4.10 4.12 0 12813.01 02:49:46 m

: NMEA Update: $GPGGA,172311.90,3649.0592,N,-12151.0045,W,1,03,00.5,106.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,172312.00,3649.05958,N,12151.00494,W,1,08,1.0,0.34,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.817660) lon(121.850082)

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172312.90,3649.0592,N,-12151.0048,W,1,03,00.5,106.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,172313.00,3649.05952,N,12151.00512,W,1,08,1.0,1.19,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.817659) lon(121.850085)

: updating external sensors

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

: NMEA Update: $GPGGA,172313.90,3649.0591,N,-12151.0045,W,1,03,00.5,106.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,172314.00,3649.05953,N,12151.00472,W,1,08,1.0,1.78,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.817659) lon(121.850079)

: BluefinBatt Reply: $c0q0 d- 33.13  1.76 15.13 4.09 4.12 0  1418.39 02:49:48 m

: NMEA Update: $GPGGA,172314.90,3649.0591,N,-12151.0040,W,1,03,00.5,108.4,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,172315.00,3649.05941,N,12151.00427,W,1,08,1.0,1.64,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.817657) lon(121.850071)

: updating external sensors

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

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

: NMEA Update: $GPGGA,172315.90,3649.0590,N,-12151.0038,W,1,03,00.5,103.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,172316.00,3649.05926,N,12151.00413,W,1,08,1.0,1.53,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.817654) lon(121.850069)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172316.90,3649.0589,N,-12151.0037,W,1,03,00.5,105.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,172317.00,3649.05928,N,12151.00401,W,1,08,1.0,1.29,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.817655) lon(121.850067)

: updating external sensors

: NMEA Update: $GPGGA,172317.90,3649.0589,N,-12151.0037,W,1,03,00.5,110.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,172318.00,3649.05915,N,12151.00405,W,1,08,1.0,0.83,M,-32.59,M,,*55

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

: Kearfott::parseGPS_GGA - lat(36.817653) lon(121.850068)

: NMEA Update: $GPGGA,172318.90,3649.0589,N,-12151.0038,W,1,03,00.5,105.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,172319.00,3649.05930,N,12151.00418,W,1,08,1.0,0.93,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.817655) lon(121.850070)

: updating external sensors

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

: NMEA Update: $GPGGA,172319.90,3649.0590,N,-12151.0040,W,1,03,00.5,103.8,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,172320.00,3649.05932,N,12151.00426,W,1,08,1.0,1.30,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817655) lon(121.850071)

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

: NMEA Update: $GPGGA,172320.90,3649.0590,N,-12151.0038,W,1,03,00.5,107.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,172321.00,3649.05931,N,12151.00406,W,1,08,1.0,1.66,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.817655) lon(121.850068)

: updating external sensors

: NMEA Update: $GPGGA,172321.90,3649.0590,N,-12151.0035,W,1,03,00.5,105.6,M,-99.9,M,,*4a

: BluefinBatt Reply: $aaq0 d- 32.90  1.26 14.64 4.10 4.12 0 12812.89 02:49:56 m

: AshtechGps::processRecord() - $GPGGA,172322.00,3649.05927,N,12151.00377,W,1,08,1.0,1.45,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.817655) lon(121.850063)

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

: NMEA Update: $GPGGA,172322.90,3649.0589,N,-12151.0034,W,1,03,00.5,106.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,172323.00,3649.05921,N,12151.00370,W,1,08,1.0,1.05,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.817654) lon(121.850062)

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172323.90,3649.0589,N,-12151.0035,W,1,03,00.5,105.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,172324.00,3649.05921,N,12151.00376,W,1,08,1.0,1.16,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817654) lon(121.850063)

: BluefinBatt Reply: $c0q0 d- 33.09  1.76 15.13 4.09 4.12 0  1418.26 02:49:58 m

: NMEA Update: $GPGGA,172324.90,3649.0589,N,-12151.0034,W,1,03,00.5,106.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,172325.00,3649.05915,N,12151.00363,W,1,08,1.0,1.19,M,-32.59,M,,*5E

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

: Kearfott::parseGPS_GGA - lat(36.817653) lon(121.850061)

: updating external sensors

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,172325.90,3649.0588,N,-12151.0032,W,1,03,00.5,106.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,172326.00,3649.05908,N,12151.00347,W,1,08,1.0,0.81,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.817651) lon(121.850058)

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

: NMEA Update: $GPGGA,172326.90,3649.0588,N,-12151.0033,W,1,03,00.5,106.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,172327.00,3649.05897,N,12151.00369,W,1,08,1.0,0.55,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.817650) lon(121.850062)

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172327.90,3649.0587,N,-12151.0037,W,1,03,00.5,105.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,172328.00,3649.05902,N,12151.00389,W,1,08,1.0,0.94,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.817650) lon(121.850065)

: NMEA Update: $GPGGA,172328.90,3649.0587,N,-12151.0037,W,1,03,00.5,108.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,172329.00,3649.05902,N,12151.00378,W,1,08,1.0,1.38,M,-32.59,M,,*5D

: Kearfott::parseGPS_GGA - lat(36.817650) lon(121.850063)

: updating external sensors

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

: NMEA Update: $GPGGA,172329.90,3649.0587,N,-12151.0034,W,1,03,00.5,109.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,172330.00,3649.05892,N,12151.00356,W,1,08,1.0,1.37,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.817649) lon(121.850059)

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172330.90,3649.0587,N,-12151.0032,W,1,03,00.5,105.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,172331.00,3649.05892,N,12151.00345,W,1,08,1.0,1.20,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.817649) lon(121.850058)

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.94  0.96 14.64 4.10 4.12 0 12812.76 02:50:06 m

: NMEA Update: $GPGGA,172331.90,3649.0587,N,-12151.0033,W,1,03,00.5,107.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,172332.00,3649.05892,N,12151.00354,W,1,08,1.0,1.05,M,-32.59,M,,*5F

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

: Kearfott::parseGPS_GGA - lat(36.817649) lon(121.850059)

: NMEA Update: $GPGGA,172332.90,3649.0587,N,-12151.0034,W,1,03,00.5,105.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,172333.00,3649.05894,N,12151.00358,W,1,08,1.0,1.33,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.817649) lon(121.850060)

: updating external sensors

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

: NMEA Update: $GPGGA,172333.90,3649.0587,N,-12151.0034,W,1,03,00.5,105.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,172334.00,3649.05891,N,12151.00349,W,1,08,1.0,1.61,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.817649) lon(121.850058)

: BluefinBatt Reply: $c0q0 d- 33.13  1.68 15.13 4.09 4.12 0  1418.03 02:50:08 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172334.90,3649.0586,N,-12151.0031,W,1,03,00.5,106.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,172335.00,3649.05876,N,12151.00320,W,1,08,1.0,1.78,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.817646) lon(121.850053)

: updating external sensors

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: NMEA Update: $GPGGA,172335.90,3649.0585,N,-12151.0027,W,1,03,00.5,106.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,172336.00,3649.05874,N,12151.00277,W,1,08,1.0,1.25,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.817646) lon(121.850046)

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

: NMEA Update: $GPGGA,172336.90,3649.0584,N,-12151.0027,W,1,03,00.5,106.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,172337.00,3649.05858,N,12151.00284,W,1,08,1.0,0.65,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.817643) lon(121.850047)

: updating external sensors

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

: NMEA Update: $GPGGA,172337.90,3649.0585,N,-12151.0030,W,1,03,00.5,105.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,172338.00,3649.05882,N,12151.00308,W,1,08,1.0,0.33,M,-32.59,M,,*59

: Kearfott::parseGPS_GGA - lat(36.817647) lon(121.850051)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172338.90,3649.0586,N,-12151.0034,W,1,03,00.5,106.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,172339.00,3649.05881,N,12151.00343,W,1,08,1.0,0.76,M,-32.59,M,,*55

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

: Kearfott::parseGPS_GGA - lat(36.817647) lon(121.850057)

: updating external sensors

: NMEA Update: $GPGGA,172339.90,3649.0585,N,-12151.0034,W,1,03,00.5,105.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,172340.00,3649.05873,N,12151.00342,W,1,08,1.0,1.40,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817646) lon(121.850057)

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

: NMEA Update: $GPGGA,172340.90,3649.0584,N,-12151.0032,W,1,03,00.5,106.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,172341.00,3649.05867,N,12151.00313,W,1,08,1.0,1.68,M,-32.59,M,,*59

: Kearfott::parseGPS_GGA - lat(36.817645) lon(121.850052)

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,172341.90,3649.0583,N,-12151.0030,W,1,03,00.5,108.7,M,-99.9,M,,*47

: BluefinBatt Reply: $aaq0 d- 32.86  1.70 14.64 4.10 4.12 0 12812.68 02:50:16 m

: AshtechGps::processRecord() - $GPGGA,172342.00,3649.05849,N,12151.00290,W,1,08,1.0,1.72,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.817642) lon(121.850048)

: NMEA Update: $GPGGA,172342.90,3649.0582,N,-12151.0027,W,1,03,00.5,106.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,172343.00,3649.05850,N,12151.00261,W,1,08,1.0,1.31,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.817642) lon(121.850044)

: updating external sensors

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

: NMEA Update: $GPGGA,172343.90,3649.0582,N,-12151.0027,W,1,03,00.5,106.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,172344.00,3649.05842,N,12151.00263,W,1,08,1.0,0.95,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.817640) lon(121.850044)

: BluefinBatt Reply: $c0q0 d- 33.09  1.76 15.13 4.09 4.12 0  1417.90 02:50:18 m

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

: NMEA Update: $GPGGA,172344.90,3649.0582,N,-12151.0028,W,1,03,00.5,105.7,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,172345.00,3649.05849,N,12151.00271,W,1,08,1.0,0.91,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.817642) lon(121.850045)

: updating external sensors

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172345.90,3649.0582,N,-12151.0028,W,1,03,00.5,105.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,172346.00,3649.05858,N,12151.00276,W,1,08,1.0,0.86,M,-32.59,M,,*51

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

: Kearfott::parseGPS_GGA - lat(36.817643) lon(121.850046)

: NMEA Update: $GPGGA,172346.90,3649.0583,N,-12151.0030,W,1,03,00.5,107.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,172347.00,3649.05846,N,12151.00288,W,1,08,1.0,1.42,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.817641) lon(121.850048)

: updating external sensors

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

: NMEA Update: $GPGGA,172347.90,3649.0581,N,-12151.0028,W,1,03,00.5,106.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,172348.00,3649.05842,N,12151.00259,W,1,08,1.0,1.51,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.817640) lon(121.850043)

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172348.90,3649.0580,N,-12151.0026,W,1,03,00.5,108.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,172349.00,3649.05829,N,12151.00236,W,1,08,1.0,1.09,M,-32.59,M,,*5A

: Kearfott::parseGPS_GGA - lat(36.817638) lon(121.850039)

: updating external sensors

: NMEA Update: $GPGGA,172349.90,3649.0580,N,-12151.0026,W,1,03,00.5,107.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,172350.00,3649.05825,N,12151.00247,W,1,08,1.0,0.68,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.817638) lon(121.850041)

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

: NMEA Update: $GPGGA,172350.90,3649.0579,N,-12151.0029,W,1,03,00.5,103.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,172351.00,3649.05823,N,12151.00272,W,1,08,1.0,0.66,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.817637) lon(121.850045)

: updating external sensors

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

: BluefinBatt Reply: $aaq0 d- 32.94  1.03 14.64 4.10 4.12 0 12812.55 02:50:26 m

: NMEA Update: $GPGGA,172351.90,3649.0579,N,-12151.0031,W,1,03,00.5,106.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,172352.00,3649.05819,N,12151.00279,W,1,08,1.0,1.27,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.817637) lon(121.850047)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,172352.90,3649.0579,N,-12151.0027,W,1,03,00.5,106.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,172353.00,3649.05826,N,12151.00247,W,1,08,1.0,1.48,M,-32.59,M,,*5D

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

: Kearfott::parseGPS_GGA - lat(36.817638) lon(121.850041)

: updating external sensors

: NMEA Update: $GPGGA,172353.90,3649.0579,N,-12151.0024,W,1,03,00.5,107.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,172354.00,3649.05817,N,12151.00232,W,1,08,1.0,1.04,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.817636) lon(121.850039)

: BluefinBatt Reply: $c0q0 d- 33.09  1.72 15.13 4.09 4.12 0  1417.70 02:50:28 m

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

: NMEA Update: $GPGGA,172354.90,3649.0578,N,-12151.0026,W,1,03,00.5,103.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,172355.00,3649.05811,N,12151.00247,W,1,08,1.0,0.91,M,-32.59,M,,*5A

: Kearfott::parseGPS_GGA - lat(36.817635) lon(121.850041)

: updating external sensors

: batts online 2, min cell voltage 4.090000, mean min cell voltage 4.095000

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: **** SharedData destructor for object SupervisorOutout ****

: destroying segment SupervisorOutout
: destroying prot sem SupervisorOutout_prot
: destroying notify sem SupervisorOutout_notify
: Supervisor::shutdown()

: TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object kearfottOutput ****

: **** SharedData destructor for object m3dmgx1Cmd ****

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2

: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2

: TaskServer::signalHandler() for task InsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

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

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: Supervisor::shutdown() - done()

:  CameraDestructor Executing.
: **** SharedData destructor for object BluefinBattOutput ****

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2

: EchoSounderDriver:: Destructor executing.
: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

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

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

: **** SharedData destructor for object GpsOutput_ShmemName ****

:  DropWeight Destructor Executing.
: destroying segment ParosciOutput_ShmemName
: **** SharedData destructor for object navigationOutput ****

: failed to unlink queue benthosModemCommand
: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: destroying segment kearfottOutput
: destroying segment m3dmgx1Cmd
: EchoSounderServer:: Destructor executing.
: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object kearfottOutput ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18

: destroying segment LayeredControlOutput_ShmemName
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: **** SharedData destructor for object TailConeInput_ShmemName ****

: SerialDeviceExt::closeSD() - closed

: destroying segment BluefinBattOutput
: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: destroying segment GpsOutput_ShmemName
: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: destroying prot sem ParosciOutput_ShmemName_prot
: destroying segment navigationOutput
: destroying segment ParosciOutput_ShmemName
: destroying prot sem kearfottOutput_prot
: destroying segment SonardyneOutput_ShmemName
: destroying prot sem m3dmgx1Cmd_prot
: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: destroying segment SonardyneOutput_ShmemName
: destroying notify sem m3dmgx1Cmd_notify
: destroying segment kearfottOutput
: destroying segment TailConeInput_ShmemName
: destroying segment GpsOutput_ShmemName
: destroying segment DvlOutput_ShmemName
: destroying prot sem LayeredControlOutput_ShmemName_prot
: destroying segment TailConeInput_ShmemName
: destroying prot sem BluefinBattOutput_prot
: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object navigationOutput ****

: destroying segment fanOutput
: destroying prot sem GpsOutput_ShmemName_prot
: destroying segment EchoSounderOutput_ShmemName
: destroying segment CameraOutput
: destroying segment dropWeightOutput
: destroying segment LayeredControlInput_ShmemName
: destroying notify sem ParosciOutput_ShmemName_notify
: destroying segment dropWeightOutput
: destroying prot sem navigationOutput_prot
: destroying segment fanOutput
: destroying prot sem ParosciOutput_ShmemName_prot
: destroying notify sem kearfottOutput_notify
: destroying prot sem TailConeInput_ShmemName_prot
: destroying prot sem SonardyneOutput_ShmemName_prot
: destroying segment EchoSounderOutput_ShmemName
: destroying prot sem SonardyneOutput_ShmemName_prot
: destroying notify sem navigationOutput_notify
: **** SharedData destructor for object m3dmgx1 ****

: destroying prot sem kearfottOutput_prot
: destroying prot sem GpsOutput_ShmemName_prot
: destroying prot sem DvlOutput_ShmemName_prot
: destroying notify sem LayeredControlOutput_ShmemName_notify
: destroying prot sem TailConeInput_ShmemName_prot
: destroying notify sem BluefinBattOutput_notify
: destroying segment CameraOutput
: destroying prot sem fanOutput_prot
: destroying segment navigationOutput
: destroying notify sem GpsOutput_ShmemName_notify
: destroying prot sem EchoSounderOutput_ShmemName_prot
: destroying prot sem CameraOutput_prot
: destroying prot sem dropWeightOutput_prot
: destroying prot sem LayeredControlInput_ShmemName_prot
: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

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

: destroying prot sem fanOutput_prot
: **** SharedData destructor for object DvlOutput_ShmemName ****

: destroying notify sem TailConeInput_ShmemName_notify
: destroying notify sem SonardyneOutput_ShmemName_notify
: destroying prot sem EchoSounderOutput_ShmemName_prot
: destroying notify sem SonardyneOutput_ShmemName_notify
: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: destroying segment m3dmgx1
: destroying notify sem kearfottOutput_notify
: destroying notify sem GpsOutput_ShmemName_notify
: destroying notify sem DvlOutput_ShmemName_notify
: destroying notify sem TailConeInput_ShmemName_notify
: destroying prot sem CameraOutput_prot
: destroying notify sem fanOutput_notify
: destroying notify sem EchoSounderOutput_ShmemName_notify
: destroying notify sem CameraOutput_notify
: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18

: destroying notify sem dropWeightOutput_notify
: destroying notify sem LayeredControlInput_ShmemName_notify
: destroying segment LayeredControlInput_ShmemName
: destroying notify sem dropWeightOutput_notify
: destroying notify sem fanOutput_notify
: destroying segment DvlOutput_ShmemName
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: destroying notify sem EchoSounderOutput_ShmemName_notify
: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 18

: destroying prot sem m3dmgx1_prot
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: destroying notify sem CameraOutput_notify
: TaskServer::signalHandler() for task FanIFServer - exit() on signal 18

: SerialDeviceExt::closeSD() - closed

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

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

: destroying prot sem LayeredControlInput_ShmemName_prot
: destroying prot sem DvlOutput_ShmemName_prot
: destroying segment TailConeOutput_ShmemName
: failed to unlink queue EchoSounderCommand
: destroying notify sem m3dmgx1_notify
: destroying prot sem TailConeOutput_ShmemName_prot
: destroying segment TailConeOutput_ShmemName
: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18

: destroying notify sem LayeredControlInput_ShmemName_notify
: destroying notify sem DvlOutput_ShmemName_notify
: destroying segment LayeredControlOutput_ShmemName
: destroying notify sem TailConeOutput_ShmemName_notify
: destroying prot sem TailConeOutput_ShmemName_prot

//3/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000447E4.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 18

